CN104391275B - Underwater acoustic network node mutual distance measurement method based on gamma distribution model - Google Patents
Underwater acoustic network node mutual distance measurement method based on gamma distribution model Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention provides an underwater acoustic network node mutual distance measurement method based on a gamma distribution model; the TDOA distance measurement process of multiple response mechanism is finished through certain time distribution strategy for the underwater communication network composed of N sub-nodes and one main control node and the range information is corrected based on gamma model. The distance measurement information is corrected and compensated for offering reliable guarantee for improving location accuracy. The underwater acoustic network node mutual distance measurement method based on the gamma distribution model takes full advantage of slower propagation speed of the sound in the water and adopts multiple response mechanism on distance measurement request signal for improving the distance measurement operation precision and efficiency.
Description
Technical field
The invention belongs to field of underwater acoustic communication, be related to marine acoustics, statistical signal detection and parameter estimation theories, probability theory,
The related disciplines such as underwater sound communication.
Background technology
With the quickening of countries in the world ocean development paces, the research of ocean underwater sound communication is into worldwide research
Focus.Range finding between underwater acoustic network node be its it is most basic be also one of most important function, be realize network-based vulnerability finding,
The basis of tracing task.
The existing frequently-used subaqueous sound ranging method in engineering is the TDOA (Time based on request range finding end and response range finding end
Difference of Arrival) method, by calculating the propagation delay of transmitting terminal and receiving terminal, and according to underwater sound propagation speed
Degree, draws range information, and basic process is as follows：
Request range finding end sends a request distance measuring signal, and records the delivery time time；When the signal is found range by response
After termination is received, a response distance measuring signal is returned to after postponing the pre- time set；Surveyed when response distance measuring signal is requested
After the detection of end, the time at current time is recorded, subtracted each other with the request distance measuring signal time is sent, calculate roundtrip propagation time delay, root
According to the underwater spread speed of sound, and then calculate range information.
The above method has following characteristics：
(1) range information of measurement is typically considered the sample of Gaussian distributed, such as patent CN 103163386A
The range finding Mathematical Modeling arrived used in content.But in real process, exist and detect mistake for distance measuring signal pulse front edge
Difference problem, causes the bigger than normal of range information, not fully meets Gaussian distribution feature, so that the positioning accurate of influence network node
Degree.
(2) effective amendment is not carried out to ranging information.Existing method is usually used multiple in order to improve range accuracy
The method that measurement is averaged.But in the case where range information is generally bigger than normal, this method is not that one kind is effectively repaiied
Correction method.
(3) acknowledgement mechanism of single is used.In order to obtain multigroup range information, it usually needs carry out multiple transmission range finding
The process of request signal-transmission response distance measuring signal.Because sound is relatively slow (1500m/s) in water transmission speed, range finding every time
The time cycle of task is relatively long, cannot then make full use of the limited time to complete using single acknowledgement mechanism so multiple
Ranging process.
The content of the invention
In order to overcome the deficiencies in the prior art, the present invention to provide a kind of underwater sound response formula range finding side based on gamma distribution
Method, can effectively carry out the mutual distance measurement work of underwater acoustic network node, improve the range accuracy of network node.
The technical solution adopted for the present invention to solve the technical problems is comprised the following steps：
For by N number of child node (numbering is 1,2 ... N) and the Underwater Acoustic Network that constitutes of 1 main controlled node (numbering is 0)
Network, the method completes the TDOA ranging process of multiple acknowledgement mechanism by regular hour allocation strategy, is finally based on gamma mould
Type carries out the amendment of range information.To achieve the above object, the present invention takes following technical scheme：
Step one：The acquisition of whole nodal distance information
1st, numbering be 1,2 ... the underwater sound communication network that N number of child node of N and 1 main controlled node that numbering is 0 are constituted
In, node 0,1,2 ... N successively as distance measurement request node, other nodes as range finding response node；
2nd, distance measurement request node number k sends distance measurement request signal to the whole network, and tracer signal starts launch time point tk0, it
After switch to reception state, the signal to receiving carries out FFT computings；Described distance measurement request signal is that frequency is f1Single-frequency letter
Number；
3rd, range finding response node persistently carries out FFT computings in receiving terminal, once find distance measurement request signal f1In frequency range
When spectrum component is more than 10 times of the spectral average of full frequency band, a t is waitedx_delayAfter time, continuously transmitting 3 secondary frequencies is
f2Range finding answer signal；Wherein tx_delay=(x-1) * tblank, x is range finding response node number, tblankFor setting protection between
Every；
4th, signal of the distance measurement request node persistently to receiving carries out FFT computings, once find range finding answer signal f2Frequency range
Interior spectrum component, more than 10 times of the spectral average of full frequency band, is f according to be connected to frequency2Order (common 3* (the N- of signal
1) secondary, each response node can reply 3 answer signals) judge whether signal belongs to the response message that x nodes are sent, record
Frequency is connected to for f2The moment of signal is tkx1、tkx2And tkx3；
5th, each node judges whether N nodes carried out said process as distance measurement request node excessively, if then carrying out
Second step；If not then returning to step 1 selects next node number as distance measurement request node；
Step 2：The amendment of whole ranging informations
1st, all nodes of the whole network calculate when itself is as distance measurement request node distance measurement request signal and answer signal in water
In propagation delay, i.e. tkx1'=tkx1-tk0-tx_delay, tkx2'=tkx2-tk0-tx_delay-tinterval, tkx3'=tkx3-tk0-
tx_delay-2tinterval, tkx1'、tkx2'、tkx3' node number k is represented as distance measurement request node, when node x is as response node,
The time that first, second, third signal of distance measurement request signal and response is propagated in environment under water；
2nd, the N-1 groups t for being stored node k by velocity of sound c=1500m/s under waterkx1'、tkx2'、tkx3' time data conversion
Be range data, i.e. dkx1=c*tkx1', dkx2=c*tkx2', dkx3=c*tkx3', dkx1, dkx2, dkx3Represent that node number k makees
It is distance measurement request node, when node number is x response nodes, first, second, third signal of distance measurement request signal and response is in water
The round trip propagated in lower environment is apart from sum；
3rd, according to formula
Determine dkx, i.e. node k as distance measurement request node, when node x is as response node, after gamma model amendment
One-way communication distance；Wherein dkxRepresent round trip response range finding DkxThe sample value of statistic,Represent to Dkx/ 2 i.e. one way
Distance estimations, i.e., the final revised range information for obtaining；The estimation to β is represented, β is gamma probability distribution parameters；N tables
Show to DkxObserved samples number of times.
N should be 3 in the above-mentioned methods.
The beneficial effects of the invention are as follows：
1st, ranging information is calibrated and compensated for.Detected for distance measuring signal pulse front edge according to existing in existing method
A kind of error problem, it is proposed that ranging information calibration method, Reliable guarantee is provided further to improve positioning precision.
2nd, sound is made full use of in the slow characteristic of water transmission, using the multiple answering machine to distance measurement request signal
System, improves the precision and efficiency of range finding work.
Brief description of the drawings
Fig. 1 is step one time sequence diagram；
Fig. 2 is that certain underwater acoustic network node system node lays schematic diagram；
Fig. 3 is self-organizing underwater acoustic network node locating coordinate position schematic diagram；X-axis, Y-axis are according to main controlled node in Fig. 3
The coordinate system of determination, is distributed near main controlled node from node is random；
Fig. 4 is that certain underwater acoustic network node system node lays schematic diagram.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention provides a kind of underwater acoustic network node mutual distance measurement method based on gamma distributed model.For by N number of son
Node (numbering is 1,2 ... N) and the underwater sound communication network that constitutes of 1 main controlled node (numbering is 0), the method is by certain
Time allocation strategy, completes the TDOA ranging process of multiple acknowledgement mechanism, and being finally based on gamma model carries out repairing for range information
Just.To achieve the above object, the present invention takes following technical scheme, it is characterised in that：
Step one：The acquisition of whole nodal distance information.
1st, numbering 0,1,2 ... N nodes successively as distance measurement request node, other nodes as range finding response node.
2nd, distance measurement request node number (if node number is k) sends distance measurement request signal to the whole network, and tracer signal starts hair
Penetrate time point tk0, reception state is switched to afterwards, the signal to receiving carries out FFT computings.Distance measurement request signal is that persistence length is
trequest, frequency be f1Simple signal.
3rd, range finding response node persistently carries out FFT computings in receiving terminal, once find distance measurement request signal f1In frequency range
When spectrum component is more than 10 times of the spectral average of full frequency band, a t is waited according to own node numberx_delay(its after time
Middle tx_delay=(x-1) * tblank, wherein x is range finding response node number), it is t to continuously transmit 3 persistence lengthsrespond, it is each
Individual transmission signal forward position is with next transmission signal forward position at intervals of tinterval, frequency be f2Range finding answer signal.
4th, distance measurement request node persistently carries out the FFT computings of the 2nd step, once find range finding answer signal f2Frequency in frequency range
Spectral component, more than 10 times of the spectral average of full frequency band, is f according to be connected to frequency2Signal order (common 3* (N-1) is secondary,
Each response node can reply 3 answer signals) judge that signal belongs to the response message that x nodes are sent, record current time
It is tkx1、tkx2And tkx3, wherein k is represented and is asked range finding node number, and x represents response node number, and 1,2,3 represent same node numbers hair
First, second, third answer signal for going out.
5th, each node judges whether whether N nodes carried out said process as distance measurement request node excessively, if then
Carry out second step；If not then returning to step 1 selects next node number as distance measurement request node.
After completing step one content, all nodes all obtain the range information of other all nodes with the whole network.Fig. 1 is represented
When there is 5 nodes in network, basic time series schematic diagram.WhereinTransmission requests distance measuring signal is represented, Δ is represented and connect
Request distance measuring signal is received,No. 1 node transmitting range finding answer signal is represented, represents that No. 0 node receives No. 1 range finding for sending
Answer signal,Represent No. 2 corresponding signals, zero ● represent No. 3 corresponding signals, ◇ ◆ represent No. 4 corresponding signals.
Step 2：The amendment of whole ranging informations.
1st, all nodes of the whole network calculate when itself is as distance measurement request node distance measurement request signal and answer signal in water
In propagation delay, i.e. tkx1'=tkx1-tk0-tx_delay, tkx2'=tkx2-tk0-tx_delay-tinterval, tkx3'=tkx3-tk0-
tx_delay-2tinterval, tkx1'、tkx2'、tkx3' node number k is represented as distance measurement request node, when node x is as response node,
The time that first, second, third signal of distance measurement request signal and response is propagated in environment under water.
2nd, the N-1 groups t for being stored node number k by velocity of sound c=1500m/s under waterkx1'、tkx2'、tkx3' time data turn
It is changed to range data, i.e. dkx1=c*tkx1', dkx2=c*tkx2', dkx3=c*tkx3', dkx1, dkx2, dkx3Represent node number k
Used as distance measurement request node, when node number is x response nodes, first, second, third signal of distance measurement request signal and response exists
The round trip propagated in underwater environment is apart from sum.
3rd, d is determined according to formula (1)kx, i.e. node k as distance measurement request node, when node x is as response node, according to gal
One-way communication distance after horse Modifying model.
Wherein dkxRepresent round trip response range finding DkxThe sample value of statistic,Represent to Dkx/ 2 i.e. one way distances are estimated
Meter, i.e., the final revised range information for obtaining.The estimation to β is represented, β is gamma probability distribution parameters.N is represented to Dkx
Observed samples number of times, in the above-mentioned methods n should be 3.So far each node completes acquisition and the amendment work of all range informations
Make.
This part provides detailed derivation of the content of the invention comprising formula first, and illustrates effect of the invention by example
Really.
It is for formula (2)Its derivation is as follows.
dkx1, dkx2, dkx3As to same statistic DkxSample, can be by certain method according to probability theory knowledge
To DkxEstimated and corrected.DkxRepresent that node number k, as distance measurement request node, when node number is x response nodes, is surveyed
Statistic of the round trip propagated in request signal and answer signal under water environment apart from sum.
Because inaccurate problem is detected in system hardware process cycle, signal leading edge, following 2 problems can be caused：
1st, record time point may be delayed when distance measurement request signal is received for response node；
2nd, record time point may be delayed when distance measurement request node receives answer signal.
These problems can cause the d of measurementkx1, dkx2, dkx3It is bigger than normal, cause the decline of final positioning precision.According to this reality
Border situation, it is believed that the one way range finding corresponding to the detection time of transmitting distance measurement request signal and answer signal obeys same apart from D'
The gamma of sample is distributed D'~Γ (1, β), i.e.,
Wherein Γ (1)=1, d ' is one way actual range, and β is gamma probability distribution parameters.
So distance statistics amount DkxIt is then Dkx=2D'.Γ (α, β) additive property matter, D are distributed according to gammakxObey gamma Γ
(2, β) it is distributed, its probability density function is
Wherein Γ (2)=1, d ' is one way actual range, and β is probability distribution parameters.
Dkx~Γ (2, β), the statistic D of distancekxFirst moment is
The statistic D of distancekxSecond moment is
Wherein d ' is one way actual range, and d represents round trip actual range, and it is probability distribution parameters to have d=2*d', β.
Wherein DkxThe statistic of round trip range finding is represented, d represents round trip actual range, and β is probability distribution parameters.
dkx1, dkx2, dkx3As to same statistic DkxSample, it is theoretical according to probability Estimation, then make
WhereinRepresent to DkxThe i.e. estimation to round trip actual range of estimation,The estimation to β is represented, β is probability distribution
Parameter, n is represented to DkxObservation frequency.
Solution aforesaid equation, then have
Wherein dkxRepresent round trip range finding DkxSample,Represent to Dkx/ 2 i.e. one way distance estimations,Expression is estimated to β
Meter, β is probability distribution parameters, and n is represented to DkxObservation frequency.
Assuming that by 1 main controlled node, 4 underwater acoustic network systems constituted from node, its position is illustrated as shown in Figure 2.
According to actual measurement, each mutual actual range information of node is as shown in Table 1.
Form 1 certain underwater acoustic network node system node one way actual range
Distance measurement request and the response of all nodes are carried out according to the patent content first step, and then obtains dkx1, dkx2, dkx3, it
Represent node number k as distance measurement request node, when node number is x response nodes, distance measurement request signal and response first, the
2nd, the round trip that third time signal is propagated in environment under water apart from sum, be shown in as shown in Table 2 by specific data.
Form 2 certain underwater acoustic network node system node round trip measurement distance
It is using formula (2)Upper table range information is modified.Such as request is found range
Node is the d that 0 response range finding node is 1011、d012、d013Computing is carried out, one way distance estimator is drawn
Had according to (2) first equations of formula
Bring into
Two equations then have
Then one way distance estimatorIt is 4.0579 meters.Herewith algorithm, the one way distance according to data computational chart X is estimated
Amount, obtains shown in one way estimator form 3.
Form 3 certain underwater acoustic network node system node one way estimated distance
Range information after estimation is counted, definition is apart from accuracy evaluation amountWherein di
It is the range information of required evaluation, di_realIt is actual range.
The distance measurements do not corrected and corrected are calculated according to above formula, it is known that uncorrected to be apart from accuracy evaluation amount
0.0443m, corrected apart from accuracy evaluation amount 0.0174m, it will be apparent that improve the precision of range information.
Assuming that by 1 main controlled node, 4 underwater acoustic network systems constituted from node, its position illustrates as shown in figure 4, its
Middle filled circles represent main controlled node position, and open circles are represented from node location.
According to actual measurement, each node mutual distance information is as shown in Table 4.
Form 4 certain underwater acoustic network node system node one way actual range
Distance measurement request and the response of all nodes are carried out according to the patent content first step, and then obtains dkx1, dkx2, dkx3, it
Represent node number k as distance measurement request node, when node number is x response nodes, distance measurement request signal and response first, the
2nd, the round trip that third time signal is propagated in environment under water apart from sum, be shown in as shown in Table 5 by specific data.
Form 5 certain underwater acoustic network node system node round trip measurement distance
It is using formula (2)Upper table range information is modified.Such as request is found range
Node is the d that 0 response range finding node is 1011、d012、d013Computing is carried out, one way distance estimator is drawn
Had according to first equation of above formula
Bring into
Two equations then have
Then one way distance estimatorIt is 4.0579 meters.Herewith algorithm, the one way distance according to data computational chart X is estimated
Amount, obtains one way estimator as shown in Table 6.
Form 6 certain underwater acoustic network node system node one way estimated distance
Range information after estimation is counted, definition is apart from accuracy evaluation amountWherein di
It is the range information of required evaluation, di_realIt is actual range.
The distance measurements do not corrected and corrected are calculated according to above formula, it is known that uncorrected to be apart from accuracy evaluation amount
0.0443m, corrected apart from accuracy evaluation amount 0.0174m, it will be apparent that improve the precision of range information.
Claims (2)
1. a kind of underwater acoustic network node mutual distance measurement method based on gamma distributed model, it is characterised in that comprise the steps：
Step one：The acquisition of whole nodal distance information
1) numbering be 1,2 ... in the underwater sound communication network that N number of child node of N and 1 main controlled node that numbering is 0 are constituted, section
Point 0,1,2 ... N successively as distance measurement request node, other nodes as range finding response node；
2) distance measurement request node number k sends distance measurement request signal to the whole network, and tracer signal starts launch time point tk0, Zhi Houzhuan
It is reception state, the signal to receiving carries out FFT computings；Described distance measurement request signal is that frequency is f1Simple signal；
3) range finding response node persistently carries out FFT computings in receiving terminal, once find distance measurement request signal f1Frequency spectrum point in frequency range
When amount is more than 10 times of the spectral average of full frequency band, a t is waitedx_delayAfter time, 3 secondary frequencies are continuously transmitted for f2Survey
Away from answer signal；Wherein tx_delay=(x-1) * tblank, x is range finding response node number, tblankIt is the protection interval of setting；
4) signal of the distance measurement request node persistently to receiving carries out FFT computings, once find range finding answer signal f2Frequency in frequency range
Spectral component, more than 10 times of the spectral average of full frequency band, is f according to be connected to frequency2The order of signal judges whether signal belongs to
In the response message that x nodes are sent, record is connected to frequency for f2The moment of signal is tkx1、tkx2And tkx3；
5) each node judges whether N nodes carried out said process as distance measurement request node excessively, if then carrying out second
Step；If not then returning to step 1) next node number is selected as distance measurement request node；
Step 2：The amendment of whole ranging informations
1) all nodes of the whole network calculate when itself is as distance measurement request node distance measurement request signal and answer signal in water
Propagation delay, i.e. tkx1'=tkx1-tk0-tx_delay, tkx2'=tkx2-tk0-tx_delay-tinterval, tkx3'=tkx3-tk0-
tx_delay-2tinterval, tkx1'、tkx2'、tkx3' node number k is represented as distance measurement request node, when node x is as response node,
The time that first, second, third signal of distance measurement request signal and response is propagated in environment under water；tintervalFor each is sent out
Signal leading edge is penetrated to be spaced with next transmission signal forward position；
2) the N-1 groups t for being stored node k by velocity of sound c=1500m/s under waterkx1'、tkx2'、tkx3' time data be converted to away from
From data, i.e. dkx1=c*tkx1', dkx2=c*tkx2', dkx3=c*tkx3', dkx1, dkx2, dkx3Represent node number k as survey
Away from requesting node, when node number is x response nodes, first, second, third signal of distance measurement request signal and response ring under water
The round trip propagated in border is apart from sum；
3) according to formula
Determine dkx, i.e. node k as distance measurement request node, when node x is as response node, according to the revised list of gamma model
Journey communication distance；Wherein dkxRepresent round trip response range finding DkxThe sample value of statistic,Represent to Dkx/ 2 i.e. one way distance
Estimate, i.e., the final revised range information for obtaining；The estimation to β is represented, β is gamma probability distribution parameters；N represents right
DkxObserved samples number of times.
2. the underwater acoustic network node mutual distance measurement method based on gamma distributed model according to claim 1, its feature exists
In：Described n is 3.
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| CN107765252A (en) * | 2017-10-23 | 2018-03-06 | 燕山大学 | A kind of non-temporal synchronous underwater positioning system and method based on broadcast polls |
| CN109217967B (en) * | 2018-10-10 | 2020-06-16 | 中国船舶重工集团公司七五0试验场 | Synchronous signal system data transmission method applied to underwater sound transmission system |
| CN109188444B (en) * | 2018-10-10 | 2023-04-11 | 中国船舶重工集团公司七五0试验场 | Submarine underwater acoustic response type positioning method and system based on synchronous signal system |
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