Target Passive Positioning Tracking Algorithm And Software Implementation Of Multi-Vector Hydrophone

The development of underwater acoustic technology is essential for human exploration of the ocean.Due to the strong concealment of passive detection systems for underwater targets,related technologies have been widely used.The pure azimuth target tracking technology,as one of the important branches,has gradually attracted widespread attention.For the vector hydrophone,this paper first introduces several classical direction finding algorithms,and compares and analyzes the angle estimation performance through simulation experiments,and demonstrates that the algorithm with higher accuracy and better stability for a single vector hydrophone can be used as the follow-up target tracking.basis.Under a relatively simple framework such as a single target,aiming at the nonlinearity of the measurement model in the pure azimuth target tracking,the extended Kalman filter(EKF),the unscented Kalman filter(UKF),the Gauss-Hermite Kalman filter(GHKF))and volumetric Kalman filter(CKF)filters under nonlinear measurement are analyzed and compared,and the tracker with the best performance in pure azimuth tracking is selected.In the actual multi-target tracking situation,the state set of the target and the measurement set of the data received by the array are dynamically changed,and the observation process is also affected by clutter.The multi-target tracking method based on random finite set(RFS)theory can simplify the multi-target tracking process by treating the states and measurements of multiple targets at any time as a finite set.In this paper,the probability hypothesis density filter(PHD),potential probability hypothesis density filter(CPHD)and a CPHD approximation filter based on discrete gamma model(DG-CPHD)algorithm based on RFS theory are studied,and the Gaussian mixture realization steps are deduced.And extended to the nonlinear Gaussian model,the simulation comparison of several algorithms based on the selected multi-target tracking technical indicators proves that the performance of DG-CPHD is improved compared with PHD and CPHD.In order to make the data display more intuitive and convenient,and to better realize human-computer interaction,the Microsoft Basic Class Library(MFC)is used to complete the design of the display and control software,which can analyze and process the received sound source target signal,and further pass the first The algorithm researched in chapter four realizes the positioning and tracking of the target,and displays the tracking track directly on the interface.