UUV Target Tracking Method Based on High Order CGHF Algorithm
Kai Zhang, Hongjian Wang, Weiquan Huang, Shihao Huang · 2023
Abstract The delay in the signal detected by sonar due to the limited speed of sound, in unmanned underwater vehicle (UUV) bearing-only target tracking with signal propagation delay, Cubature Gauss-Helmert Filter (CGHF) is often used for target tracking. CGHF uses the third-order Spherical-Radial Cubature Rule (SRCR) to calculate the Gaussian weight integral. Because underwater target tracking is a highly nonlinear system, third-order SRCR has only third-order Taylor expansion term accuracy, the tracking error of CGHF algorithm is large. Aiming at the problem that third-order SRCR has only third-order Taylor expansion term accuracy, a CGHF algorithm based on high-order SRCR is proposed in this paper. In this paper, the state model of Gauss-Helmert model (GHM) is established, the state of the model includes the signal transmission time. The measurement model of underwater target tracking is also given. Based on the GHM model, a new high order CGHF (HOCGHF) is derived by using higher order cubature points. In this paper, a method of evaluating the tracking accuracy of underwater targets and setting the initial filter value is given. Two kinds of underwater target tracking scenarios with different nonlinear degrees are established. The simulation results show that HOCGHF algorithm can effectively track the target in two different underwater target tracking scenarios, and has higher tracking accuracy than the existing methods.