基于误差预处理技术的水下被动目标跟踪方法

针对伪线性估计器有偏性问题进行了研究，指出产生有偏性的原因是由于将测量方位误差引入了测量方程。针对潜艇测量方位的变化特点，提出了一种对测量方位分段拟合的处理方法，将处理后的测量方位用于伪线性估计器。通过仿真实验，验证了该方法不但可以大大减小有偏性，而且提高了目标要素的解算速度。

Passive tracking of underwater target based on error pretreatment technique

The problem of the estimation bias in pseudo - linearization estimator is studied. It is put forward that the estimation bias is caused by the introduction of orientation error into the measurement equations. We put forward a treatment method based on the changes of the measured submarine orientation, i.e., to fit the measured orientation section by section, the orientation data after treatment is then sent for use in the pseudo - linearization estimator. Experiment results proved that the method can not only decrease the bias greatly, but also can speed up the calculation of target parameters.