拖曳式基阵水下目标纯方位跟踪中左右模糊的解决
Resolving Left-Right Ambiguity During Bearing Only Tracking of an Underwater Target Using Towed Array
摘要：
在纯方位跟踪中，拖曳式基阵只能感知目标的方位角，但无法区分目标是在基阵的左侧还是右侧。因此，传统的跟踪算法在阵列的两侧产生轨迹，这在需要拦截时造成困难。在本文中，我们提出了一种方法的基础上的似然测量，随着估计可以解决左右模糊和跟踪目标。已经提出了一个案例研究中的目标移动（a）在一条直线上与一个接近恒定的速度，（b）机动与转弯，和观察员采取一个'U'状机动。该方法连同各种估计器已被应用，成功地解决了模糊度和跟踪目标。从位置和速度的均方根误差、偏差范数、航迹丢失率和相对执行时间等方面对跟踪结果进行了比较。
英文摘要：
In bearing only tracking using a towed array, the array can sense the bearing angle of the target but is unable to differentiate whether the target is on the left or the right side of the array. Thus, the traditional tracking algorithm generates tracks in both the sides of the array which create difficulties when interception is required. In this paper, we propose a method based on likelihood of measurement which along with the estimators can resolve left-right ambiguity and track the target. A case study has been presented where the target moves (a) in a straight line with a near constant velocity, (b) maneuvers with a turn, and observer takes a `U'-like maneuver. The method along with the various estimators has been applied which successfully resolves the ambiguity and tracks the target. Further, the tracking results are compared in terms of the root mean square error in position and velocity, bias norm, \% of track loss and the relative execution time.
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