水下纯方位系统可观测性Gram判别矩阵统计特性仿真分析

摘要纯方位系统目标运动分析（BOTMA）的问题来自水声传感器系统，它面临的主要课题是如何利用观测角来求得目标的位置以及运动参数，难点在于它的非线性和可观测性。本文在其可观测性问题上进行了一些研究探讨，内容包括两个部分。
一、研究BOTMA的可观测性Gram判别矩阵（GM）。将测量方程线性化，导出了可观测性判据GM的解析式，同时得到其可观测的充要条件：存在四个方位测量值，使得由它们组成的可观测判别式非零。
二、分析蒙特卡洛（MC）抽样思想以及可观测性Gram判别矩阵特征参数的统计特性。在观测器作典型折线机动和圆弧机动的前提下，针对匀速直线运动（CV）目标，采用MC方法，对Gram判别矩阵的一系列特征参数进行了统计仿真分析。23131
关键词纯方位可观测性 Gram矩阵统计特性蒙特卡洛
毕业设计说明书（毕业论文）外文摘要
Title    The Statistical Property Analysis of Underwater Bearings-Only System’s Gram Matrix
Abstract
Bearings-only Target motion analysis (BOTMA) originates from hydro acoustic passive sensor observation system. The fundamental problem is to estimate the target motion parameters using bearings-only measurements. The main features of bearings-only system are its nonlinearity and observability. To formally characterize the conditions required for observability, an analytic expression for the observability criteria of BOTMA is derived.This dissertation presents some discuss with respect to BOTMA observability. The main contents are stated as follows. (1) The analytic expression of Gram matrix (GM) determinant is derived by linearizing the measurement equation, and a sufficient and necessary condition for observability of bearings-only system is then obtained. According to the condition, a bearings-only system is observable if and only if there exist four bearings of which the observability discriminant equation is not equal to zero. (2) This part mainly studies the monte carlo sampling and analyzes the statistical property of observability gram matrix. Suppose under an constant velocity motion target and a piecewise line motion observer, the determinants, eigenvalues and conditions of GM are analyzed using the monte carlo method.
Keywords Bearings-only Observability Gram matrix Statistical property Monte Carlo
目   次
1 绪论    1
1.1 课题研究背景及意义    1
1.2 国内外研究现状    1
1.3 课题研究内容及思路    3
1.4 论文结构安排    4
2 BOTMA基础    6
2.1 概述    6
2.2 BOTMA的数学模型    6
2.3 BOTMA的研究内容    10
2.4 BOTMA可观测性研究基础    10
2.5 小结    11
3 水下纯方位系统的可观测性判据    12
3.1 概述    12
3.2 CV目标可观测性Gram判别矩阵    12
3.3 可观测判别式    13
3.4 可观测性定理    16
3.5 蒙特卡洛抽样思想    18
3.6 小结    19
4 观测器折线运动可观测性Gram判别矩阵特性仿真分析    20
4.1 概述    20
4.2 可观测性Gram判别矩阵特征参数    20
4.3 系统仿真数值参数    21
4.4 观测站匀速直线运动Gram矩阵特征参数统计特性数值仿真    21 水下纯方位系统可观测性Gram判别矩阵统计特性仿真分析:http://www.751com.cn/zidonghua/lunwen_16069.html