Abstract
Passive sonar is widely used for underwater target tracking which has the advantages of long work distance and excellent concealment, so it has a widespread use in military and civil fields. In this paper, a target passive tracking method based on multiple autonomous underwater vehicles (AUV) is proposed. Passive sonar is utilized to detect and locate the target, and AUV's autonomy and good maneuverability are used to track the target. Firstly, a target tracking method with a single AUV is introduced in detail. Then, a target tracking method with multiple AUVs is proposed including the communication mode between AUVs, a cooperatively target localization method, and the motion control strategy of target tracking. Finally, the two methods are validated and compared by lake experiment. Experimental results show that using multiple AUVs to locate and track the target can track the target movement trajectory better. The method proposed has the advantages of high accuracy, good real-time performance, and strong robustness.
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