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

孙霆; 王威; 高婧洁; 陈鹏; 董阳阳; 董春曦

doi:10.12263/DZXB.20240319

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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

学术论文 | 更新时间：2025-12-08

- 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
- TOA/TOA-AOA Passive Localization Methods in the Presence of the Sensor Motion Effect and Unknown Underwater Acoustic Signal Propagation Speed
- 电子学报 2025年53卷第2期页码：409-419
- 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：
  
  孙霆男，1994年1月出生于山西省汾阳市.现为长安大学信息工程学院讲师、硕士生导师.主要研究方向为无源定位、多基地定位及雷达对抗技术. E-mail: sunting123a@126.com
  王威男，1981年9月出生于湖北省荆门市.现为长安大学信息工程学院教授、博士生导师.主要研究方向为车联网定位导航技术、通信感知一体化. E-mail: wei.wang@chd.edu.cn
  高婧洁女，1988年8月出生于陕西省西安市.现为长安大学信息工程学院副教授、硕士生导师.主要研究方向为无线网络通信、定位及导航. E-mail: gaojingj@chd.edu.cn
  陈鹏男，1992年4月出生于安徽省合肥市.现为长安大学信息工程学院讲师、硕士生导师.主要研究方向为阵列信号处理、声学信号处理. E-mail: pchen@chd.edu.cn
  董阳阳男，1991年5月出生于安徽省蚌埠市.现为西安电子科技大学电子工程学院副教授、硕士生导师.主要研究方向为阵列信号处理、雷达对抗. E-mail: dongyangyang2104@126.com
  董春曦男，1970年12月出生于河南省三门峡市.现为西安电子科技大学电子工程学院教授、博士生导师.主要研究方向为电子对抗技术、电子侦察信号处理、电子战系统设计、成像雷达干扰等. E-mail: chxdong@mail.xidian.edu.cn
- 基金信息：
  
  陕西省自然科学基础研究计划(2023-JC-QN-0743);长安大学青年学者学科交叉团队建设项目(300104240912);长安大学中央高校基本科研业务费专项资金(300102243401)
- DOI：10.12263/DZXB.20240319
  中图分类号： TN971.5;
- 收稿：2024-04-09，
  
  修回：2024-11-11，
  
  纸质出版：2025-02-25
- 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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