Method for utilizing foresight sonar image for predicting motion of multiple underwater dynamic targets

The invention relates to a method for utilizing a foresight sonar image for predicting the motion of multiple underwater dynamic targets. The method is characterized in that the foresight sonar image is read, and a dual-threshold segmenting method is adopted for extracting dynamic target regions in the image; the dynamic target regions are calculated for determining a matrix omega, and whether new dynamic target tracks occur is judged; if the problem of prediction of the motion of the multiple underwater dynamic targets can be converted into the problem of respective prediction of the multiple independent dynamic targets, a particle filter method is adopted for predicting the motion of the dynamic targets; if the problem of prediction of the motion of the multiple underwater dynamic targets can not be converted into the problem of respective prediction of the multiple independent dynamic targets, the fusion strategy of a particle prediction clue is determined, a particle weight is calculated, and new position prediction of the dynamic targets is finished; multiple times of current measurement and the prediction tracks of the multiple dynamic targets are correlated; the above steps are repeated until the task of prediction of the motion of the dynamic targets is finished, and the tracks obtained correspondingly are the final tracks of the motion of the dynamic targets.