基于弯曲声线和测距修正的水下节点定位算法

陈嘉兴; 程杰; 董云玲; 刘志华

doi:10.12263/DZXB.20210734

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基于弯曲声线和测距修正的水下节点定位算法

学术论文 | 更新时间：2025-12-08

- 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
- 电子学报 2022年50卷第7期页码：1567-1572
- 作者机构：
  
  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
- 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" ]
- 基金信息：
  
  国家自然科学基金(61771181;62171179;62071167)
- DOI：10.12263/DZXB.20210734
  中图分类号： TP393
- 收稿：2021-06-10，
  
  修回：2022-03-20，
  
  纸质出版：2022-07-25
- 稿件说明：
移动端阅览
陈嘉兴,程杰,董云玲等.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(07):1567-1572.

CHEN Jia-xing,CHENG Jie,DONG Yun-ling,et al.Underwater Node Localization Algorithm Based on Ranging Correction and Curved Sound Ray[J].ACTA ELECTRONICA SINICA,2022,50(07):1567-1572.
陈嘉兴,程杰,董云玲等.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(07):1567-1572. DOI： 10.12263/DZXB.20210734.

CHEN Jia-xing,CHENG Jie,DONG Yun-ling,et al.Underwater Node Localization Algorithm Based on Ranging Correction and Curved Sound Ray[J].ACTA ELECTRONICA SINICA,2022,50(07):1567-1572. DOI： 10.12263/DZXB.20210734.

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.

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.

关键词

Keywords

references

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