Tracking Algorithm of Motion Acoustic Array Based on Multi-scale Sequential Kalman Filter

In order to study the motion acoustic array's real-time tracking to two-dimensional target in complex environment, the state equation and measurement equation based on the motion characteristics of dynamic acoustic array and two-dimensional target are established and converted into block form.Then,the state blocks are assigned onto different scales by wavelet transform.The relationship between the state and the measurement information in corresponding scale is established in time domain and frequency domain.After that,the multi-scale sequential Kalman filter algorithm is obtained based on the Kalman filter recursive theory,and the errors of motion acoustic array tracking system in spherical coordinates and rectangular coordinates are deduced by least square error estimation,which lays the theoretical foundation for improving the system tracking precision and provides a practical method for application.Compared with the traditional Kalman filter algorithm,the presented algorithm shows its validity and superiority in Matlab simulation.