| 内容提要: |
With the development for terrorism crime from land to underwater，the underwater terrorism such as damaged commercial and military harbor facilities has already caused widespread concern. Divers are a kind of the weapon mainly used to invade the shallow areas, monitor the military port and attack maritime ports. In order to protect the damages of the divers and effectively improve security of Territorial Ocean, A Detection and Tracking Diver Method based on Energy Detection and Extended Kalman Filter (EKF) algorithm is proposed, simple named DTDM. In DTDM, energy detection method as a kind of passive detection methods is used to obtain the relationship between the detection probability and distance as well as avoid possible interference with marine animals. In further, by 3D location method we can obtain the coordinate of target. It is necessary for reduction affection from marine animals to notice marine animals not to be closer by using this method of transmitting some signals. Without interruption from the random signals from marine animals, we can obtain the coordinate of the divers used energy detection and 3D location method. Based on the parameters of difference time-delay and Doppler Shift, EKF method can track the divers. DTDM can reduce the energy consumption and improve the accuracy of detecting and tracking the divers. |