Multi-UUV Collaborative Bearing-only Target Tracking Based on Boundary Constrained Particle Filter

Abstract

Due to the difficulties of filter initialization and packet loss in underwater acoustic data transmission faced by existing bearing-only target tracking algorithms, a multi-unmanned undersea vehicle(UUV) collaborative bearing-only target tracking algorithm based on boundary constrained particle filter was proposed, so as to meet the demand for multi-UUV collaborative detection of water surface targets in cross-domain collaboration at sea. Firstly, a master-slave collaborative detection model was proposed, which utilized the follower to report the state estimation results to the navigator for data fusion. Secondly, based on the prior information of UUV sensors and targets, a reliable particle generation method for the initial stage and a particle weight optimization method for the indicator function in the update stage were designed. Finally, a distributed fusion algorithm based on gray prediction was proposed to obtain the target prediction results. The simulation experiment compared this algorithm with other common algorithms and verified its effectiveness and feasibility under communication packet loss and noise interference.

Keywords

• unmanned undersea vehicle
• bearing-only target tracking
• particle filter
• collaboration detection
• data fusion