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在三度空间水声跟踪系统中,由脉冲到达时刻计算被跟踪目标位置时,由于折射效应,必须进行声线修正。同时由于各种背景因素和测量系统本身某些因素的影响,所测得的数据势必会有误差,并且还可能包含有漏掉的和错误的数据。本文讨论了利用卡尔曼滤波技术处理水声跟踪系统测量数据的有关问题,以便尽司能精确地确定被跟踪目标的位置,改善系统的测量精度。如果计算机有较强的能力,也可以进行实时处理。在试验以后进行弹道分析时,卡尔曼滤波也是一种弹道平滑和远距离外推的有效方法。文中提出的处理方法,经适当修改后,原则上也可以用于处理其它类型的跟踪系统的测量数据。本文还提出了一种在利用卡尔曼滤波技术的同时,进行声线修正的方法。
In the three-space underwater acoustic tracking system, when the target position to be tracked is calculated from the pulse arrival time, the sound ray correction must be performed due to the refraction effect. At the same time, due to various background factors and some factors of the measurement system itself, the measured data will inevitably have errors, and may also contain omitted and wrong data. This article discusses the use of Kalman filter technology to deal with underwater acoustic tracking system measurement data related issues, so as to be able to accurately determine the location of the tracked object, to improve the measurement accuracy of the system. If the computer has a strong ability, but also for real-time processing. Kalman filtering is also an effective method for ballistic smoothing and long-range extrapolation when ballistic analysis is performed after the experiment. The treatment proposed in this paper, as appropriate, can in principle also be used to process measurements of other types of tracking systems. In this paper, we also propose a method of sound ray correction while using Kalman filtering technology.