中文摘要：

针对广域下舰艇编队协同防空作战中面临的非线性、非高斯问题,提出了一种基于大地坐标系下舰艇编队协同防空分布式融合体系结构,并给出了大地坐标系下空中目标跟踪问题的运动模型及观测模型;基于该分布式结构,结合Unscented粒子滤波（UPF）和协方差交集（CI）融合方法设计完成了分布式无迹粒子滤波算法（DUPF-CI）,统一了近、中、远程情况下滤波融合算法,仿真结果表明该算法对舰艇编队协同防空可行且有效,系统跟踪精度及鲁棒性有了明显的提高.

英文摘要：

Considering the complicated non-linear models and non-Gaussian noise distributions faced by maritime cooperative anti-air combat in wide sea battleground,a decentralized fusion architecture based on geodetic coordinate system for surface ship formation is presented.In addition,more appropriate target motion model and measurement model based on geodetic coordinate system were provided in describing the maneuvering air target-tracking problem;on the other hand,by combining the unscented particle filter and the covariance intersection （CI） fusion method, a decentralized unscented particle filtering-covariance intersection algorithm （DUPF-CI） is developed. The proposed algorithm can unify tracking and fusion algorithms in short range, intermediate range and long-distance circumstances. The Monte Carlo simulation results show the efficiency and robustness for the maritime coop- erative anti air combat system, and the DUPF CI algorithm has a better tracking accuracy.