Unmanned ship target tracking method based on extended Kalman filtering prediction

• Main Authors: ZHAO YI, YUAN KANGYI, CEN JIAJING, ZHANG YIFAN, ZHU QIGE
• Format: Patent
• Language: Chinese; English
• Published: 04.07.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses an unmanned ship target tracking method based on extended Kalman filtering prediction, and the method comprises the following steps: 1, executing a tracking task for a tracked target by an unmanned ship, and obtaining the navigation state information of the tracked target according to a sensing system or a cooperative intelligent system loaded on the unmanned ship; 2, establishing a state transition equation and an observation equation when the tracking target sails; step 3, predicting a tracking target state by adopting an extended Kalman filtering algorithm; 4, calculating the expected course of the unmanned ship according to the predicted tracking target state in combination with a pure tracking method; 5, according to the distance between the unmanned ship and the tracking target, the expected navigational speed of the unmanned ship is obtained through a PID controller; and step 6, the unmanned ship performs target tracking according to the expected course and the expected navigati