TARGET LOCATION ESTIMATING METHOD USING THREE-DIMENSIONAL SENSORS ARRAYS WITH REDUNDANCY IN PASSIVE SONAR FOR MEASURING DISTANCE

摘要

The present invention relates to a method of estimating a target position using a stereo array sensor having redundancy in a manual distance measuring sonar. A method of estimating a target position using a three-dimensional array sensor having redundancy in a manual distance measuring sonar according to the present invention is characterized in that four or more sensors are provided in a horizontal direction and a redundantness is determined in a manual distance measuring sonar having one or more sensors in a vertical direction A method for estimating a target position using a three-dimensional array sensor, comprising: a step (S100) of inputting a signal to a sensor from a target; Determining a failure sensor from the input signal (S200); (S300) excluding the failure sensor and estimating the distance of the target; Estimating an orientation of the target (S400); Estimating an elevation angle of the target (S500); And compensating for the roll pitch of the trap with respect to the estimated position of the target (S600). According to the present invention, it is possible to stably calculate the azimuth and the distance even when a failure occurs in some sensors by using a three-dimensional array sensor having redundancy.