Multi-UUV Collaborative Bearing-only Target Tracking Based on Boundary Constrained Particle Filter

Due to the difficulties of filter initialization and packet loss in underwater acoustic data transmission faced by existing bearing-only target tracking algorithms, a multi-unmanned undersea vehicle(UUV) collaborative bearing-only target tracking algorithm based on boundary constrained particle filt...

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Bibliographic Details
Published in水下无人系统学报 Vol. 32; no. 2; pp. 250 - 259
Main Authors Bo HAN, Hongli XU, Shaoxiong QIU, Wenrui ZHANG, Jingyu RU
Format Journal Article
LanguageChinese
Published Science Press (China) 01.04.2024
Subjects
bearing-only target tracking
collaboration detection
data fusion
particle filter
unmanned undersea vehicle
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Summary:Due to the difficulties of filter initialization and packet loss in underwater acoustic data transmission faced by existing bearing-only target tracking algorithms, a multi-unmanned undersea vehicle(UUV) collaborative bearing-only target tracking algorithm based on boundary constrained particle filter was proposed, so as to meet the demand for multi-UUV collaborative detection of water surface targets in cross-domain collaboration at sea. Firstly, a master-slave collaborative detection model was proposed, which utilized the follower to report the state estimation results to the navigator for data fusion. Secondly, based on the prior information of UUV sensors and targets, a reliable particle generation method for the initial stage and a particle weight optimization method for the indicator function in the update stage were designed. Finally, a distributed fusion algorithm based on gray prediction was proposed to obtain the target prediction results. The simulation experiment compared this algorithm with other
ISSN:2096-3920
DOI:10.11993/j.issn.2096-3920.2024-0050