中文摘要：

分布式多输入多输k~（Multiple．InputMultiple—Output，MIMO）声纳是一种通过MIMO技术规划时空信道来提高声纳探测性能的新型主动探测声纳体制。由于分布式MIMO声纳节点分布间隔大，水中声速较小，由各发射节点同步发射的测距信号将经过不同的时延到达目标，因此各接收节点测得的距离值分别对应于目标不同时刻的状态。常规的定位方法并没有考虑传播时延对测量值的影响，因而定位精度受到限制。提出了一种修正时延的扩展卡尔曼滤波方法（ModifiedExtendedKalmanFilter,MEKF）对分布式MIMO声纳系统中的移动目标进行跟踪。仿真结果表明，与常规的目标定位跟踪方法相比，该方法有定位精度高、收敛速度快、跟踪性能稳定的特点。

英文摘要：

The distributed Multiple-Input Multiple-Output （MIMO） sonar system is new active detection sonar that offers detection improvement by planning space-time channels. The stations in such system are widely separated and the un- derwater sound velocity is small. There are different time delays for the signals launched from different transmitters to reach the target. Thereore, the distance measured at each receiver corresponds to the status of target at different time. The accuracy of common localization methods is limited because the time delay for transmission has not been taken into account. In this paper, a Modified Extended Kalman Filter method （MEKF） based on delay correction was proposed to deal with this target tracking problem. Simulation results showed that the MEKF method could provide higher accuracy, faster convergence and steadier performance.