Localization Theory and Processing

Combat System Track Evaluation and Management System(CSTEMS)

化理論與加工
作戰系統軌跡評估與分析管理系統（CSTEMS）

投影片 本文 譯文

(1 sec) This presentation will review the Combat System （1 秒）本演講將回顧戰鬥系統軌道評估管理系統本

Track Evaluation Management System Localization 地化理論和處理。 （2 秒）本演示文稿由海軍水面作戰
1 Theory and Processing. (2 sec) This presentation was 中心 Dahlgren Division，ASW Program Office 開發。
developed by the Naval Surface Warfare Center, Dahlgren

Division, ASW Program Office.

The topics covered in this presentation include the 本演示文稿中涉及的主題包括：拖曳陣列處理，自動

following: Towed Array processing, Automatic Data 數據光順，手動光順，條狀圖，殘餘顯示和評估器圖。
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Fairing, Manual Fairing, Strip Plot, Residual Displays, and

Evaluator Plot.

Raw sensor data is displayed in the time bearing and time 原始傳感器數據顯示在時間軸承和時間頻率圖中。 本
frequency plots. Ownship motion is displayed in the 船動作顯示在航向和速度圖中，以協助操作員驗證自
3 course and speed plot to assist operators in validating 動機動檢測。 這些曲線向下瀑布並顯示頂部的最新數
automatic ownship maneuver detection. These plots 據。
waterfall down and display the newest data at the top.

The system monitors ownship velocity in the X and Y 系統監控 X 和 Y 方向上的本機速度，以確定何時發生

directions to determine when a maneuver occurs. It 機動。 它標記著開始，（1 秒）結束，（1 秒）和拖曳
marks ownship maneuvers with Start, (1 sec) End, (1 sec) 陣列穩定線在所有三個地塊上的戰鬥機動。 時間軸承
4 and towed array stabilization lines across all three plots. 圖中提供了青色彎弓和深藍色船尾游標，以幫助操作
Cyan bow and dark blue stern cursors are provided in the 員定位以接觸方向。
time bearing plot to assist in operator orientation to

contact direction.

Towed array processing is driven by the geometry of the 牽引陣列處理由陣列中的傳感器的幾何形狀驅動。 單

sensors in the array. The individual acoustic sensors are 個聲學傳感器是全向水聽器。 這些元件將從任何方向
5 omni-directional hydrophones. These elements convert 接收的聲壓波轉換成電輸出。
acoustic pressure waves received from any direction into

electrical outputs.

A string of these hydrophones make up the towed array 一串這樣的水聽器組成拖曳陣列，並且輸出信號的時

and the time delay of the output signals is used to 間延遲用於測量聲壓波的相對輸入方位。 水聽器輸出
measure the relative input bearing of the acoustic 之間的零時間延遲指示與陣列軸成 90 度的信號方向。
6 pressure wave. A zero time delay between hydrophone 從任何方向成 90 度角產生相同的輸出。
outputs indicates a signal direction of 90 degrees from

the array axis. A 90 degree angle from any direction

produces the same output.

 At or near 90 degrees, small changes in input angle 在 90 度或接近 90 度時，輸入角度的小變化會在每個
produce measurable differences in signal reception from 水聽器的信號接收中產生可衡量的差異。 這從拖曳陣
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each hydrophone. This produces good bearing accuracy 列的梁產生良好的軸承精度。
from the beam of the towed array.

Acoustic signals that travel the length of the array provide 沿著陣列長度傳播的聲信號提供了水聽器輸出之間最
the longest time delay between hydrophone outputs. 長的時間延遲。 然而，輸入角度的小改變在每個水聽
However, small changes in input angle produce no 器的信號接收方面不產生可測量的差異。 從拖曳陣列
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measurable differences in signal reception from each 軸的前方或後方，軸承精度很差。
hydrophone. Bearing accuracy is poor from forward or

aft of the towed array axis.

Towed array processing uses a series of fixed time delays 拖曳陣列處理使用一系列固定時間延遲來創建 31 個最

to create 31 maximum response angles, numbered from 大響應角度，從陣列的前端編號。 每個角度圍繞拖曳
the forward end of the array. Each angle extends 360 陣列的軸線延伸 360 度。
9 degrees around the axis of the towed array. 拖曳陣列波束是在固定時間延遲限制內可以進行接觸
A towed array beam is the area surrounding each angle 檢測的每個角度周圍的區域。
where contact detection is possible within the fixed time

delay limitations.

Beams at or near 90 degrees are narrow and provide 90 度或接近 90 度的光束很窄，並提供良好的軸承精度

good bearing accuracy. Conical beams are formed with 隨著陣列接近端射，錐形束以降低的軸承精度形成。

10 decreasing bearing accuracy as the array approaches Endfire 橫梁很寬，軸承精度差。

endfire. Endfire beams are wide and provide poor

bearing accuracy.

The area above the array is bounded by the surface and 陣列上方的區域以地表為界，陣列下方的區域以潛艇
the area below the array is bounded by the maximum 的最大作業深度為界。 只有水平面被考慮用於直接路
11 operating depth of submarines. Only the horizontal plane 徑接觸檢測和跟踪。
is considered for direct path contact detection and

tracking.

Looking from the top down into the horizontal plane, a 從頂部向下看水平面，在梁內檢測到的接觸可能位於
contact detected within a beam could be on either side of 拖曳陣列的任一側。 這形成與拖曳陣列觸點相關的兩
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the towed array. This forms the two ambiguous bearings 個模糊軸承。
associated with a towed array contact.

For towed array contacts, both ambiguous bearings are 對於拖曳陣列觸點，最初繪製兩個不明確的軸承。 當

initially plotted. When ownship maneuvers, the 機動操縱時，自動機動檢測算法觸發兩個附加功能。
automatic maneuver detection algorithm triggers two 第一個確定拖曳陣列的前端或後端端射束是否穿過軸
13 additional functions. The first determines if either the 承到達接觸點。 發生這種情況時，將在操縱啟動時放
forward or aft endfire beam of the towed array crosses 置一條綠色的端射交叉線。
the bearing to the contact. When this occurs, a green

endfire crossover line is placed at maneuver start.

14 The second function is executed when the Ambiguity 當將 Ambiguity 控件選擇為外部時，將執行第二個功能。

 control is selected to external. Towed array ambiguity is 基於兩條腿之間的方位數據的一致性來解析拖曳陣列
resolved based on consistency in the bearing data 模糊度，並且不正確的數據會自動從顯示屏上移除。
between the two legs and the incorrect data is

automatically removed from the display.

Automatic Fairing provides smoothed bearing data to the 自動光順使用四點或八點整流罩間隔將平滑的方位數

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Strip Plot using either a four or eight point fairing interval. 據提供給條帶圖。

A least-squares-fit process computes bearing rate and 最小二乘擬合過程計算每個區間的軸承速率和頻率。

frequency rate for each interval. A ratio of the bearing 軸承比率的比率決定應用哪個區間，從而使用 8 個點
rates determines which interval is applied resulting in low 的低軸承比率和 4 個點的高軸承比率。 包括軸承和頻
bearing rates using eight points and high bearing rates 率在內的計算數據應用於八點間隔的第四點或四點間
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using four points. Computed data, including faired 隔的第二點。
bearing and frequency, is applied to either the fourth

point of an eight point interval or the second point of a

four point interval.

The fairing intervals shift to new data as it is received, 整流罩間隔在接收時會轉換為新數據，為每個輸入傳

17 providing each input sensor point with unique output 感器點提供唯一的輸出數據。
data.

At the beginning and end of each leg, partial fairing 在每條腿的開始和結束時，會出現部分整流罩間隔。

intervals occur. Fairing data for the first point is 第一個點的光順數據是從兩點擬合生成的。 第二點是
generated from a two point fit. The second point is faired 使用三點完成的，並且當第四個數據點被接收時再次
18 using three points, and again when the fourth data point 點亮。 第三點在接收到新數據時被仿真三次，並且是
is received. The third point is faired three times as new 第一個使用兩個時間間隔比較的點。
data is received and is the first point that uses a

comparison of the two time intervals.

At the end of each leg, a similar process occurs with the 在每條腿的末端，由於可用點較少，因此會出現類似
19 eight point interval shrinking as fewer points are 的過程，其中八點間隔縮小。
available.

Ekelund, Doppler Ekelund, and SPIESS ranges are derived Ekelund，多普勒 Ekelund 和 SPIESS 範圍是從每個機動

from the third point before and after each maneuver. 前後的第三個點獲得的。 由於局部整流間隔，這可能
This may degrade range accuracy in low bearing rate, high 會降低低方位範圍內的距離精度，以及高數據散射環
20 data scatter environments due to partial fairing intervals. 境。 隨著傳感器提供的新數據在 Strip 圖上出現初始範
The second leg is smoothed several times as new data 圍波動，第二條曲線會平滑多次。
becomes available from the sensor causing initial range

fluctuations on the Strip Plot.

Manual fairing intervals may improve automatic range 手動整流罩間隔可能會改善自動量程數據。

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data.

22 Determine if manual fairing intervals are required by 通過滑動光標滑過時間軸承圖，停止數據點並讀取軸

sliding the cursor through the time bearing plot, stopping 承速度，確定是否需要手動修整間隔。 如果點之間發
on data points, and reading the bearing rate. If large 生較大變化，則需要手動修整間隔。
 changes occur between points, manual fairing intervals

are required.

Create manual fairing intervals by selecting Manual 通過從分析工具欄中選擇 Manual Fairing 來創建手動整
23 Fairing from the analysis tool bar and left click in the time 流罩間隔，並在時間軸承圖中左鍵單擊以插入手動整
bearing plot to insert the manual fairing interval. 流罩間隔。

Adjust the placement of the start and end lines by moving 將光標移動到一條線上，選擇正確的軌跡球控件並移
the cursor to a line, select the right trackball control and 動軌跡球，調整起始線和終止線的位置。 當該行被選
24 move the trackball. The cursor changes into a hand when 中時，光標變成一隻手。 線路重新定位時釋放正確的
the line is selected. Release the right trackball control 軌跡球控制。
when the line is repositioned.

A least squares fit is used to compute a single bearing 最小二乘擬合用於計算每個手動整流罩間隔內所有點

rate and frequency rate for all points within each manual 的單個方位速率和頻率。 平滑軸承和頻率也由最小二
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fairing interval. Smoothed bearing and frequency is also 乘擬合導出。
derived from the least squares fit.

Bearing rate and frequency rate is constant within a 軸承速率和頻率在手動整流間隔內保持不變。

manual fairing interval. 當分析工具菜單被選擇為手動控制時，通過左鍵單擊
26 Delete unnecessary manual fairing intervals when the 開始線和結束線，可以刪除不必要的手動整流間隔。
analysis tool menu is selected to Manual Fairing by left

clicking between the start and end lines.

Smoothed bearings are displayed and labeled on the strip 平滑的軸承在前 10 分鐘內以周期性的一分鐘的形式在
plot on a one minute periodic for the first ten minutes. 帶狀圖上顯示和標記。 每 10 分鐘附加一次跟踪數據，
One minute is added to the display periodic for each ten 在顯示屏上週期性地添加一分鐘，直到軸承線之間最
27 minutes of additional tracking data up to a maximum of 5 多 5 分鐘。牽引陣列接點默認為第一段數據的端口模糊
minutes between bearing lines. A towed array contact 軸承。
defaults to the port ambiguous bearings for the first leg

of data.

When ambiguity is resolved, the bearing display 當模糊解決後，方位顯示自動切換到正確的一側。 居

28 automatically shifts to the correct side. Center the strip 中條形圖以最大化繪圖區域。
plot to maximize the plotting area.

As the second leg of data is received, range data is 當接收到第二段數據時，範圍數據會自動繪製並更新

29 automatically plotted and updated on the strip plot. Use 到帶狀圖上。 使用此數據來近似解決方案範圍。
this data to approximate the solution range.

Estimate contact motion based on consistency in bearing 根據數據所有支路間軸承間隔的一致性估算接觸運動。

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separation across all legs of data.

31 A speed strip is used to determine the contact solution. 速度條用於確定接觸解決方案。 棕色部分用於將 tic 標
The brown portion is used to match tic marks to the 記與軸承線匹配。 在軸承線的 0.8 度範圍內，tic 標記
bearing lines. The tic marks turn yellow when within 0.8 變為黃色，在軸承線的 0.2 度範圍內變為白色。 錨點確
of a degree of a bearing line and turn white when within 定初始範圍，默認為第一個方位線，但可以使用
0.2 of a degree of a bearing line. The anchor point Anchor 箭頭按鈕進行調整。 解決方案控制點不固定在
 determines initial range and defaults to the first bearing 軸承線上，並決定解決方案的軸承，過程，速度和最
line, but may be adjusted using the Anchor arrow 終範圍。
buttons. The solution control point is not fixed to a

bearing line and determines solution bearing, course,

speed, and final range.

The speed strip defaults to initial range of 20 thousand 速度條默認初始範圍為 20000 碼，航程 150 和速度 6.
yards, course 150, and speed 6. Residual Plots are used 殘差圖用於微調速度條解決方案。每個顯示屏中的中
to fine tune a speed strip solution. The center line in 心線代表當前的速度條解決方案。 與該解決方案相比，
32 each display represents the current speed strip solution. 基於原始輸入數據的差異創建殘餘點。 調整速度條以
Residual dots are created based on the difference in raw 獲得接觸解決方案。
input data as compared to that solution. Adjust the

speed strip to obtain a contact solution.

Note the change in the residual display as the speed strip 注意速度條接近軸承分離時剩餘顯示的變化。 放大剩
approximates bearing separation. Zoom in on the 餘顯示並使用它們來細化條帶圖上獲得的解。
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residual displays and use them to refine the solution
obtained on the strip plot.

Open the evaluator plot to verify the speed strip solution 通過單擊殘差菜單打開評估器圖以驗證速度條解決方
by clicking in the residuals menu. This plot excludes 案。 該圖通過使用所有腿數據點的聲音分析線排除聯
contact course/speed combinations from consideration 繫過程/速度組合。 第一條腿的承受速度在右側，而相
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by using line of sound analysis of all leg data points. The 對速度線左側的所有組合都被排除在外。
first leg bearing rate is to the right and all combinations to

the left of the relative speed line are excluded.

In the second leg, bearing rate is to the left and all 在第二階段，方位率在左側，排除相對速度線右側的
combinations to the right of the relative speed line are 所有組合。 本機速度矢量繪製為綠色，速度條解決方
excluded. An ownship speed vector is plotted in green 案繪製為黃色。 黃色接觸溶液應保留在紅色陰影區域。
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and the speed strip solution is plotted in yellow. The

yellow contact solution should remain in the red shaded

area.

Select the bearing only button to include range rate in the 選擇僅方位按鈕以在評估器陰影中包含範圍比率。 這
36 evaluator plot shading. This should only be done after a 應該只在獲得一個好的速度帶解決方案後才能完成。
good speed strip solution is obtained.

The initial contact geometry and the current speed strip 初始接觸幾何結構和當前速度條解決方案用於計算接
solution are used to compute an estimated base 觸的估計基礎頻率。 然後將估計的基頻與所有後續接
frequency for the contact. The estimated base frequency 收的頻率數據進行比較，以確定評估者陰影的範圍速
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is then compared to all subsequent received frequency 率。
data to determine range rate for the evaluator plot

shading.

38 When the evaluator plot is displayed, residual 當顯示評估者圖時，殘留信息疊加在時間軸承和時間

information is superimposed in the time bearing and time 頻率圖上。 原始傳感器數據為白色，並且速度條解決
 frequency plots. Raw sensor data is white and the 方案創建的殘留點為紫色。
residual dots created from the speed strip solution are

purple.

A blank evaluator plot, or one where the shading is 一個空白的評估者圖，或者其中陰影明顯不同於速度

significantly different than the speed strip solution, 條解決方案的圖，表示三個潛在問題之一：接觸鋸齒，
indicates one of three potential problems: a contact zig, 錯過或不正確的終點交叉，或需要手動整流間隔的高
39 a missed or incorrect endfire crossover, or a high data 數據分散環境。 操作員必須確定存在哪個問題並進行
scatter environment that requires manual fairing 糾正。
intervals. The operator must determine which problem

exists and correct it.

This concludes the presentation on CSTEMS localization 這就結束了關於 CSTEMS 本地化處理的介紹。

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processing.