基于弯曲声线和测距修正的水下节点定位算法

doi:10.12263/DZXB.20210734

电子学报 ›› 2022, Vol. 50 ›› Issue (7): 1567-1572.DOI: 10.12263/DZXB.20210734

基于弯曲声线和测距修正的水下节点定位算法

陈嘉兴¹^,⁴, 程杰¹^,²^,³, 董云玲¹^,²^,³, 刘志华¹^,²^,³

^1.河北师范大学计算机与网络空间安全学院, 河北石家庄 050024
^2.河北师范大学河北省网络与信息安全重点实验室, 河北石家庄 050024
^3.河北师范大学河北省供应链大数据分析与数据安全工程研究中心, 河北石家庄 050024
^4.河北正定师范高等专科学校, 河北石家庄 050800

收稿日期:2021-06-10 修回日期:2022-03-20 出版日期:2022-07-25
- 作者简介:
- 陈嘉兴男，1977年1月生，天津人.教授，博士生导师，目前研究方向为水下信息物理系统理论研究、水声通信技术、感知融合下的水下协同控制等.E-mail:13930194955@163.com
  刘志华女，1977年4月生，河北沧州人. 教授，硕士生导师，目前研究方向为水声传感器网络协同定位与追踪、水下机器人航迹规划、自主水下机器人协同控制等.E-mail:hebtuliuzhihua@163.com
- 基金资助:
- 国家自然科学基金 (61771181)

Underwater Node Localization Algorithm Based on Ranging Correction and Curved Sound Ray

CHEN Jia-xing¹^,⁴, CHENG Jie¹^,²^,³, DONG Yun-ling¹^,²^,³, LIU Zhi-hua¹^,²^,³

^1.College of Computer and Cyber Security, Hebei Normal University, Shijiazhuang, Hebei 050024, China
^2.Key Laboratory of Network & Information Security, Hebei Normal University, Shijiazhuang, Hebei 050024, China
^3.Hebei Provincial Engineering Research Center for Supply Chain Big Data Analytics & Data Security, Hebei Normal University, Shijiazhuang, Hebei 050024, China
^4.Zhengding Advanced Normal College of Hebei, Shijiazhuang, Hebei 050800, China

Received:2021-06-10 Revised:2022-03-20 Online:2022-07-25 Published:2022-07-30
- Supported by:
- National Natural Science Foundation of China (61771181)

摘要/Abstract

摘要：

针对由于水下声速变化及障碍物干扰引起的定位误差较大的问题，本文提出了一种抛物模型定位算法.首先基于到达角度提出了适用于弯曲声线的抛物模型测距法.然后基于到达时间提出了非理想路径测距识别方法和理想路径测距修正方法.最后利用投影法结合最小二乘法完成定位.仿真实验表明，该算法在弯曲声线、路径识别、测距优化三个方面均能有效地降低误差.

关键词: 水下无线传感器网络, 定位算法, 距离修正, 弯曲声线, 路径识别

Abstract:

Aiming at the problem that the large error of underwater localization is caused by variable sound velocity and obstacles, a parabolic model ranging localization was proposed in this paper. Firstly, based on AoA(Angle of Arrival), a ranging method with parabolic models that is suitable for the curved sound ray was proposed. Then, based on ToA(Time of Arrival), the ranging recognition method of the non-ideal path and the ranging correction method of the ideal path were proposed respectively. Finally, the projection method and the least square method were used to complete the localization. The simulation results show that the algorithm can effectively reduce the localization error in three aspects, curved sound ray, path recognition, and ranging correction.

Key words: underwater wireless sensor networks, localization algorithm, ranging correction, curved sound ray, path recognition

中图分类号:

TP393

陈嘉兴, 程杰, 董云玲, 刘志华. 基于弯曲声线和测距修正的水下节点定位算法[J]. 电子学报, 2022, 50(7): 1567-1572.

CHEN Jia-xing, CHENG Jie, DONG Yun-ling, LIU Zhi-hua. Underwater Node Localization Algorithm Based on Ranging Correction and Curved Sound Ray[J]. Acta Electronica Sinica, 2022, 50(7): 1567-1572.

图/表 7

图1 节点分布模型

表1 仿真参数表

仿真参数	参数取值
网络区域	3 000×3 000×3 000 m³
通信半径R	300~1 500 m
参数 $P ˜$	1、0.1、0.01、0.001、0.000 1
参数Q	0.01、0.001、0.000 1
循环次数	100

表1 仿真参数表

仿真参数	参数取值
网络区域	3 000×3 000×3 000 m³
通信半径R	300~1 500 m
参数 $P ˜$	1、0.1、0.01、0.001、0.000 1
参数Q	0.01、0.001、0.000 1
循环次数	100

图2 参数P?与时间误差的关系

图3 通信半径与非理想路径识别率的关系

图4 参考节点数与参数Q对定位误差的影响

图5 参考节点数对定位误差的影响

图6 通信半径对定位误差的影响

参考文献 16

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基于弯曲声线和测距修正的水下节点定位算法

Underwater Node Localization Algorithm Based on Ranging Correction and Curved Sound Ray

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