CN107272004B - Single-beacon ranging and positioning method based on underwater beacon position correction - Google Patents

Single-beacon ranging and positioning method based on underwater beacon position correction Download PDF

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CN107272004B
CN107272004B CN201710606134.1A CN201710606134A CN107272004B CN 107272004 B CN107272004 B CN 107272004B CN 201710606134 A CN201710606134 A CN 201710606134A CN 107272004 B CN107272004 B CN 107272004B
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beacon
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ranging
propagation delay
acoustic
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CN107272004A (en
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孙大军
郑翠娥
崔宏宇
张居成
韩云峰
王永恒
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Harbin Engineering University
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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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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Abstract

The invention discloses a single-beacon ranging and positioning method based on underwater beacon position correction, and belongs to the technical field of underwater acoustic positioning. The method comprises the steps of establishing a virtual receiving beacon according to a motion parameter and a virtual transmitting beacon in an underwater target geodetic coordinate system by using an underwater target acoustic ranging two-way propagation delay; establishing an ellipsoid model according to the actually distributed beacon position, the virtual receiving beacon position and the two-way propagation delay measured by the single-beacon ranging system, and correcting the position of the actually distributed beacon; taking a half of the two-way propagation delay as a one-way propagation delay reference quantity, and establishing an observation equation by combining the corrected underwater beacon position; solving a positioning equation set formed by observation equations based on underwater beacon position correction, and resolving to obtain the position of an underwater moving target in a geodetic coordinate system; the problem of inaccurate observation equation established between the signal position of the underwater target and the beacon position is solved, and the positioning precision of the single-beacon ranging and positioning system on the underwater moving target is improved.

Description

Single-beacon ranging and positioning method based on underwater beacon position correction
Technical Field
The invention belongs to the technical field of underwater sound positioning, and particularly relates to a single-beacon ranging and positioning method based on underwater beacon position correction.
Background
The acoustic ranging is based on the correlation filtering effect of a correlation analysis method and the correlation measurement of the time shift characteristic of the cross-correlation function of a signal and the signal after time delay, is an effective method for accurately measuring the distance in an environment with large background noise, and has the advantages of strong anti-interference capability, accurate measurement and high precision.
The acoustic ranging system is a common and effective mode in a target positioning method, when the acoustic ranging system works based on the single-beacon ranging, a range finder usually transmits a ranging signal in each ranging period, but due to the influence of underwater target motion, the single-beacon acoustic ranging system has the problem of non-concurrent acoustic ranging transceiving, and a conventional positioning calculation model usually takes half of two-way propagation delay as the measurement of acoustic ranging of an observation equation.
With the development of ranging signal design and signal detection and estimation technology, the measurement precision of two-way propagation delay is continuously improved, and the measurement of the acoustic ranging value with half of the two-way propagation delay as an observation equation is also accurate, but a great problem exists in that the measurement is not equal to the one-way delay between the position of a signal transmitted by an underwater target and a beacon, nor the one-way delay between the position of a signal received by the underwater target and the beacon, so that when the measurement of the acoustic ranging value with half of the two-way propagation delay as the observation equation is performed, the observation equation established by combining the position of the signal transmitted by the underwater target or the position of the signal received by the underwater target and the position of the beacon is not accurate.
In order to solve the problems, the invention provides a single-beacon ranging and positioning method based on underwater beacon position correction.
Disclosure of Invention
The invention aims to provide a single-beacon ranging positioning method based on underwater beacon position correction, which solves the problem that a single-beacon acoustic ranging system is not in common point during ranging, and when half of two-way propagation delay is used as acoustic ranging measurement of an observation equation, the observation equation established by combining the position of a transmitting signal or the position of a receiving signal of an underwater target and the position of a beacon is not accurate any more.
The purpose of the invention is realized as follows:
the invention discloses a single beacon ranging and positioning method based on underwater beacon position correction, which comprises the following specific implementation steps of:
(1) carrying out initialization setting on an acoustic ranging system, and calibrating a clock;
(2) setting the ranging period of a range finder of an acoustic ranging system to be T and the forwarding time delay of an acoustic measurement beacon to be TtatThe distance meter of the acoustic distance measuring system is arranged in each distance measuring period TkThe underwater target transmits a ranging signal at the starting moment, records the moment of transmitting the signal by the underwater target and the moment of receiving an acoustic measurement beacon reply signal, and obtains a two-way propagation delay signal of the acoustic ranging of the underwater target by combining the recorded moment information;
(3) establishing a virtual receiving beacon according to the motion parameters in the geodetic coordinate system of the underwater target and the underwater actual beacon deployment by using the acoustic ranging two-way propagation delay of the underwater target;
(4) establishing an ellipsoid model according to the actually deployed beacon position, the virtual receiving beacon position and the two-way propagation delay measured by the underwater target acoustic ranging system, and performing position correction on the actually deployed beacon underwater;
(5) taking a half of the two-way propagation delay measured by the underwater target acoustic ranging system as a reference quantity of the one-way propagation delay for measurement, and establishing an observation equation by combining the position corrected by the underwater beacon position;
(6) and solving a positioning equation set formed by observation equations based on underwater beacon position correction, and resolving to obtain the position of the underwater moving target in a geodetic coordinate system.
For a single beacon ranging and positioning method based on underwater beacon position correction, the concrete implementation steps of the step (2) are as follows:
(2.1) setting the ranging period of a range finder of the acoustic ranging system to be T and the forwarding time delay of the acoustic measurement beacon to be TtatAnd a forwarding delay ttatThe size of each ranging period is equal;
(2.2) in the k-th ranging period TkThe starting time of the acoustic ranging system, the distance measuring instrument of the acoustic ranging system transmits the ranging signal, and the underwater target records the time t of transmitting the ranging signal by the underwater targetsendkThe time when the underwater target receives the acoustic measurement beacon reply signal is treceptk；
(2.3) recording each according to the acoustic ranging system and the underwater targetTime information, namely obtaining the time t of the underwater target from the transmitting point to the receiving pointreceptk-tsendk＝tsk+ttat+trkThe two-way propagation delay measured by the acoustic ranging system is tsk+trk＝treceptk-tsendk-ttatWherein t issk+trkThe two-way propagation delay measured by the acoustic ranging system in the Kth period is obtained.
For a single beacon ranging and positioning method based on underwater beacon position correction, in the step (3), for the Kth ranging period, the motion parameters in the geodetic coordinate system of the underwater target are transferred to the actually distributed single beacon XtTo construct virtual beacon XvtkGet a virtual beacon XvtkWith the single beacon X actually deployedtThe relative position relationship is as follows:
Figure GDA0002576188570000021
wherein,Lvbis the velocity of the underwater target under the geodetic coordinate system,Bvbis the speed of the underwater target in the carrier coordinate system,
Figure GDA0002576188570000022
the method is characterized in that a rotation matrix transformed from a carrier coordinate system { B } to a geodetic coordinate system { L }, c is sound velocity, and delta t is a sampling interval of target motion parameter measurement.
For a single-beacon ranging and positioning method based on underwater beacon position correction, the problem that the two-way propagation delay measured by the actually deployed beacon position, the virtual received beacon position and the underwater target acoustic ranging system in the step (4) is not concurrent with the two-way propagation delay of the single-beacon acoustic ranging and positioning system is converted into the problem that the one-way propagation delay sum from the transmitting point to different beacons is achieved, and the specific implementation mode is as follows:
||Xsk-Xt||+||Xrk-Xt||＝||Xsk-Xt||+||Xsk-Xvtk||
whereinEmitting point XskWith the actual deployed beacon position XtCorresponding one-way propagation delay between is tsk(ii) a Emission point XskAnd virtual reception beacon position XvtkCorresponding one-way propagation delay between is trk；XrkIs a receiving point position coordinate;
acoustic ranging signal emission point X of underwater targetskActual underwater beacon laying XtAnd virtual reception beacon X establishedvtkForm an ellipsoid model in which beacons X are virtually receivedvtkAnd actually placing the beacon XtTwo focus points of an ellipsoid, an underwater target acoustic ranging emission point XskIs a point on the ellipse.
For the single-beacon ranging and positioning method based on underwater beacon position correction, the position of an underwater beacon is corrected through the steps (1) to (4), and the single-pass propagation time delay corresponding to the underwater beacon to an underwater target transmitting point after correction is half of the double-pass propagation time delay.
For the single-beacon ranging and positioning method based on underwater beacon position correction, the single-pass propagation delay from the corrected underwater beacon to the underwater target transmitting point is used as a reference quantity for measurement in the step (5), and an observation equation is established according to the corrected underwater beacon position and a half of the two-pass propagation delay measured by the single-beacon ranging system.
For the single-beacon ranging and positioning method based on underwater beacon position correction, in the step (6), each observation equation of the positioning equation set based on underwater beacon position correction is linearized, a quadratic term of the position of the underwater target to be solved is eliminated, the linearized positioning equation set is solved, and the position of the underwater target in the geodetic coordinate system is obtained through least square solution.
The invention has the beneficial effects that:
the single-beacon ranging and positioning method based on underwater beacon position correction can utilize acoustic ranging two-way propagation delay of an underwater target and establish a virtual receiving beacon according to motion parameters and a virtual transmitting beacon in a geodetic coordinate system of the underwater target; establishing an ellipsoid model according to the actually deployed beacon position, the virtual receiving beacon position and the two-way propagation delay measured by the single-beacon ranging system, and performing position correction on the underwater actually deployed beacon; taking half of the two-way propagation delay as the measurement of the one-way propagation delay, and establishing an observation equation by combining the corrected position of the underwater beacon position; solving a positioning equation set consisting of observation equations based on underwater beacon position correction, and resolving to obtain the position of an underwater moving target in a geodetic coordinate system; the problem that the distance measurement transceiving of the single-beacon acoustic distance measurement system is not concurrent is solved, the problem that the observation equation established by combining the position of a signal transmitted by or received by an underwater target and the position of a beacon is not accurate any more when half of two-way propagation delay is used as the acoustic distance measurement quantity of the observation equation is solved, and the positioning precision of the single-beacon distance measurement positioning system on the underwater moving target is improved.
Drawings
FIG. 1 is a schematic diagram illustrating a virtual received beacon construction principle according to the present invention;
FIG. 2 is a schematic diagram of a single beacon ranging positioning ellipse model constructed by the present invention;
FIG. 3 is a schematic view of a navigation trajectory of an underwater target according to the present invention;
FIG. 4 is a comparison of the positioning error of the disclosed method and a conventional observation method.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
With reference to fig. 1, the working principle of the acoustic ranging system is as follows: when the positioning system based on single beacon ranging works, a range finder of the acoustic ranging system transmits a ranging signal at the starting moment of each ranging period, wherein the ranging period is T. The position of the beacon is Xt＝(xt,yt,zt)TTime delay t of forwarding of acoustic beacontatIt is preset to be known and equal in size in each ranging period. When an underwater target transmits signals back and forth between the target and the beacon, the position of the distance meter for transmitting the signals and the position of the distance meter for receiving the signals are changed due to the influence of the movement of the underwater target.
Underwater target hairThe time of transmitting the ranging signal is tsendWhen launched, it is known for underwater targets. The moment when the underwater target receives the beacon reply signal is treceptThe moment of reception is also known for underwater targets. From the transmission point X in the 1 st ranging periods1To a receiving point Xr1The elapsed time is trecept1-tsend1＝ts1+ttat+tr1If the two-way propagation delay measured by the acoustic ranging system is trecept1-tsend1-ttat(ii) a From the transmission point X in the 2 nd ranging periods2To a receiving point Xr2The elapsed time is trecept2-tsend2＝ts2+ttat+tr2If the two-way propagation delay measured by the acoustic ranging system is trecept2-tsend2-ttat。
For the 1 st ranging period, the motion parameters of the target are transferred to the actually distributed single beacon XtTo construct virtual beacon Xvt1Make the virtual beacon Xvt1With the single beacon X actually deployedtSatisfies the following relative positional relationship:
Figure GDA0002576188570000041
wherein,Lvbis the velocity of the underwater target under the geodetic coordinate system,Bvbis the speed of the underwater target in the carrier coordinate system,
Figure GDA0002576188570000042
is a rotation matrix transformed from the carrier coordinate system { B } to the geodetic coordinate system { L }, and c is the speed of sound. At is the sampling interval of the target motion parameter measurement. Similarly, the virtual beacon X corresponding to the 2 nd ranging period is obtainedvt2。
Referring to FIG. 2, emission point Xs1And virtual beacon Xvt1Corresponding one-way propagation delay between is tr1Emitting point Xs1With real beacon XtCorresponding one-way propagation delay between is ts1. For the 1 st ranging weekAnd the following relational expression is satisfied:
||Xs1-Xt||+||Xr1-Xt||＝||Xs1-Xt||+||Xs1-Xvt1|| (2)
at this time, the problem of non-concurrent transmission and reception of the two-way propagation delay is converted into the problem of one-way propagation delay sum from the transmission point to different beacons. Emission point Xs1True beacon XtAnd virtual beacon Xvt1Form an elliptical model, Xvt1And XtTwo foci of an ellipse, Xs1Is a point on the ellipse.
According to the nature of the ellipse, the emission point Xs1True beacon XtAnd virtual beacon Xvt1Satisfies the following relation:
Figure GDA0002576188570000043
the eccentricity e of the ellipse is defined as the ratio of the focal length to the major axis on the ellipse, and the value range is 0< e < 1. The greater the eccentricity, the flatter the ellipse; the smaller the eccentricity, the closer the ellipse is to a circle. The eccentricity e satisfies the following relation:
Figure GDA0002576188570000051
wherein the time of the target from the transmitting point to the receiving point is trecept1-tsend1＝ts1+ttat+tr1Where the target is typically low speed motion, then e is a small amount.
Target emission point Xs1To the center X of the ellipseo1Is | | | Xs1-Xo1And | l, obtaining the following relation according to an elliptic equation:
Figure GDA0002576188570000052
because e2Less than 1, so obtaining underwater target launching point Xs1To the center X of the ellipseo1Observation of (2)The equation is:
Figure GDA0002576188570000053
in the same way, the target emission point X is obtaineds2To the center X of the ellipseo2The observation equation of (a) is:
Figure GDA0002576188570000054
in addition, the single beacon ranging and positioning method based on underwater beacon position correction disclosed by the invention also carries out simulation analysis, and the analysis result is as follows:
referring to fig. 3, the comb-shaped navigation track of the underwater target is shown, the position of the acoustic beacon deployed on the seabed is (0, 4000) m, and the forwarding delay of the beacon is 20 ms; the underwater target makes a uniform linear motion with a forward speed of 1m/s at a constant depth 4100 m; the initial position of the underwater target is (-1000, -300) m, and the ranging period is 20 s. An east-direction speed error with a standard deviation of 0.005m/s and a north-direction speed error with a standard deviation of 0.005m/s are added to the speed of the underwater target in the geodetic coordinate, and the positioning errors of the method disclosed by the invention and the conventional method are compared with each other by combining a figure 4.
The positioning method based on the underwater beacon calibration position takes half of a two-way propagation delay as the measurement of a one-way propagation delay, an observation equation is established by combining the position of a signal transmitted by an underwater target and the underwater beacon calibration position, the mean value of positioning errors is 1.607m, the standard deviation is 1.853m, and the positioning errors at the turning positions of the navigation track of the underwater target are obviously increased; according to the positioning method based on underwater beacon position correction, provided by the invention, half of two-way propagation delay is taken as measurement of one-way propagation delay, an observation equation is established by combining the position of an underwater target transmitting signal and the underwater beacon correction position, the mean value of positioning errors is 0.305m, the standard deviation is 0.303m, and the positioning errors are obviously smaller than the positioning errors caused by time delay approximation, wherein the positioning errors at the turning positions of the navigation track of the underwater target are improved obviously.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A single beacon ranging and positioning method based on underwater beacon position correction is characterized by comprising the following specific implementation steps:
(1) carrying out initialization setting on an acoustic ranging system, and calibrating a clock;
(2) setting the ranging period of a range finder of an acoustic ranging system to be T and the forwarding time delay of an acoustic measurement beacon to be TtatThe distance meter of the acoustic distance measuring system is arranged in each distance measuring period TkThe underwater target transmits a ranging signal at the starting moment, records the moment of transmitting the signal by the underwater target and the moment of receiving an acoustic measurement beacon reply signal, and obtains a two-way propagation delay signal of the acoustic ranging of the underwater target by combining the recorded moment information;
(3) establishing a virtual receiving beacon according to the motion parameters in the geodetic coordinate system of the underwater target and the underwater actual beacon deployment by using the acoustic ranging two-way propagation delay of the underwater target;
(4) establishing an ellipsoid model according to the actually deployed beacon position, the virtual receiving beacon position and the two-way propagation delay measured by the underwater target acoustic ranging system, and performing position correction on the actually deployed beacon underwater;
(5) taking a half of the two-way propagation delay measured by the underwater target acoustic ranging system as a reference quantity of the one-way propagation delay for measurement, and establishing an observation equation by combining the position corrected by the underwater beacon position;
(6) and solving a positioning equation set formed by observation equations based on underwater beacon position correction, and resolving to obtain the position of the underwater moving target in a geodetic coordinate system.
2. The single-beacon ranging and positioning method based on underwater beacon position correction as claimed in claim 1, wherein the step (2) is implemented by the following steps:
(2.1) setting the ranging period of a range finder of an acoustic ranging system as T and the forwarding time delay of an acoustic measurement beacon as TtatAnd a forwarding delay ttatThe size of each ranging period is equal;
(2.2) in the k-th ranging period TkThe starting time of the acoustic ranging system, the distance measuring instrument of the acoustic ranging system transmits the ranging signal, and the underwater target records the time t of transmitting the ranging signal by the underwater targetsendkThe time when the underwater target receives the acoustic measurement beacon reply signal is treceptk；
(2.3) obtaining the time t of the underwater target from the transmitting point to the receiving point according to the acoustic ranging system and the time information recorded by the underwater targetreceptk-tsendk＝tsk+ttat+trkThe two-way propagation delay measured by the acoustic ranging system is tsk+trk＝treceptk-tsendk-ttatWherein t issk+trkThe two-way propagation delay measured by the acoustic ranging system in the Kth period is obtained.
3. The single-beacon ranging and positioning method based on underwater beacon position correction as claimed in claim 2, wherein: in the step (3), for the Kth ranging period, the motion parameters in the geodetic coordinate system of the underwater target are transferred to the actually distributed single beacon XtTo construct virtual beacon XvtkGet a virtual beacon XvtkWith the single beacon X actually deployedtThe relative position relationship is as follows:
Figure FDA0002576188560000021
wherein,Lvbis the velocity of the underwater target under the geodetic coordinate system,Bvbis the speed of the underwater target in the carrier coordinate system,
Figure FDA0002576188560000022
a rotation matrix transformed from a carrier coordinate system { B } to a geodetic coordinate system { L }, c is the speed of soundAnd Δ t is the sampling interval of the target motion parameter measurement.
4. The single-beacon ranging and positioning method based on underwater beacon position correction as claimed in claim 1, wherein: the problem that the two-way propagation delay of the single beacon acoustic ranging positioning system is not concurrent when the beacon position actually distributed in the step (4), the virtual receiving beacon position and the two-way propagation delay measured by the underwater target acoustic ranging system are transmitted and received is converted into the problem that the one-way propagation delay from the transmitting point to different beacons is summed, and the specific implementation mode is as follows:
||Xsk-Xt||+||Xrk-Xt||＝||Xsk-Xt||+||Xsk-Xvtk||
wherein the emission point XskWith the actual deployed beacon position XtCorresponding one-way propagation delay between is tsk(ii) a Emission point XskAnd virtual reception beacon position XvtkCorresponding one-way propagation delay between is trk；XrkIs a receiving point position coordinate;
acoustic ranging signal emission point X of underwater targetskActual underwater beacon laying XtAnd virtual reception beacon X establishedvtkForm an ellipsoid model in which beacons X are virtually receivedvtkAnd actually placing the beacon XtTwo focus points of an ellipsoid, an underwater target acoustic ranging emission point XskIs a point on the ellipse.
5. The single-beacon ranging and positioning method based on underwater beacon position correction as claimed in claim 1, wherein: and (4) correcting the position of the underwater beacon through the steps (1) to (4), wherein the one-way propagation delay from the corrected underwater beacon to the underwater target transmitting point is half of the two-way propagation delay.
6. The single-beacon ranging and positioning method based on underwater beacon position correction as claimed in claim 1, wherein: and (5) measuring by using the corrected one-way propagation delay corresponding to the underwater beacon to the underwater target transmitting point as a reference quantity, and establishing an observation equation according to the corrected underwater beacon position and half of the two-way propagation delay measured by the one-beacon ranging system.
7. The single-beacon ranging and positioning method based on underwater beacon position correction as claimed in claim 1, wherein: and (6) carrying out linearization processing on each observation equation of the positioning equation set based on underwater beacon position correction, eliminating a quadratic term of the position of the underwater target to be solved, solving the positioning equation set after linearization processing, and solving by a least square method to obtain the position of the underwater target in the geodetic coordinate system.
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