| 摘要 |
A method for determining the motion of a target in underwater acoustics by means of an antenna with misaligned sensors (C1, C2P, C3) provided with a central sensor C2P. It consists in estimating the characteristics of velocity (Vx, Vy) and position of the target x(t*), y(t*) relatively to the antenna by means of a likelihood maximum estimator taking account of the differences in propagation times measured between the wave fronts transmitted by the target and reaching the sensors. The motion estimator is initialized by means of an initial state vector X determined on the basis of the values of the azimuths of the target perceived from the mid-points of each pair of sensors, during a determined number of measurements staggered in time. The action of the state vector X takes place in taking account of the value of the elevation of the target with respect to the antenna.
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