CN109752691A - A kind of distribution basic matrix joint positioning method - Google Patents
A kind of distribution basic matrix joint positioning method Download PDFInfo
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- CN109752691A CN109752691A CN201811525797.1A CN201811525797A CN109752691A CN 109752691 A CN109752691 A CN 109752691A CN 201811525797 A CN201811525797 A CN 201811525797A CN 109752691 A CN109752691 A CN 109752691A
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Abstract
The present invention provides a kind of distributed basic matrix joint positioning method, obtain respectively first each subsurface buoy basic matrix to Ship Target synchronization azimuth sequence, cross bearing obtains several intersection points to each azimuth straight line two-by-two, obtain the variance of these intersection points, the coordinate of variance and intersection point to each intersection point carries out Data Fusion, obtain the high precision position estimation of Ship Target, effectively improve the positioning accuracy compared with distant object, single subsurface buoy basic matrix is solved the problems, such as to very low compared with distant object positioning accuracy, the positioning accuracy of positioning accuracy of the invention also above the cross bearing two-by-two of each subsurface buoy basic matrix, it lays the foundation for the Detection location of underwater multi-target.
Description
Technical field
The invention belongs to Underwater acoustic signal processing and submarine target field of locating technology more particularly to a kind of distributed basic matrix to join
Close localization method.
Background technique
What existing subsurface buoy basic matrix studied Technology for Target Location is all that single basic matrix positions, due to being limited to subsurface buoy platform scale
With lay depth, to submarine target can only direction finding be unable to ranging.For waterborne target, it is known that subsurface buoy platform depth estimates target
After pitch angle and azimuth, it may be implemented to position target.But increase since pitch angle evaluated error increases with pitch angle, when
After pitch angle reaches 70 ° i.e. target level distance greater than 2.75 times of basic matrix depth, pitching angle error is very big so that positioning knot
Fruit error is also very big.Therefore, existing single subsurface buoy platform is to very low compared with distant object positioning accuracy, so that it is flat to affect subsurface buoy
The monitoring effect of platform.
Summary of the invention
To solve the above problems, the present invention provides a kind of distributed basic matrix joint positioning method, Ship Target can be obtained
High precision position estimation, effectively improve the positioning accuracy compared with distant object.
A kind of distribution basic matrix joint positioning method, comprising the following steps:
Three or more subsurface buoy basic matrixs, obtain the radiated noise of the Ship Target at multiple moment, then according to the radiation
Noise obtains the respectively azimuth sequence { θ relative to Ship Target respectivelyi(n) }, wherein the number of subsurface buoy basic matrix is with M come table
Show, i=1,2,3 ..., M, n=1,2 ..., N, N is the length of azimuth sequence；
Obtain the azimuth straight line obtained by the corresponding azimuth sequence fit of each subsurface buoy basic matrix, wherein M subsurface buoy basic matrix
Azimuth straight line intersect two-by-two, obtainA intersection point；
Obtain the variance of each intersection point abscissaWith the variance of ordinateWherein,
Obtain the position coordinates of Ship Target, wherein the acquisition methods of the abscissa of Ship Target are as follows: obtain each friendship respectively
The inverse and the product of itself abscissa value, gained product of the variance of point abscissa are summed again, and gained and value are again divided by each intersection point
The sum of inverse of variance of abscissa；The acquisition methods of the ordinate of Ship Target are as follows: obtain the side of each intersection point ordinate respectively
The product of the inverse and itself ordinate value of difference, gained product are summed again, and gained and value are again divided by the variance of each intersection point ordinate
The sum of inverse.
Further, the variance of any one of intersection point abscissaWith the variance of ordinateAcquisition methods tool
Body are as follows:
Obtain the coordinate (x of intersection point ji,xj), wherein xjFor abscissa, yjFor ordinate；
The azimuth sequence of two azimuth line correspondences where intersection point is denoted as { θ respectivelyt(n) } with { θk(n)}；
Obtain azimuth sequence { θt(n) } with { θk(n) } corresponding orientation angular varianceWith
According to the orientation angular varianceWithThe coordinate of intersection point determines the variance of intersection point abscissaWith
The variance of ordinateIt is specific:
Wherein, θtFor azimuth sequence { θt(n) } the n-th azimuth angle theta int(N), θkFor azimuth sequence { θk(n) } in
N-th azimuth angle thetat(N)。
Further, the azimuth sequence { θt(n) } corresponding orientation angular varianceAcquisition methods specifically:
It enables n traverse N from 2, passes through following three formula pointwise iteration computer azimuth angular variance:
Wherein, α is parameter preset, and value range is the value between 0 to 1, and α is smaller, the orientation angular variance of output
It is more smooth,WithInitial value be positive number much smaller than 1；
By n-th azimuth angle thetat(N) corresponding varianceAs azimuth sequence { θt(n) } corresponding azimuth side
Difference
The utility model has the advantages that
The present invention provides a kind of distributed basic matrix joint positioning method, obtains each subsurface buoy basic matrix respectively first to Ship Target
In the azimuth sequence of synchronization, cross bearing obtains several intersection points to each azimuth straight line two-by-two, obtains these intersection points
Variance, the coordinate of variance and intersection point to each intersection point carries out Data Fusion, and the high precision position for obtaining Ship Target is estimated
Meter, effectively improves the positioning accuracy compared with distant object, solves single subsurface buoy basic matrix to very compared with distant object positioning accuracy
Low problem, positioning accuracy of the invention are underwater multi-target also above the positioning accuracy of each subsurface buoy basic matrix cross bearing two-by-two
Detection location lay the foundation.
Detailed description of the invention
Fig. 1 is a kind of flow chart of distributed basic matrix joint positioning method provided by the invention；
Fig. 2 is the position coordinates schematic diagram of three subsurface buoys basic matrix provided by the invention；
Fig. 3 is the azimuth sequence diagram for the Ship Target that 1# subsurface buoy basic matrix provided by the invention obtains；
Fig. 4 is the azimuth sequence diagram for the Ship Target that 2# subsurface buoy basic matrix provided by the invention obtains；
Fig. 5 is the azimuth sequence diagram for the Ship Target that 3# subsurface buoy basic matrix provided by the invention obtains；
Fig. 6 is the schematic diagram of three subsurface buoy basic matrixs cross bearing result two-by-two in the prior art；
Fig. 7 is the schematic diagram that three subsurface buoys basic matrix provided by the invention merges positioning result；
For three subsurface buoy basic matrixs in the prior art, cross bearing result merges positioning knot with three subsurface buoy basic matrixs of the invention to Fig. 8 two-by-two
The application condition schematic diagram of fruit.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described.
Embodiment one
Referring to Fig. 1, which is a kind of flow chart of distributed basic matrix joint positioning method provided in this embodiment.
A kind of distribution basic matrix joint positioning method, comprising the following steps:
S1: three or more subsurface buoy basic matrixs, obtain the radiated noise of the Ship Target at multiple moment, then according to the spoke
It penetrates noise and obtains the respectively azimuth sequence { θ relative to Ship Target respectivelyi(n) }, wherein the number of subsurface buoy basic matrix with M come
It indicates, i=1,2,3 ..., M, n=1,2 ..., N, N are the length of azimuth sequence；
S2: it obtains and azimuth straight line is obtained by the corresponding azimuth sequence fit of each subsurface buoy basic matrix, wherein M subsurface buoy base
The azimuth straight line of battle array intersects two-by-two, obtainsA intersection point；
S3: the variance of each intersection point abscissa is obtainedWith the variance of ordinateWherein,
S4: the position coordinates of Ship Target are obtained, wherein the acquisition methods of the abscissa of Ship Target are as follows: obtain respectively
The inverse and the product of itself abscissa value, gained product of the variance of each intersection point abscissa are summed again, and gained and value are again divided by each
The sum of the inverse of variance of intersection point abscissa；The acquisition methods of the ordinate of Ship Target are as follows: obtain each intersection point ordinate respectively
Variance inverse and the product of itself ordinate value, gained product sum again, gained and value are again divided by each intersection point ordinate
The sum of inverse of variance.
Specifically, position coordinates (the x of Ship Target0,y0) calculation formula it is as follows:
Wherein,RespectivelyThe abscissa of a intersection point,RespectivelyThe side of a intersection point abscissa
Difference,RespectivelyThe ordinate of a intersection point,RespectivelyThe variance of the ordinate of a intersection point.
Further, in step S3 any one of intersection point abscissa varianceWith the variance of ordinateObtain
Take method specifically:
Obtain the coordinate (x of intersection point ji,xj), wherein xjFor abscissa, yjFor ordinate；
The azimuth sequence of two azimuth line correspondences where intersection point is denoted as { θ respectivelyt(n) } with { θk(n)}；
Obtain azimuth sequence { θt(n) } with { θk(n) } corresponding orientation angular varianceWith
According to the orientation angular varianceWithThe coordinate of intersection point determines the variance of intersection point abscissaWith
The variance of ordinateIt is specific:
Wherein, θtFor azimuth sequence { θt(n) } the n-th azimuth angle theta int(N), θkFor azimuth sequence { θk(n) } in
N-th azimuth angle thetat(N)。
It should be noted that coordinate (the x of intersection point ji,xj) calculating it is as follows:
Wherein, ct=xt sinθt-yt cosθt, ck=xk sinθk-yk cosθk, (xt,yt) it is azimuth sequence { θt
(n) } coordinate of corresponding t-th of subsurface buoy basic matrix, (xk,yk) it is azimuth sequence { θk(n) } corresponding k-th of subsurface buoy basic matrix
Coordinate, and t=1,2,3 ..., M, k=1,2,3 ..., M；θtFor azimuth sequence { θt(n) } the n-th azimuth angle theta int(N), θk
For azimuth sequence { θk(n) } the n-th azimuth angle theta ink(N)。
Further, the azimuth sequence { θt(n) } corresponding orientation angular varianceAcquisition methods specifically:
It enables n traverse N from 2, passes through following three formula pointwise iteration computer azimuth angular variance:
Wherein, α is parameter preset, and value range is the value between 0 to 1, and α is smaller, the orientation angular variance of output
It is more smooth,WithInitial value be positive number much smaller than 1；
By n-th azimuth angle thetat(N) corresponding varianceAs azimuth sequence { θt(n) } corresponding azimuth side
Difference
It should be noted that due to n-th azimuth angle thetat(N) corresponding varianceIt is by the azimuth of front N-1
What corresponding variance iterated to calculate, therefore by n-th azimuth angle thetat(N) corresponding varianceAs azimuth sequence
{θt(n) } corresponding orientation angular variancePrecision highest.
Similarly, the azimuth sequence { θk(n) } the orientation angular variance answeredAbove-mentioned acquisition methods can also be passed through
It is calculated, the present embodiment does not repeat this.
Embodiment two
Based on above embodiments, the present embodiment is fixed to a kind of distributed basic matrix joint by taking 3 subsurface buoy basic matrix alignment by union as an example
The implementation steps of position method are described in detail.
1) azimuth sequence of each subsurface buoy basic matrix relative to Ship Target is obtained
Referring to fig. 2, which is the position coordinates schematic diagram of three subsurface buoys basic matrix provided in this embodiment.As shown in Fig. 2,
In xoy coordinate system, the coordinate of three subsurface buoy basic matrixs is respectively S1(x1,y1)、S2(x2,y2) and S3(x3,y3).Three subsurface buoy basic matrixs
Using Time Delay Estimation Method, the azimuth sequence of Ship Target, respectively { θ are obtained by Ship Target radiated noise1(n)}、
{θ2(n) } with { θ3(n) }, n=1 ..., N, N indicate the length of the azimuth sequence of estimation.
It should be noted that each subsurface buoy basic matrix includes at least three hydrophones, then at least nine hydrophones are mounted on three
The head of subsurface buoy platform constitutes three planar arrays；In addition, the length of azimuth sequence is the quantity of sampling instant, azimuth
Sequence is made of N number of azimuth, is indicated that Time Delay Estimation Method has been respectively adopted in N number of sampling instant in subsurface buoy basic matrix, is passed through naval vessel mesh
Target radiated noise obtains the azimuth of a Ship Target.
2) the corresponding orientation angular variance of each subsurface buoy basic matrix azimuth sequence is obtained
To S1Azimuth sequence { the θ of basic matrix estimation1(n) }, pass through following three formula node-by-node algorithm orientation angular variance:
Wherein, n=2 ..., N, α take the value between 0-1, and α is smaller, output varianceIt is more smooth.WithThis
Two initial values take the positive number much smaller than 1, and such as 0.00001.
By n-th azimuth angle thetat(N) corresponding varianceAs azimuth sequence { θt(n) } corresponding azimuth side
Difference
Similarly, S can be obtained2Subsurface buoy basic matrix and S3The orientation angular variance of subsurface buoy basic matrixWith
3) coordinate in the crosspoint intersected two-by-two between the straight line of each subsurface buoy basic matrix azimuth is calculated
As shown in Figure 2, the subsurface buoy basic matrix S of two azimuth line correspondences where A point2And S3, two sides where B point
The subsurface buoy basic matrix S of parallactic angle line correspondences1And S3, the subsurface buoy basic matrix S of two azimuth line correspondences where C point1And S2。
According to S1(x1,y1)、S2(x2,y2) and S3(x3,y3) three subsurface buoy basic matrixs coordinate and azimuth angle theta1(N)、θ2(N) and θ3
(N), the coordinate that can obtain three points A, B and C that azimuth straight line intersects two-by-two is
In formula, ci=xi sinθi-yi cosθi, i=1,2,3.Wherein, in order to which formula is succinct, by azimuth angle theta1(N)、θ2
(N) and θ3(N) it is expressed as azimuth angle theta1、θ2And θ3。
4) variance of each crosspoint transverse and longitudinal coordinate is calculated
A point coordinate (xA,yA) variance calculate it is as follows
Wherein,
B point coordinate (xB,yB) variance calculate it is as follows
Wherein,
C point coordinate (xC,yC) variance calculate it is as follows
Wherein,
5) data fusion obtains the position coordinates of Ship Target
The acquisition methods of the abscissa of Ship Target are as follows: the inverse of the variance of each intersection point abscissa adds with corresponding abscissa
Power summation, then the inverse of the variance divided by each intersection point abscissa；The acquisition methods of the ordinate of Ship Target are as follows: each intersection point is vertical to be sat
Reciprocal and the corresponding ordinate weighted sum, then the inverse of the variance divided by each intersection point ordinate of target variance；It is specific:
Wherein, (x0,y0) be the present embodiment obtain Ship Target position coordinates.
Referring to Fig. 3~Fig. 5, the azimuth for the Ship Target that 1#~3# subsurface buoy basic matrix respectively provided in this embodiment obtains
Sequence diagram.By Fig. 3~Fig. 5 it is found that 1#~3# subsurface buoy basic matrix uses the azimuth of Time Delay Estimation Method acquisition, with emulation experiment
Azimuthal actual value of the Ship Target of middle setting is compared, and has good tracking effect.
Referring to Fig. 6, which is the schematic diagram of three subsurface buoy basic matrixs cross bearing result two-by-two in the prior art.It will be appreciated from fig. 6 that
The positioning that azimuth straight line only where any two subsurface buoy basic matrix carries out, what same group of subsurface buoy basic matrix was obtained in different moments
Positioning result and difference organize subsurface buoy basic matrix and all differ larger in the positioning result that synchronization obtains, that is to say, that if only
Only with the positioning that the azimuth straight line where two subsurface buoy basic matrixs carries out, obtained positioning result error is larger, and it is fixed not meet
The required precision of position.
Referring to Fig. 7, which is the schematic diagram of three subsurface buoys basic matrix fusion positioning result provided by the invention.As shown in Figure 7, originally
A kind of distributed basic matrix joint positioning method that embodiment provides, obtained fusion track is to the naval vessel mesh set in emulation experiment
Target track has carried out good tracking.Meanwhile with further reference to Fig. 8, which is that three subsurface buoy basic matrixs are handed over two-by-two in the prior art
Fork positioning result merges the application condition schematic diagram of positioning result with three subsurface buoy basic matrixs of the invention.As shown in Figure 8, the present embodiment
A kind of distribution basic matrix joint positioning method, positioning accuracy are substantially better than the positioning that three subsurface buoy basic matrixs intersect two-by-two in the prior art
Method.
Certainly, the invention may also have other embodiments, without deviating from the spirit and substance of the present invention, ripe
Various corresponding changes and modifications can be made according to the present invention certainly by knowing those skilled in the art, but these it is corresponding change and
Deformation all should fall within the scope of protection of the appended claims of the present invention.
Claims (3)
1. a kind of distribution basic matrix joint positioning method, which comprises the following steps:
Three or more subsurface buoy basic matrixs, obtain the radiated noise of the Ship Target at multiple moment, then according to the radiated noise
Azimuth sequence { the θ respectively relative to Ship Target is obtained respectivelyi(n) }, wherein the number of subsurface buoy basic matrix indicates with M, i
=1,2,3 ..., M, n=1,2 ..., N, N are the length of azimuth sequence；
Obtain the azimuth straight line obtained by the corresponding azimuth sequence fit of each subsurface buoy basic matrix, wherein the side of M subsurface buoy basic matrix
Parallactic angle straight line intersects two-by-two, obtainsA intersection point；
Obtain the variance of each intersection point abscissaWith the variance of ordinateWherein, j=1,2 ...,
Obtain the position coordinates of Ship Target, wherein the acquisition methods of the abscissa of Ship Target are as follows: it is horizontal to obtain each intersection point respectively
The inverse and the product of itself abscissa value, gained product of the variance of coordinate are summed again, and gained and value are again divided by the horizontal seat of each intersection point
The sum of the inverse of target variance；The acquisition methods of the ordinate of Ship Target are as follows: obtain the variance of each intersection point ordinate respectively
The product with itself ordinate value reciprocal, gained product are summed again, gained and value falling divided by the variance of each intersection point ordinate again
The sum of number.
2. a kind of distributed basic matrix joint positioning method as described in claim 1, which is characterized in that any one of intersection point
The variance of abscissaWith the variance of ordinateAcquisition methods specifically:
Obtain the coordinate (x of intersection point ji,xj), wherein xjFor abscissa, yjFor ordinate；
The azimuth sequence of two azimuth line correspondences where intersection point is denoted as { θ respectivelyt(n) } with { θk(n)}；
Obtain azimuth sequence { θt(n) } with { θk(n) } corresponding orientation angular varianceWith
According to the orientation angular varianceWithThe coordinate of intersection point determines the variance of intersection point abscissaWith vertical seat
Target varianceIt is specific:
Wherein, θtFor azimuth sequence { θt(n) } the n-th azimuth angle theta int(N), θkFor azimuth sequence { θk(n) } N in
A azimuth angle thetat(N)。
3. a kind of distributed basic matrix joint positioning method as claimed in claim 2, which is characterized in that the azimuth sequence { θt
(n) } corresponding orientation angular varianceAcquisition methods specifically:
It enables n traverse N from 2, passes through following three formula pointwise iteration computer azimuth angular variance:
Wherein, α is parameter preset, and value range is the value between 0 to 1, and α is smaller, the orientation angular variance of outputIt is more flat
It is sliding,WithInitial value be positive number much smaller than 1；
By n-th azimuth angle thetat(N) corresponding varianceAs azimuth sequence { θt(n) } corresponding orientation angular variance
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