| 摘要 |
The invention relates to a method for passive determination of target data R, K, V, which is associated with a target, from measured and estimated bearing angles. In this case, the measured bearing angles 4 are determined by means of a sonar receiving installation 2 by directionally selective reception of sound waves which are emitted or sent from a target, and the estimated bearing angles are determined from estimated positions of the target. The bearing angle differences from estimated and measured bearing angles are minimized iteratively over a plurality of processing cycles, and a position of the target, on which the minimum is based, is determined as the optimized solution 12. Furthermore, limit values 10 are defined for the target data R, K, V to be determined, in order to exclude unrealistic target data R, K, V as solutions. However, because, the optimized solution 12 from the optimization method 6 does not converge with the actual solution if the limit values 10 are chosen erroneously, an error handling process 14 for identification and correction of incorrect limit values is carried out according to the invention. Furthermore, the invention relates to an apparatus for carrying out the method according to the invention. |
