中文摘要：

现有的水下动态威胁运动状态估计主要采用单级估计方法，该方法将动态威胁的速度分解到三个坐标轴分别进行估计，没有考虑运动体速度的整体性．本文提出了一种双贝叶斯估计方法，首先利用自适应贝叶斯估计方法对水下动态威胁的速度大小和方向进行估计，再以此为输入，利用无迹贝叶斯估计方法估计其位置．与传统方法相比，双贝叶斯估计方法充分考虑了水下动态威胁速度的整体性，其有效性和精确性在仿真试验中得到验证．

英文摘要：

For the issue of motion estimation of underwater dynamic threat, single - stage estimation method is utilized extensively in which velocity is decomposed to three coordinate axes for independent calculation. In or- der to consider the integrity of the speed, a double Bayesian estimation method is proposed in this paper. In the first stage of the improved approach, the velocity and direction of underwater dynamic threat are estimated by the adaptive Bayesian estimation, and then the position is estimated by the unscented Bayesian estimation in the second stage with the joint efforts of the estimated results in the first stage. Simulation results are provid- ed to verify the feasibility and effectiveness of the proposed method.