Page 5 - 《应用声学》2023年第3期
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第 42 卷 第 3 期                                                                       Vol. 42, No. 3
             2023 年 5 月                          Journal of Applied Acoustics                      May, 2023

             ⋄ 研究报告 ⋄



               水平线列阵方位-相速度联合的卡尔曼滤波方法                                                                    ∗




                        李 鑫    1,2   郭良浩      1†   章伟裕     1    徐 鹏    1    陈连荣      1   段正辰      3



                                    (1 中国科学院声学研究所       声场声信息国家重点实验室        北京   100190)
                                                (2 中国科学院大学      北京  100049)
                                            (3 中国人民解放军 92330 部队     青岛  266102)
                摘要：传统的水下被动测向方法通过波束形成估计目标角度，水平线列阵波束形成中的参考声速应使用声传
                播的相速度，在被动测向中，由于声源距离未知，因此在对目标角度估计时选取的参考声速与接收阵处的相速
                度往往存在偏差，从而影响测向精度。该文提出了一种水平线列阵方位 -相速度联合的纯方位扩展卡尔曼滤波
                方法，该方法引入相速度作为估计状态量以此校准参考声速，提高测向精度，进而改善了由于测向误差较大引
                起的纯方位扩展卡尔曼滤波算法跟踪结果发散的问题。浅海传播条件下的数值仿真结果表明，改进方法较常
                规纯方位扩展卡尔曼滤波算法具有更高的跟踪精度及稳健的跟踪性能。
                关键词：参考声速；相速度；纯方位扩展卡尔曼滤波
                中图法分类号: O429           文献标识码: A          文章编号: 1000-310X(2023)03-0443-11
                DOI: 10.11684/j.issn.1000-310X.2023.03.001




             Kalman filter method using bearing and phase velocity in horizontal linear array


              LI Xin 1,2  GUO Lianghao 1  ZHANG Weiyu   1   XU Peng 1   CHEN Lianrong  1  DUAN Zhengchen   3

                  (1 State Key Laboratory of Acoustics, Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China)
                                   (2 University of Chinese Academy of Sciences, Beijing 100049, China)
                                         (3 The 92330th Unit of PLA, Qingdao 266102, China)

                 Abstract: The conventional underwater passive direction finding method estimates the target angle through
                 beamforming. The reference sound velocity in horizontal linear array beamforming should use the phase
                 velocity of sound propagation. In passive direction finding, because the target distance is unknown, there is a
                 deviation between the reference sound velocity selected in the target angle estimation and the phase velocity,
                 which affects the direction finding accuracy. In this paper, a bearing only extended Kalman filter method
                 using bearing and phase velocity in horizontal linear array is proposed. In this method, the phase velocity is
                 added as the estimated state quantity to calibrate the reference sound velocity, improve the direction finding
                 accuracy, and then improve the divergence of tracking results of bearings only extended Kalman filter algorithm
                 caused by large direction finding error. The numerical simulation results show that the improved algorithm
                 has higher tracking accuracy and robust tracking performance compared with the conventional bearing-only
                 extended Kalman filter algorithm in shallow sea.
                 Keywords: Reference sound velocity; Phase velocity; Bearing-only extended Kalman filter


             2022-01-13 收稿; 2022-03-07 定稿
             中国科学院声学研究所自主部署 “目标导向” 类项目 (MBDX202105), 中国科学院青促会项目 (E2291103)
             ∗
             作者简介: 李鑫 (1996– ), 女, 内蒙古包头人, 硕士研究生, 研究方向: 水声信号与信息处理。
             † 通信作者 E-mail: glh2002@mail.ioa.ac.cn
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