TOA/TOA-AOA Passive Localization Methods in the Presence of the Sensor Motion Effect and Unknown Underwater Acoustic Signal Propagation Speed

SUN Ting; WANG Wei; GAO Jing-jie; CHEN Peng; DONG Yang-yang; DONG Chun-xi

doi:10.12263/DZXB.20240319

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TOA/TOA-AOA Passive Localization Methods in the Presence of the Sensor Motion Effect and Unknown Underwater Acoustic Signal Propagation Speed

PAPERS | 更新时间：2025-12-08

- TOA/TOA-AOA Passive Localization Methods in the Presence of the Sensor Motion Effect and Unknown Underwater Acoustic Signal Propagation Speed
- ACTA ELECTRONICA SINICA Vol. 53, Issue 2, Pages: 409-419(2025)
- 作者机构：
  
  1.长安大学信息工程学院，陕西西安 710064
  2.西安电子科技大学电子工程学院，陕西西安 710071
- 作者简介：
- 基金信息：
  
  Natural Science Basic Research Program of Shaanxi(2023-JC-QN-0743);Research Funds for the Interdisciplinary Project, CHU(300104240912);Fundamental Research Funds for the Central Universities, CHU(300102243401)
- DOI：10.12263/DZXB.20240319
  CLC： TN971.5;
- Received：09 April 2024，
  
  Revised：2024-11-11，
  
  Published：25 February 2025
- 稿件说明：
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孙霆, 王威, 高婧洁, 等. 传感器运动效应下水声信号传播速度未知的TOA/TOA-AOA水下无源定位方法[J]. 电子学报, 2025, 53(02): 409-419.

SUN Ting, WANG Wei, GAO Jing-jie, et al. TOA/TOA-AOA Passive Localization Methods in the Presence of the Sensor Motion Effect and Unknown Underwater Acoustic Signal Propagation Speed[J]. Acta Electronica Sinica, 2025, 53(02): 409-419.
孙霆, 王威, 高婧洁, 等. 传感器运动效应下水声信号传播速度未知的TOA/TOA-AOA水下无源定位方法[J]. 电子学报, 2025, 53(02): 409-419. DOI：10.12263/DZXB.20240319

SUN Ting, WANG Wei, GAO Jing-jie, et al. TOA/TOA-AOA Passive Localization Methods in the Presence of the Sensor Motion Effect and Unknown Underwater Acoustic Signal Propagation Speed[J]. Acta Electronica Sinica, 2025, 53(02): 409-419. DOI：10.12263/DZXB.20240319

摘要

现有无源定位模型均假定运动传感器的位置在电磁波信号传播过程中不变或近似不变，该模型对于自由空间中电磁波信号定位场景较为合理.然而在声波、地震波等慢信号定位场景中，传感器与目标相对运动导致的定位移动距离与信号传播距离的比值不容忽略，继续采用现有无源定位模型可能会带来较大性能损失.针对该问题，本文以水声定位为例，开展存在传感器运动效应（Sensor Motion Effect，SME）和未知水声信号传播速度的无源定位方法研究.首先建立存在SME的水下无源定位观测模型，分析现有定位模型未考虑SME的性能损失原因，并导出新模型下的克拉美-罗下界（Cramer-Rao Lower Bound，CRLB）；随后提出联合估计合作目标位置与水声信号传播速度的闭式解；最后通过理论分析与仿真实验验证了本文所提方法的有效性和优越性.

Abstract

The existing passive localization methods assume that the moving sensor positions remain unchanged (or approximately unchanged) during signal propagation. This assumption is reasonable in the free space of wireless radio propagation. However

in environments where slow signals such as acoustic waves or seismic waves are used for localization

the relative motion between the sensors and the unknown targets results in a non-negligible ratio of the movement distance to the signal propagation distance

using existing passive localization models may lead to substantial performance loss. To address this issue

this paper take the underwater acoustic localization scenario as an example to investigate the passive localization algorithm in the presence of the Sensor Motion Effect (SME) and the unknown underwater acoustic signal propagation speed. We first establish the observation model for underwater passive localization with SME

analyze the performance loss due to neglecting SME in existing localization models

and derive the Cramer-Rao Lower Bound (CRLB) for the new localization scenario. Subsequently

the closed-form solution is developed for determining the source position and the unknown underwater acoustic signal propagation speed. The effectiveness and superiority of the proposed method are validated through theoretical analysis and numerical simulations.

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references

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