基于矢量对偶四元数的水下机动目标自适应跟踪

To achieve reliable and accurate tracking of underwater maneuvering targets, in this paper, we proposed a novel adaptive tracking algorithm that regards the target as a rigid body and considers the translational and rotational coupling phenomena. Vector dual quaternions are utilized to model the kinematics and dynamics of a non-cooperative underwater target, and its six-degrees-of-freedom coupling motion is described using an integrated approach. As such, the kinetic characteristics of the underwater target are more concisely and precisely reflected. We propose an adaptive tracking algorithm for underwater maneuvering targets that considers unknown disturbances in the underwater environment and modifies the Kalman filtering gain in real time. The proposed algorithm overcomes the limitation of the traditional tracking algorithm of being unable to consider observations in a disturbed state. Finally, a Monte Carlo simulation is performed using Matlab software, the results of which show that the proposed algorithm can correctly and effectively track an underwater maneuvering target in a given underwater three-dimensional space.