Research On Multi-sonar Detection And Tracking Techique Of Underwater Targets

With the increasing emphasis on the marine field,the improvement of underwater target detection and tracking technology is becoming more important.And the traditional single-static detection tracking is unable to fit today's diversified underwater target monitoring role.Multi-static fusion detection and tracking system could make up the shortcomings of the single-static system,such as the large-scale surveillance in the marine field.Based on the background,the multi-static sonar underwater target fusion detection and tracking technology are studied,and the feasibility of the algorithms are verified by computer simulation and field test data.Firstly,single-static detection and tracking method are studied.The detection method is based on the CFAR detection,the ROC curves under different parameters are obtained.The Kalman filter is studied,based on this,the algorithm of PDAF in the clutter environment is studied.JPDAF is also studied for the multi-target.These algorithms are simulated and the performance under different parameters is analyzed.Secondly,the multi-static detection and tracking algorithms are studied.The fusion method of K out of N,N-P fusion and observation space division are studied.The multi-static detection performance with different baseline length is simulated and analyzed.Then,the multi-static fusion localization algorithm is studied.The fusion positioning GDOP diagram under different configurations is simulated.For the fusion tracking,the sequential track association method and the statistical double-threshold track association method are introduced.Then,the track fusion algorithm based on covariance distribution is introduced,and the effects of the two methods are simulated.Finally,the algorithms are validated by field test data.