Study On The Tracking Theory Of3D Dynamic Acoustic Array For Acoustic Target

Conventional detection systems, such as radar and sonar, have encountered more and more threats with the increasing complexity of circumstances in modem battle field. Passive acoustic tracking teleology has been paid more and more attention because of its significant advantage in self-hiding, the capability to avoid attack and extensive applicability. In this paper, the tracking theory of3D dynamic acoustic array for acoustic target has been researched based on the application background of brainpower antitank submunition. The main research contents contain the dynamic model of3D dynamic acoustic array tracking system, optimal arrangement of the four-sensor dynamic acoustic array, the observation signal preprocessing teleology, tracking filter algorithms and the bearing-only tracking pointing performance of3D dynamic acoustic array based on dual acoustic sources. More specifically, the main research contents are as follows(1) The3D dynamic acoustic array tracking system dynamic model. The mechanism and characteristic of acoustic signal were elaborated, after that, the signal characteristic, such as signal reflection, signal refraction, signal scattering, signal attenuation, and signal Doppler Effect, have been analyzed, then the physical phenomena of3D dynamic acoustic array tracking system also is clearly. Combine the dissertation; the basic assumptions of3D dynamic acoustic array tracking system are obtained, so the state model and observation model are established based on the Cartesian coordinate system and correction polar coordinate, respectively. Then the model parameters are analyzed, and the missile-borne height measurement and record device is designed based on digital pressure sensor.(2) Optimal arrangement of the3D dynamic acoustic array. The arrangement of tracking observing system composed of four sensors has been studied, and the indicator guideline which evaluates observation precision of dynamic acoustic array tracking measurement system has been proposed, such as the optimal position dilution of precision function (PDOPF). After that, the location coordinates of acoustic array are solved based on the optimal position dilution of precision function of2D target, so the theory optimal arrangement of four-sensors dynamic acoustic array tracking measurement system is obtained, and the static experimental study on sound-source bearing estimation is designed. The theoretical results are compared with the experimental results of the present study.(3) The signal preprocessing technology of3D dynamic acoustic array. The interference signal has been analyzed at battlefield environment, the orthogonal multi-scale wavelet signal preprocessing algorithm is proposed, and the semi-physical simulation results confirm the effectiveness and stability. Based on the EMD theory, the spectral characteristics of IMF also been analyzed, and the single channel signal preprocessing algorithm is proposed. In addition, the current average change energy (CACE) is proposed for geometric window, then an algorithm of maneuvering detection based on CACE is deduced, and the current average change energy is modulated to CACE, so the current average change energy maneuvering detection criterion is deduced. Finally, the signal preprocessing software based on Matalb is also designed.(4) The tracking filter algorithm of3D dynamic acoustic array. The tracking filter algorithm of3D dynamic acoustic array to2D acoustic target have been studied based on dynamic acoustic array tracking system dynamic model from Gaussian linear, Gaussian nonlinear, and non-Gaussian nonlinear.(A) The tracking filter algorithm based on Gaussian linear. The traditional linear filter algorithm is elaborated, such as Kalman filter. The Multi-scale Sequential Kalman Filter algorithm is obtained based kalman fitler recursive theory; the matlab simulation results show the validity and superiority of the presented algorithm. In order to solve the problem of real-time for tracking and filter, the based on CACE maneuvering detection and variable dimension adaptive Kalman filtering algorithm (CACEMD-VDAKF) is obtained, and the matlab simulation results confirm the effectiveness and stability of CACEMD-VDAKF algorithm for two-dimensional target tracking.(B) The tracking filter algorithm based on Gaussian nonlinear. The traditional nonlinear filter algorithm is elaborated, such as Expand Kalman Filter (EKF), and the filter error of EKF has been analyzed, the adaptive interacting multiple models unscented particle filter algorithm based on measured residual is proposed. The Matlab simulation results between different algorithms show the validity and superiority of the presented algorithm in tracking accuracy, stability and real-time capability.(C) The tracking filter algorithm based on non-Gaussian nonlinear. The deterministic core particle swarm particle filter algorithm is proposed based on particle filter, and the Cramer Rao Low Bound(CRLB) is also be deduced, compared with the traditional particle filter algorithm, the Matlab simulation results show the validity and superiority of the presented algorithm.(5) The bearing-only tracking pointing performance of3D dynamic acoustic array based dual acoustic sources. The basic principle of multi-source interference is analyzed, and the mathematical model of dynamic acoustic array bearing-only tracking pointing performance is established at dual acoustic sources interference. The relationship of frequency, sound pressure and phase difference between real target and pseudo-target has been analyzed. Finally, the evaluation indicator of bearing-only tracking pointing performance in point acoustic source interference also is established based on the hypothesis of equal power at dual acoustic sources interference, which is as the theoretical basis for further research the multi-source tracking.