Passive Location And Tracking Algorithm For The Subsurface-buoy System With A Circular Acoustic Vector Sensor Array

In the passive surveillance submarine target system,how to expand the blocked range of the surveillance submarine target and achieve remote target positioning and real-time tracking within the blocked range is an important technical goal of the submarine target system.With the development of vibration and noise reduction technology,the concealment of submarines in the ocean is getting better and better.It is more and more difficult for the passive submersible system to accurately obtain the position information of the remote target.The inaccurate estimation will directly lead to the problem of inaccurate positioning of remote targets.Therefore,the primary task of realizing precise positioning and tracking of remote targets in passive submersible systems is to obtain accurate remote target position information using submersibles.This article starts from a single submersible,explains the reason why the vector circular array is selected as the submersible,introduces the principle of azimuth estimation of the farfield target of the vector circular array submersible,and compares the performance of azimuth estimation of two preprocessing and three spatial spectrum methods of the vector circular array.The results show that the spatial spectrum of the minimum-variance undistorted beamforming method of the vector circular array element domain has a narrow main lobe and a low sidelobe level,and is less affected by changes in the signal-to-noise ratio.Cross-spectrum method,which can improve the target's azimuth estimation accuracy at a lower spectral level signal-to-noise ratio.Aiming at how to improve the passive positioning accuracy of the vector submersible system,a positioning model of the dual(three)vector submersible system is constructed in this paper.Using the direction finding results of the vector circular array submersible,the geometrical dilution analysis of the positioning accuracy is discussed in the alert range.In this paper,the distribution of positioning accuracy of the double(three)vector submersible system is simulated and analyzed on how to deploy the double(three)vector submersibles to improve the positioning accuracy of targets within the alert range.For the three-vector submersible system,the parameter optimization methods(pseudo-linear,modified auxiliary variables,maximum likelihood,and least squares)are used to improve the positioning accuracy of the system and the effectiveness of the method is verified through simulation.The positioning accuracy of the vector submersible system and the three vector submersible system are compared and analyzed.Finally,this paper uses the dual(three)vector submersible system to perform linear Kalman filtering,non-linear Kalman filtering,and particle filter tracking performance comparison analysis on the direct positioning position information and observation azimuth information of four situational targets.The filtering method of the target tracking accuracy of the(double)three-vector submersible system,and the tracking performance of the two-vector submersible system and the three-vector submersible system are compared and analyzed.