Underwater target tracking method based on electromagnetic field feature multi-information fusion

The invention relates to an underwater target tracking method based on electromagnetic field feature multi-information fusion. The method comprises the steps of arranging a plurality of magnetic fieldsensors and electric field measurement electrodes in an array mode, obtaining the three-direction coordinate position initial solution of an underwater target, a magnetic dipole moment and an electric dipole moment through the calculation of a gradient positioning algorithm, establishing a state equation and an observation equation of the underwater target based on the underwater target electromagnetic field model, and performing nonlinear state estimation of the underwater target by adopting a particle swarm filtering algorithm to realize dynamic tracking of the underwater target. The methodis suitable for the field of underwater safety alert, and is good in algorithm adaptability and high in tracking precision. 本发明涉及一种基于电磁场特征多信息融合的水下目标跟踪方法，所述方法中，采用阵列形式布置多个磁场传感器和电场测量电极，在通过梯度定位算法计算得到水中目标的三方向坐标位置初始解、以及磁偶极矩和电偶极矩后，基