璐，女，博士，主要研究方向为目标运动分析、系统建模与仿真，发表纯距离目标运动分析领域研究论文10余篇，参与完成科研项目6项，编写教材3部。

章 绪论 ················································································ 1
1.1 纯距离目标运动分析基本概念 ·············································· 1
1.2 纯距离目标运动分析的研究现状 ··········································· 4
1.2.1 可观测性分析的研究现状 ············································ 4
1.2.2 目标定位与跟踪算法的研究现状 ··································· 6
1.2.3 单观测站机动航路优化的研究现状 ································ 7
1.2.4 静止多观测站站址布局优化的研究现状 ·························· 7
1.2.5 基于纯距离的水下声学传感器网络节点自定位算法的研究现状 ························································ 8
1.2.6 基于纯距离的水下声学传感器网络目标跟踪算法的研究现状 ·································································
1.3 纯距离目标运动分析的研究热点 ··········································· 9
1.4 本书的组织结构 ······························································· 10
第2 章 单站纯距离系统可观测性分析 ·············································· 12
2.1 引言 ·············································································· 12
2.2 系统数学描述 ·································································· 13
2.2.1 直角坐标系下的系统数学描述 ····································· 13
2.2.2 极坐标系下的系统数学描述 ········································ 14
2.2.3 修正极坐标系下的系统数学描述 ·································· 15
2.3 系统可观测性定义 ···························································· 16
2.4 系统可观测分析 ······························································· 17
2.4.1 观测站静止、目标静止时的系统可观测性分析 ················ 18
2.4.2 观测站静止、目标匀速直线运动时的系统可观测性分析 ···· 18
2.4.3 观测站静止、目标匀加速直线运动时的系统可观测性分析 ··· 21
2.4.4 观测站匀速直线运动、目标静止时的系统可观测性分析 ···· 21
2.4.5 观测站匀速直线运动、目标匀速直线运动时的系统可观测性分析 ·························································· 24
2.4.6 观测站匀速直线运动、目标匀加速直线运动时的系统可观测性分析 ·························································· 25
2.4.7 观测站匀加速直线运动、目标静止时的可观测性分析 ······· 25
2.4.8 观测站匀加速运动、目标匀速直线运动时的可观测分析 ···· 26
2.4.9 匀加速运动观测站、匀加速直线运动目标的可观测分析 ···· 27
2.4.10 其他结论 ······························································ 31
2.5 单站纯距离系统与单站纯方位系统可观测性比较 ······················· 32
第3 章 单站纯距离系统目标定位与跟踪算法研究 ······························· 33
3.1 引言 ·············································································· 33
3.2 系统数学模型 ·································································· 34
3.3 基于最小二乘原理的目标参数估计算法 ·································· 36
3.3.1 递推格式的目标参数估计算法 ····································· 36
3.3.2 基于全局收敛策略的目标参数估计算法 ························· 40
3.4 基于极大似然原理的目标参数估计算法 ·································· 48
3.4.1 单站纯距离系统的极大似然估计 ·································· 48
3.4.2 基于全局收敛策略的改进算法 ····································· 51
3.4.3 仿真试验及分析 ······················································· 52
3.5 UKF 算法的基本原理 ························································· 57
3.5.1 UT 变换 ································································· 57
3.5.2 标准UKF 算法 ························································ 58
3.5.3 迭代UKF 算法 ························································ 59
3.5.4 仿真试验及分析 ······················································· 60
3.6 自适应迭代UKF 算法 ························································ 63
3.6.1 自适应迭代UKF 算法步骤 ········································· 63
3.6.2 仿真试验及分析 ······················································· 64
第4 章 单站机动航路优化研究 ······················································· 70
4.1 引言 ·············································································· 70
4.2 观测站匀速直线一次转向机动时的可观测度分析 ······················ 71
4.2.1 可观测度的定义 ······················································· 71
4.2.2 仿真试验及分析 ······················································· 72
4.3 单站纯距离测量模型的CRLB ·············································· 74
4.3.1 定位与跟踪误差下限 ················································· 74
4.3.2 单站纯距离测量模型CRLB 计算 ·································· 76
4.4 观测站机动航路优化研究 ··················································· 78
4.4.1 航路优化问题的提出 ················································· 78
4.4.2 匀速直线一次转向机动优化航路 ·································· 79
4.4.3 匀速转弯机动优化航路 ·············································· 82
4.5 航路优化的方法 ······························································· 85
第5 章 多站纯距离系统可观测性分析 ·············································· 87
5.1 引言 ·············································································· 87
5.2 多站纯距离系统的数学描述及可观测性定义 ···························· 87
5.2.1 直角坐标系下的系统描述 ··········································· 87
5.2.2 多站纯距离系统可观测性的定义 ·································· 88
5.3 多站纯距离系统可观测性分析 ············································· 89
5.3.1 可观测性分析 ·························································· 89
5.3.2 多站纯距离系统与多站纯方位系统可观测性比较 ············· 93
5.3.3 多站纯距离系统与多站距离差系统可观测性比较 ············· 93
第6 章 多站纯距离系统目标定位与跟踪算法研究 ······························· 95
6.1 引言 ·············································································· 95
6.2 “蛙跳”算法 ·································································· 96
6.2.1 “蛙跳”算法原理 ···················································· 96
6.2.2 仿真试验及分析 ······················································· 97
6.3 集中融合式定位算法 ························································· 99
6.3.1 集中融合式定位算法原理 ··········································· 99
6.3.2 仿真试验及分析 ····················································· 101
6.3.3 与多站TDOA 定位精度比较 ····································· 103
6.4 基于最小二乘原理的定位算法 ··········································· 108
6.4.1 多观测站最小二乘定位原理 ······································ 108
6.4.2 线性近似法 ··························································· 109
6.4.3 基于全局收敛策略的牛顿迭代算法 ····························· 109
6.4.4 仿真试验及分析 ······················································ 110
6.5 改进粒子滤波算法 ··························································· 111
6.5.1 标准粒子滤波算法基本原理 ······································· 111
6.5.2 粒子滤波算法存在的主要问题 ···································· 115
6.5.3 基于遗传算法的改进粒子滤波算法 ······························ 116
6.5.4 基于简化入侵式野草优化理论的改进粒子滤波算法 ········ 121
第7 章 静止多站站址布局优化研究 ··············································· 130
7.1 引言 ············································································ 130
7.2 定位误差分析 ································································ 131
7.3 三站站址布局模型 ·························································· 133
7.3.1 观测站相对位置对定位精度的影响 ····························· 133
7.3.2 测距误差对定位精度的影响 ······································ 138
7.3.3 站址误差对定位精度的影响 ······································ 138
7.3.4 目标高度对定位精度的影响 ······································ 139
7.3.5 仿真分析 ······························································ 140
7.4 站址布局优化 ································································ 140
7.4.1 站址布局优化问题的提出 ········································· 140
7.4.2 站址布局优化模型 ·················································· 142
7.4.3 仿真试验及分析 ····················································· 143
第8 章 基于纯距离的水下声学传感器网络节点定位算法 ···················· 145
8.1 引言 ············································································ 145
8.2 节点定位问题描述与节点定位算法 ····································· 147
8.2.1 节点定位问题与节点定位算法的分类 ·························· 147
8.2.2 基本节点定位算法 ·················································· 149
8.2.3 节点定位算法的评价指标 ········································· 150
8.2.4 水下声学传感器网络中基于TOA 的测距 ····················· 153
8.3 自组织过程中的数据传播算法 ··········································· 154
8.3.1 基于深度优先遍历的数据传播算法 ····························· 155
8.3.2 分布式的并发无冲突数据传播算法 ····························· 157
8.4 考虑局部拓扑关系的分布式节点定位算法 ····························· 160
8.4.1 基本原理 ······························································ 161
8.4.2 Layer-TERRAIN ····················································· 162
8.4.3 试验及分析 ··························································· 167
第9 章 基于纯距离的水下声学传感器网络目标跟踪算法 ···················· 169
9.1 引言 ············································································ 169
9.2 测距的可实现性 ····························································· 170
9.2.1 单目标的声强测距模型 ············································ 170
9.2.2 多目标的声强测距模型 ············································ 171
9.3 分布式跟踪系统结构 ······················································· 171
9.3.1 动态簇的组建 ························································ 171
9.3.2 基于动态簇的目标跟踪过程 ······································ 174
9.4 基于粒子滤波的分布式目标跟踪算法 ··································· 175
9.4.1 基于加权质心的预处理机制 ······································ 175
9.4.2 分布式粒子滤波算法 ··············································· 176
9.5 基于量化观测理论的改进粒子滤波算法 ································ 181
9.5.1 量化估计原理 ························································ 182
9.5.2 试验与分析 ··························································· 183
0 章 水下声学传感器网络目标跟踪原型系统 ······························ 186
10.1 引言 ··········································································· 186
10.2 水声节点硬件结构 ························································· 187
10.2.1 水声通信模块主要功能 ·········································· 187
10.2.2 水声通信模块结构 ················································ 188
10.3 软件体系结构 ······························································· 190
10.3.1 网络结构组件 ······················································ 192
10.3.2 数据库管理算法 ··················································· 196
10.3.3 数据融合算法 ······················································ 197
10.3.4 路由协议 ···························································· 198
10.4 原型系统 ····································································· 199
参考文献 ··················································································· 201

纯距离目标运动分析，是通过获取运动目标的距离信息，并利用这些随时间变化的距离序列来实时估计目标运动参数的技术。随着无线传感器网络的不断发展，纯距离目标运动分析在舰艇雷达组网定位、声纳浮标搜潜、舰炮射击协同式检靶等领域中，得到越来越广泛的应用。本书基于上述