CN110412546B - Positioning method and system for underwater target - Google Patents
Positioning method and system for underwater target Download PDFInfo
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- CN110412546B CN110412546B CN201910745603.7A CN201910745603A CN110412546B CN 110412546 B CN110412546 B CN 110412546B CN 201910745603 A CN201910745603 A CN 201910745603A CN 110412546 B CN110412546 B CN 110412546B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
Abstract
The invention provides a positioning method and a positioning system for an underwater target, which comprise the steps of acquiring an underwater sound signal sent by a signal source, and acquiring the strength of the underwater sound signal of the current position of the target; calculating the distance between the target and the signal source based on a slope correction algorithm and the attenuation value of the underwater sound signal intensity; calculating the estimated position of the target by using an inertial navigation technology, and correcting the estimated position by using the distance to obtain the corrected position of the target; and setting corresponding weight values based on the precision of the estimated position and the corrected position, and performing weighted least square on the estimated position and the corrected position to obtain the position information of the target. By means of weighted least square calculation of the estimated position and the corrected position, underwater positioning precision is greatly improved, and compared with the existing SINS-based dead reckoning positioning, the underwater positioning method is more accurate in positioning effect.
Description
The present application claims priority from a chinese patent application filed by the chinese patent office on 27/06/2019 under the name of 201910566875.0 entitled "a positioning method and system for underwater targets," the entire contents of which are incorporated herein by reference.
Technical Field
The invention relates to the technical field of underwater acoustics and signal processing, in particular to a positioning method and a positioning system for an underwater target.
Background
In recent years, with the rapid development of electronic technology, the pace of underwater development is accelerated, and the underwater unmanned vehicle is widely applied, and has the shadow of the underwater unmanned vehicle in underwater exploration and seawater underwater reconnaissance of underwater battles. In practical application, the underwater unmanned aircraft usually needs to realize a long-time self-positioning function, and the time can reach half a year of latency. This requires that the power consumption of the underwater vehicle must not be too high and that the positioning algorithm should have a better long-term stability.
The conventional underwater self-positioning method mainly measures the position of the current target distance beacon based on the propagation time of a measurement signal and the arrival angle of the signal. At this time, in order to resolve the position of the target, simultaneous resolution is often performed by a plurality of beacons. Such as long baseline positioning systems, short baseline positioning systems. As the ultra-short baseline positioning system is in an array processing mode, the array elements are distributed more intensively and can be regarded as a single point source. Only such technologies are mature, but generally, the hardware cost of a system for measuring time delay is high, the time synchronization problem needs to be considered, and meanwhile, the change of the sound velocity in the sea is variable, which brings about large interference. Similarly, the angle of arrival generally uses array signal processing as a basic principle, which requires that the target itself needs to carry relatively complex hardware facilities, and the power consumption increases accordingly.
In addition, the current single-beacon self-positioning technology combining the target motion attitude information is more. For example, the Kalman filtering is used as a basic principle, and the Kalman filtering is expanded, the unscented Kalman filtering is used, and various derived improved algorithms are used. Of course, the method also comprises a derivative improved algorithm such as a particle filter algorithm and the like which takes Bayesian filtering as a basic principle. The basic criteria of these algorithms is to establish a state transition equation and a measurement equation to locate the target. In a time delay system, the algorithm has the characteristic of low measurement error due to high hardware support, and has high positioning accuracy if the marine environment is stable. However, with various changes of the environment, the established equation itself will bring great errors, and the effect of the algorithm itself is further affected.
Disclosure of Invention
The invention provides a method and a system for positioning an underwater target.
In one aspect, the present invention provides a method for locating an underwater target, the method comprising the steps of:
s1: acquiring an underwater sound signal sent by a signal source, and acquiring the strength of the underwater sound signal of the current position of a target;
s2: calculating the distance between the target and the signal source based on a slope correction algorithm and the attenuation value of the underwater sound signal intensity;
s3: calculating the estimated position of the target by using an inertial navigation technology, and correcting the position of the motion attitude of the target on the estimated position by using the distance to obtain the corrected position of the target;
s4: and setting corresponding weight values based on the precision of the estimated position and the corrected position, and performing weighted least square by using the estimated position and the corrected position to obtain the position information of the target.
In a particular embodiment, the signal source is a single beacon signal source. And one beacon is adopted for transmitting energy, so that the implementation mode is simple, and the carrying and the installation are convenient.
In a preferred embodiment, in step S2, the distance calculation further employs a curve filtering algorithm to filter the signal intensity outlier, and the method for filtering the signal outlier of the curve filtering algorithm is: calculating the difference value delta P of the underwater sound signal intensity of the current moment and the previous moment k And Δ P k Corresponding to the difference value delta P of the intensity of the underwater sound signals at the latest moment k-1 Based on heading information and Δ P of the target k -ΔP k-1 Determining whether the underwater sound signal intensity value at the current moment is a wild value, and if the underwater sound signal intensity at the current moment is the wild value, filtering the underwater sound signal intensity value at the current moment. By means of the curve filtering algorithm, abnormal signal intensity values in signal acquisition can be effectively filtered, and positioning errors caused by the abnormal values are effectively avoided.
In a specific embodiment, the specific determination method of the outlier is as follows: if the course information is far away from the signal source, and Δ P k ＞ΔP k-1 If so, the underwater acoustic signal intensity value at the current moment is a wild value; if the course information is close to the signal source, and Δ P k Less than Δ P k-1 And the underwater sound signal intensity value at the current moment is a wild value.
In a specific embodiment, the calculation formula of the distance between the target and the signal source is as follows:
in which I r As the underwater acoustic signal strength of the current location, I 0 For reference hydroacoustic signal strength, n is an attenuation factor.
In a particular embodiment, reference is made to the underwater acoustic signal strength I 0 The calculation method of the attenuation factor n is as follows: acquiring parameter values [ I ] of at least 2 points in the current water area a ，a]And [ I b ，b]Using formula I a ＝I 0 +nlg(a)，I b ＝I 0 + nlg (b) calculating the reference underwater sound signal intensity I of the current water area 0 And an attenuation factor n; wherein I a 、I b Respectively representing the underwater sound signal intensity values of the two acquisition points, and a and b respectively representing the distances between the two acquisition points and the signal source.
In a specific embodiment, the position of the target point is calculated by the formula
Wherein, H represents coefficient matrix, W represents covariance matrix of X system estimation error, and z represents position measurement value.
In a specific embodiment, the setting manner of the weight value is as follows: the accuracy of the position information is proportional to the weight value.
According to a second aspect of the present invention, a computer-readable storage medium is proposed, on which a computer program is stored, which computer program, when being executed by a computer processor, is adapted to carry out the above-mentioned method.
According to a third aspect of the present invention, there is provided a positioning system for an underwater target, the system comprising:
a signal acquisition unit: the method comprises the steps of configuring and acquiring an underwater sound signal sent by a beacon, and acquiring the strength of the underwater sound signal of the current position of a target;
distance measurement unit: the distance between the target and the beacon is calculated based on a slope correction algorithm and the attenuation value of the underwater sound signal intensity;
a position correction unit: the system comprises a configuration unit, a control unit and a control unit, wherein the configuration unit is used for calculating an estimated position of a target by using an inertial navigation technology and obtaining a corrected position of the target by using a distance correction estimated position;
a position calculation unit: and the position information acquisition unit is configured to perform weighted least square on the estimated position and the corrected position to obtain the position information of the target.
The method comprises the steps of collecting and analyzing underwater sound signal intensity information, estimating distance information between a current target and a beacon by combining the intensity attenuation and the mapping inertia of the distance, specifically calculating and obtaining the distance between the target and the beacon by using a slope correction algorithm, filtering abnormal values by using a curve filtering algorithm, calculating the position by combining the self attitude information of the target, correcting the calculated position by using the calculated distance value, and finally performing weighted least square on the corrected position and the calculated position to obtain more accurate target position information. The positioning system IPF-RSS based on underwater sound signal intensity loss is combined with the existing inertial navigation technology SINS, a single-beacon self-positioning system is designed by using weighted least square, the underwater positioning precision is greatly improved, and compared with the existing track reckoning positioning based on SINS, the positioning effect is better.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the invention. Other embodiments and many of the intended advantages of embodiments will be readily appreciated as they become better understood by reference to the following detailed description. Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a positioning method for an underwater target of one embodiment of the present invention;
FIG. 2 is a diagrammatic illustration of the effect of underwater target location of a particular embodiment of the present invention;
FIG. 3 is a flowchart of an algorithm for signal strength distance estimation according to an embodiment of the present invention;
FIG. 4 is a block diagram of a positioning system for an underwater target in accordance with an embodiment of the present invention;
fig. 5 is a structural framework diagram of a self-positioning system based on underwater acoustic signal intensity attenuation according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows a flow chart of a positioning method for an underwater target according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
s101: and acquiring the underwater acoustic signal sent by the signal source, and acquiring the strength of the underwater acoustic signal of the current position of the target. The strength of the current positioning underwater acoustic signal is obtained by adopting the hydrophone, so that the cost of the equipment is greatly reduced.
In a preferred embodiment, the hydrophone may be a general hydrophone, and the strength information of the current positioning signal can be obtained by adding a power amplifier. The array transducer array is not needed to be adopted for collecting signals, time synchronization is not needed to be realized by various high-end digital processor platforms, and the cost and the volume power consumption of the equipment are greatly reduced.
In the preferred embodiment, the signal source is a single beacon, which is similar to the GPS signal in space, and as shown in the schematic system effect diagram of fig. 2, the beacon only transmits a positioning signal on the sea surface, and there may be any number of served positioning objects. The beacon does not have a communication concept between targets needing position information, and only sends signals to the beacon unilaterally, so that the positioning targets do not need to send signals, the energy consumption output is greatly reduced, and the configuration of hardware is simplified.
S102: and calculating the distance between the target and the signal source based on a slope correction algorithm and the attenuation value of the underwater sound signal intensity. The distance measuring and calculating method based on the received underwater sound signal strength can meet the requirements of low power consumption and high concealment, and is quick in positioning response.
In a preferred embodiment, the calculation of the distance of the target from the signal source uses a slope correction algorithm. The distance between the target and the signal source is calculated according to the formula:
in which I r As the underwater acoustic signal strength of the current location, I 0 For reference hydroacoustic signal strength, n is an attenuation factor.
In a specific embodiment, the reference underwater sound signal intensity I is under the same water area condition 0 The value will be fixed, and the amount of fluctuation of the attenuation factor n is not large, and is also regarded as the fixed value. At least two measurements in the current water area are performed to obtain at least two different sets of parameter values [ I a ，a]And [ I b ，b].., based on formula I a ＝I 0 +nlg(a)，I b ＝I 0 + nlg (b), solving quadratic equation to calculate the underwater sound signal intensity I of current water area 0 And an attenuation factor n, wherein I a 、I b Respectively representing the underwater sound signal intensity values of the two acquisition points, and a and b respectively representing the distances between the two acquisition points and the signal source.
In a preferred embodiment, a curve filtering algorithm is used to filter outliers of the underwater sound signal. The method for filtering the signal outlier of the curve filtering algorithm comprises the following steps: calculating the difference value delta P of the underwater sound signal intensity of the current moment and the previous moment k And Δ P k Corresponding to the difference value delta P of the intensity of the underwater sound signals at the latest moment k-1 Based on heading information and Δ P of the target k -ΔP k-1 Determining whether the underwater sound signal intensity value at the current moment is a wild value, and if the underwater sound signal intensity at the current moment is the wild value, filtering the underwater sound signal intensity value at the current moment.
In a specific embodiment, the specific determination method of the outlier is as follows: if the course information is far away from the signal source, and the distance is delta P k ＞ΔP k-1 And the underwater sound signal intensity value at the current moment is a wild value(ii) a If the course information is close to the signal source, and delta P k Less than Δ P k-1 And the underwater sound signal intensity value at the current moment is a wild value.
S103: and calculating the estimated position of the target by using an inertial navigation technology, and correcting the position of the target motion attitude by using the distance to the estimated position to obtain the corrected position of the target. Relevant parameters such as target current speed information, position information, course information, pitch angle and roll angle can be obtained through an inertial navigation SINS technology, the problem of accumulated errors of positioning errors exists, the positioning errors can be corrected by using the corrected and calculated distance, and the overlarge positioning deviation caused by accumulated positioning errors is reduced.
In a specific embodiment, assume that the target estimated position measured by inertial navigation SINS is X SINS And the distance measured by the slope correction algorithm and the curve filtering algorithm is L RSS (ii) a And the variance of the two measurements is σ S ，σ R . In order to obtain a more accurate estimation result, a distance correction algorithm based on the target motion attitude is provided according to the basic ideas of a weighted least square algorithm and a particle filter algorithm, namely the measured L RSS To X SINS And (6) correcting.
In a specific embodiment, the correction algorithm is specifically: in the interval [ X SINS -σ S ，X SINS +σ S ]Selecting N particle point sets gamma as { X ═ in the range S1 ，X S2 ，L，X SN Denotes the set of coordinates of the particles, the set of distances D ═ Γ -S from the sound source 0 In which S is 0 Are the sound source coordinates. Distance collection D and L RSS Point X with highest inter-probability, i.e. closest Euclidean distance SINS-RSS ＝{D-L RSS } min As a result of the corrected position. (the formula is summarized as follows)
D＝Γ(X)-S 0 ，X∈[X SINS -σ S ，X SINS +σ S ]
X SINS-RSS ＝{D-L RSS } min
S104: and setting corresponding weight values based on the precision of the estimated position and the corrected position, and performing weighted least square on the estimated position and the corrected position to obtain the position information of the target.
In a specific embodiment, the specific calculation formula of the target position is:
suppose that the target estimated position measured by inertial navigation SINS technology is X SINS And the corrected position obtained from the above is X SINS-RSS . I.e. two different estimation results obtained from two systems with different measurement accuracy, if X is set real For true distance, there is an SINS estimation system X SINS ＝X real +V SINS ，V SINS Indicating the estimated error of the system, also for X in systems corrected by attitude SINS-RSS ＝X real +V SINS-RSS ，V SINS-RSS Also the estimation error of the current system. The two measurement system results are combined with:
then there is an estimate of the result by weighted least squares
Where W is the covariance matrix of V.
In a specific embodiment, the setting manner of the weight value is as follows: the accuracy of the location information is proportional to the weight value. The estimated position and the corrected position are weighted to 40% and 60% depending on the accuracy, for example. It should be appreciated that other values can be set according to the actual measurement and calculation scenario and system, so as to meet the calculation requirements in different scenarios.
Fig. 3 shows an algorithm flowchart of the signal strength distance estimation process according to an embodiment of the present invention. The method specifically comprises the following steps:
s301: and acquiring the received underwater sound signal by using the underwater sound signal acquisition input module. The current positioning signal information can be obtained by using the hydrophone and the power amplifier. The cost and the volume power consumption of the device are greatly reduced.
S302: and (6) analyzing the signal intensity. And analyzing and obtaining the intensity information of the underwater sound signal based on the obtained underwater sound signal.
S303: and removing signal intensity outliers. And removing the signal intensity field value, and performing distance calculation based on the signal intensity.
In a specific embodiment, the ranging algorithm specifically includes a slope correction algorithm 3031, a curve filtering algorithm 3032, and a one-dimensional WLS-IPF algorithm 3033.
In a specific embodiment, the slope correction algorithm 3031 is specifically implemented as follows:
two measurements have different parameter values of
And
and the amplitude of the received underwater sound signal at the same sound source distance d corresponds to
Then
Assuming that curve 1 is known, its corresponding parameter n can be calculated 1 And
substituting the currently received intensity
Calculating an estimated value
Comprises the following steps:
and d is the actual value, the distance estimation error is
The ratio k of the corresponding calculation error to the actual distance:
and the actual distance is according to curve b
The above formula can be changed into
Is a functional expression of the parameter:
the log transform process is performed while the common factors are combined:
wherein the content of the first and second substances,
at the same time, assume that the reality of the first 3 points of curve 2 have been obtainedThe values α and β can be calculated according to the above formula. And then can be based on the measured actual value
And correcting the estimation error.
In a specific embodiment, the curve filtering algorithm 3032 is specifically implemented as follows: and filtering abnormal values of the underwater sound signals by adopting a curve filtering algorithm. The method for filtering the signal outlier of the curve filtering algorithm comprises the following steps: calculating the difference value delta P of the underwater sound signal intensity of the current moment and the previous moment k And Δ P k Corresponding to the difference value delta P of the intensity of the underwater sound signals at the latest moment k-1 Based on heading information and Δ P of the target k -ΔP k-1 Determining whether the underwater sound signal intensity value at the current moment is a wild value, and if the underwater sound signal intensity at the current moment is the wild value, filtering the underwater sound signal intensity value at the current moment. The specific judgment mode of the wild value is as follows: if the course information is far away from the signal source, and the distance is delta P k ＞ΔP k-1 If so, the underwater acoustic signal intensity value at the current moment is a wild value; if the course information is close to the signal source, and delta P k Less than Δ P k-1 And the underwater sound signal intensity value at the current moment is a wild value.
In a specific embodiment, the one-dimensional WLS-IPF algorithm 3033 has a specific calculation formula as follows: l ═ H T R -1 H) -1 H T R - 1 Z 1 Wherein H represents a coefficient matrix (transpose) and R represents a covariance matrix Z 1 Representing a matrix of distance measurements.
S304: a distance mapping algorithm. I.e. to characterize the relation between the distance d and the current received signal strength I.
The specific calculation formula is as follows:
wherein I r As the underwater acoustic signal strength of the current location, I 0 For reference hydroacoustic signal strength, n is an attenuation factor.
FIG. 4 shows a block diagram of a positioning system for underwater targets according to one embodiment of the present invention. The system includes a signal acquisition unit 401, a distance measurement unit 402, a position correction unit 403, and a position calculation unit 404.
In a specific embodiment, the signal acquisition unit 401 is configured to acquire an underwater acoustic signal sent by a beacon, and acquire the strength of the underwater acoustic signal of the current position of the target. The signal acquisition unit 401 includes a hydrophone and a power amplifier.
In a preferred embodiment, the hydrophone may be a general hydrophone, and the strength information of the current positioning signal can be obtained by adding a power amplifier. The array transducer array is not needed to be adopted for collecting signals, time synchronization is not needed to be realized by various high-end digital processor platforms, and the cost and the volume power consumption of the equipment are greatly reduced.
In the preferred embodiment, the beacon is in a single beacon configuration, and the beacon only transmits a locating signal on the sea surface, and any number of locating objects can be served by the beacon. The beacon does not have a communication concept between targets needing position information, and only sends signals to the beacon unilaterally, so that the positioning targets do not need to send signals, the energy consumption output is greatly reduced, and the configuration of hardware is simplified.
In a specific embodiment, the distance measuring unit 402 is configured to calculate the distance between the target and the beacon based on a slope correction algorithm and the attenuation value of the underwater acoustic signal strength. The position correction unit 403 is configured to estimate an estimated position of the target using inertial navigation technology, and correct the estimated position using the distance to obtain a corrected position of the target. The position calculation unit 404 is configured to perform weighted least squares on the estimated position and the corrected position to obtain position information of the target. Through a series of arithmetic operations of the distance measuring unit 402, the position correcting unit 403 and the position calculating unit 404, errors in each arithmetic operation are eliminated to a certain extent, and finally, more accurate target positioning information can be obtained.
In a preferred embodiment, the target is provided with a strapdown inertial navigation device for obtaining speed information, heading information and position information of the target. The strapdown inertial navigation device can quickly acquire the current speed information and the current course information of the target, calculate the position according to the speed information and the course information, and estimate the position information of the target at different moments as reference data of the algorithm.
Fig. 5 shows a structural framework diagram of an underwater acoustic signal strength attenuation-based self-positioning system according to a specific embodiment of the present invention. The system comprises a distance acquisition module 501, an inertial navigation module 502, a fusion algorithm WLS-IPF module 503 and location information 404. The position information data obtained by the distance acquisition module 501 and the inertial navigation module 502 is calculated by the fusion algorithm WLS-IPF module 503 to finally output the position information 504. And the WLS-IPF module is used for carrying out data fusion operation, so that the errors of the data acquired by the distance acquisition module 501 and the inertial navigation module 502 are reduced, and the calculated position information is more accurate.
In a specific embodiment, the distance acquisition module 501 includes an underwater acoustic signal acquisition input unit 5011, a signal strength analysis unit 5012, a signal strength outlier removal unit 5013, and a distance mapping unit 5014, which are connected in sequence. The distance acquisition module 501 calculates the distance position by using the signal strength, so that the requirements of low power consumption and high concealment can be met, and the positioning response is fast.
In a specific embodiment, the inertial navigation module 502 includes a gyroscope 5021, an accelerometer 5022 and an electronic compass 5023, and the velocity 5024 and the attitude angle 5025 of the target are obtained through the operations of the gyroscope 5021, the accelerometer 5022 and the electronic compass 5023. Relevant parameters such as target current speed information, position information, heading information, pitch angle and roll angle can be obtained through the inertial navigation module 502 based on the SINS technology, and the relevant parameters are used for subsequent distance correction or position correction calculation to provide a data basis.
Embodiments of the present invention also relate to a computer-readable storage medium having stored thereon a computer program which, when executed by a computer processor, implements the method above. The computer program comprises program code for performing the method shown in the flow chart. It should be noted that the computer readable medium of the present application can be a computer readable signal medium or a computer readable medium or any combination of the two.
The method comprises the steps of collecting and analyzing underwater sound signal intensity information, estimating distance information between a current target and a beacon by combining the intensity attenuation and the mapping inertia of the distance, specifically calculating and obtaining the distance between the target and the beacon by using a slope correction algorithm, filtering abnormal values by using a curve filtering algorithm, calculating the position by combining the self attitude information of the target, correcting the calculated position by using the calculated distance value, and finally performing weighted least square on the corrected position and the calculated position to obtain more accurate target position information. The positioning system IPF-RSS based on underwater sound signal intensity loss is combined with the existing inertial navigation technology SINS, a single-beacon self-positioning system is designed by using weighted least square, the underwater positioning precision is greatly improved, and compared with the existing track reckoning positioning based on SINS, the positioning effect is better.
The application is based on the research result of special fund subsidization (20720170044) of national science foundation 61671394 and basic scientific research business cost of central colleges.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements in which any combination of the features described above or their equivalents does not depart from the spirit of the invention disclosed above. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (9)
1. A method for locating an underwater target, comprising the steps of:
s1: acquiring an underwater sound signal sent by a signal source, and acquiring the strength of the underwater sound signal of the current position of a target;
s2: calculating the distance between the target and the signal source and the distance between the target and the signal source based on a slope correction algorithm and the attenuation value of the underwater sound signal intensityThe formula for calculating the distance is:
wherein I r As the underwater acoustic signal strength of the current location, I 0 N is an attenuation factor for the reference hydroacoustic signal strength;
s3: calculating the estimated position of the target by using an inertial navigation technology, and correcting the position of the target motion attitude of the estimated position by using the distance to obtain the corrected position of the target;
s4: and setting a corresponding weight value based on the precision of the estimated position and the corrected position, and performing weighted least square by using the estimated position and the corrected position to obtain the position information of the target.
2. A positioning method for underwater targets as claimed in claim 1, characterized in that said signal source is a single beacon signal source.
3. The method as claimed in claim 1, wherein the distance calculation in step S2 further employs a curve filtering algorithm to filter signal strength outliers, and the method for filtering signal outliers of the curve filtering algorithm is: calculating the difference value delta P of the underwater sound signal intensity of the current moment and the previous moment k And Δ P k Corresponding to the difference value delta P of the intensity of the underwater sound signals at the latest moment k-1 Based on the heading information and Δ P of the target k -ΔP k-1 Determining whether the underwater sound signal intensity value at the current moment is a wild value, and if the underwater sound signal intensity at the current moment is the wild value, filtering the underwater sound signal intensity value at the current moment.
4. The positioning method for the underwater target according to claim 3, wherein the detailed judgment mode of the outlier is as follows: if the course information is far away from the signal source, and the distance is delta P k ＞ΔP k-1 If so, the underwater acoustic signal intensity value at the current moment is a wild value; if the course information is close to the signal source, and delta P k Less than Δ P k-1 And the underwater sound signal intensity value at the current moment is a wild value.
5. Method for locating an underwater object according to claim 4, characterized in that said reference hydroacoustic signal strength I 0 The calculation mode of the attenuation factor n is as follows: acquiring parameter values [ I ] of at least 2 points in the current water area a ，a]And [ I b ，b]Using the formula I a ＝I 0 +nlg(a)，I b ＝I 0 + nlg (b) calculating the reference underwater sound signal intensity I of the current water area 0 And the attenuation factor n; wherein I a 、I b Respectively representing the underwater sound signal intensity values of the two acquisition points, and a and b respectively representing the distances between the two acquisition points and the signal source.
6. The method of claim 1, wherein the target position is calculated by the formula:
wherein, H represents coefficient matrix, W represents covariance matrix of system estimation error, and Z represents measurement position matrix of two systems.
7. The method according to claim 1, wherein the weighting values are set by: the accuracy of the position information is proportional to the weight value.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a computer processor, carries out the method of any one of claims 1 to 7.
9. A positioning system for an underwater target, comprising:
a signal acquisition unit: the method comprises the steps of configuring and acquiring an underwater acoustic signal sent by a beacon, and acquiring the strength of the underwater acoustic signal of the current position of a target;
distance measurement unit: the distance between the target and the beacon is calculated based on a slope correction algorithm and the attenuation value of the underwater sound signal intensity, and the calculation formula of the distance between the target and the beacon is as follows:
wherein I r As the underwater acoustic signal strength of the current location, I 0 N is an attenuation factor for the reference hydroacoustic signal strength;
a position correction unit: the system is configured to calculate an estimated position of the target by using inertial navigation technology, and correct the estimated position by using the distance to obtain a corrected position of the target;
a position calculation unit: and the system is configured to perform weighted least squares on the estimated position and the corrected position to obtain position information of the target.
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| CN2019105668750 | 2019-06-27 | ||
| CN201910566875 | 2019-06-27 |
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