中文摘要：

声网络跟踪低空目标时,存在信号传输时延及强非线性等特点,针对这个问题,该文提出一种基于修正协方差扩展卡尔曼滤波的声网络定位跟踪算法。首先,利用时延方程约束,将目标纯方位数据进行时间校准;其次,通过自适应修正滤波中的协方差矩阵,提高非线性滤波的精度和稳定性。与EKF的仿真比较说明,该文所提方法的定位精度更高,跟踪性能更好。

英文摘要：

The target signal received by,acoustic sensor：haslthe charadters of time-clelay and bearing-only. A MVEKF （modified covariance extended Kalman filtering） based passive acoustic sensor network localization al- gorithm is present. According to the time-delay equation, the target beating angle will be corrected firstly. Then it modified the covariance matrix in filtering process. Finally, get the position estimation of the target, The simulation results show that, compared with the EKF method algorithm, it improves convergence speed, positioning accuracy and has better tracking performance.