Chinese Journal of Ship Research, Volume. 20, Issue 1, 125(2025)
Distance-keeping tracking algorithm of surface targets for USV based on bidirectional fitting filtering
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Table 1. Test parameter setting
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参数 数值 目标船安全距离 ${d_1}$ /m100 最大跟踪距离 ${d_2}$ /m200 目标船航速 ${v_{\text{m}}}$ /kn16 USV与目标船距离 ${x_1}$ /m375 USV与目标船距离 ${x_2}$ /m175 USV与目标船距离 ${x_3}$ /m150 USV与目标船距离 ${x_4}$ /m125 $x = {x_2}$ 时USV与目标船速度之$\Delta v$ 0.67 惩罚因子k 1 USV最大加速度 ${a_{\text{m}}}$ /(m·s−1)3 最大角速度 ${r_m}$ /((°)·s−1)10 雷达扫描周期T/s 1.5
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Xiaoqian SHI, Jia XU, Houjing CHEN, Xing WANG, Weizheng HU, Lifei SONG. Distance-keeping tracking algorithm of surface targets for USV based on bidirectional fitting filtering[J]. Chinese Journal of Ship Research, 2025, 20(1): 125
Paper Information
Category: Planning and Decision-making
Received: Jul. 25, 2024
Accepted: Dec. 26, 2024
Published Online: Mar. 13, 2025
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