Acoustic Detection Location and Tracking Based on UKF and Fusion
Gao Yong · Electronics Optics & Control · 2010
Passive acoustic detection location and tracking is a nonlinear system state estimation problem.Augment Unscented Kalman Filter(UKF) method was applied in the multi-sensor passive acoustic detection location and tracking to reduce system complexity and improve system practicability.The acoustic sensor's measured azimuths were used to cross locate the target position.The augment UKF passive acoustic detection location and tracking state and observation equations were established.In order to improve the tracking precision,an unequal-weighted fusion algorithm,which based on the support degree among the sub-filtered estimation value,was used to fuse the UKF sub-filtered estimation value and get a fusion estimation value.Simulation result showed that the acoustic detection location and tracking method using augment UKF and the novel fusion can track the irregular movement acoustic target,which has good performance in tracking precision and will play an important role in engineering applications.