CN116819444A - Accurate underwater sound positioning method based on iteration depth fine adjustment - Google Patents
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Abstract
The invention provides a precise underwater sound positioning method based on iterative depth fine adjustment, and belongs to the technical field of underwater positioning navigation. According to the method, under the condition that the depth information of the target is unknown, the nonlinear function between the sound field and the position is not required to be subjected to gradient solving, the algorithm complexity is low, the accurate positioning of the target can be rapidly realized by performing dichotomy fine adjustment aiming at the depth direction with the largest underwater sound positioning error, and the positioning method can jump out of a local optimal solution to obtain a better positioning settlement result by reasonably setting the depth stepping value and the depth stepping threshold value, so that the method is widely suitable for positioning of the internal node equipment of a system with invalid depth sensor and positioning of an external non-system target with completely unknown depth information. Compared with the traditional positioning method, the method has wider application scene and quick convergence, not only can precisely position the target depth information known scene applicable to the traditional method, but also can realize quick and precise positioning of the target information unknown scene.
Description
Technical Field
The invention belongs to the technical field of underwater positioning navigation, and particularly relates to a precise underwater sound positioning method based on iterative depth fine adjustment.
Background
Due to the special underwater environment, the electromagnetic wave is seriously attenuated under the water, compared with the acoustic wave which has the advantage of small attenuation, the underwater acoustic wave is more suitable for being used as a carrier for the propagation of the underwater signal, however, the underwater acoustic velocity has the characteristic of uneven distribution due to the distribution difference of temperature, salinity and static pressure, so that the propagation path of the underwater acoustic signal, namely acoustic line, is bent, and if a linear propagation model is adopted, a large positioning error is caused. In recent years, more and more researchers have been devoted to sound ray correction work to improve the accuracy of underwater sound localization information. The university of Jilin proposes a positioning method combining sound ray correction and movement prediction, the university of national defense science and technology proposes a positioning method combining clock synchronization and sound ray correction based on Gaussian Newton solution, the university of Chinese science and technology proposes a sound ray correction positioning method based on Kelarmerro boundary optimization, the internal nodes of an underwater system with known depth information are precisely positioned from different solving method angles, sound ray tracking is realized by utilizing sound velocity profile distribution of a target area and by a ray tracking theory, positioning errors caused by non-uniform sound velocity distribution are corrected, and the underwater sound positioning precision is improved. The sound ray correction method is suitable for a long baseline underwater sound positioning system, solves the coordinate correction according to a gradient descent method according to the simulated sound field and the actually measured sound field errors, iteratively adjusts the target position, and can realize target positioning correction of unknown depth information relative to linear propagation model positioning.
In general, in the underwater sound positioning method based on ray tracing, under the condition that the depth information of the target is known, ray tracing can be performed by using regional sound velocity distribution, positioning errors caused by sound ray bending are corrected, and the underwater sound positioning precision is improved, but for the condition that the depth of the target is unknown, sound ray correction cannot be performed by using a ray tracing theory, and a method for solving the coordinate correction amount according to a gradient descent method by adopting an analog sound field and an actual measurement sound field error is adopted, so that gradient solving is complex, convergence is slow, and a local optimal solution is easy to fall into, so that the target is still difficult to rapidly and precisely position under the condition that the depth of the target is unknown.
Disclosure of Invention
The invention aims to provide a precise underwater sound positioning method based on iteration depth fine adjustment, so as to make up for the defects of the prior art.
The underwater sound positioning method mainly solves the problem of the reduction of the underwater sound positioning precision caused by the uneven distribution of sound velocity, utilizes the regional sound velocity profile distribution, applies the ray tracking theory for a plurality of times through iterative depth fine adjustment, reduces the positioning error caused by the uneven distribution of sound velocity, improves the target positioning precision, and is convenient for an underwater positioning navigation time service system to realize the accurate positioning, navigation and time service of the target, and belongs to the fields of underwater target detection, positioning and navigation. With the development of underwater positioning, navigation and time service technologies and terminal systems, the system can be widely applied to underwater application systems which take sound waves as signal carriers, such as underwater sound detection, communication, positioning, navigation and the like.
The existing underwater sound ray tracking correction positioning method generally utilizes sound velocity profile distribution information of a region where a target is located, a ray tracking theory is used for tracking a real propagation path of a sound signal under the condition that target depth information is known, an equivalent signal linear propagation path is obtained, sound ray correction is achieved, and target positioning accuracy is improved, but for the condition that the target depth information is unknown, sound ray tracking cannot be carried out by directly utilizing the ray tracking theory, and a method for solving a coordinate correction amount according to a gradient descent method by adopting an analog sound field and an actual measurement sound field error is adopted, so that gradient solving is complex, algorithm calculation is complex and convergence is slow. It is difficult to quickly achieve precise positioning of the target in the case where the depth information of the target is unknown.
The invention provides a precise underwater sound positioning method based on iterative depth fine adjustment, which takes the depth of a positioning result as known information, utilizes a ray tracing theory to simulate sound field information (such as signal propagation time) and match with actual measured sound field information, compares sound field matching accuracy before and after adjustment by fine adjustment based on a dichotomy to the depth, controls the depth stepping rate and direction, records the optimal positioning position before and after the depth adjustment, corresponding to the optimal matching of a sound field, and gives a final target positioning result after algorithm convergence.
In order to achieve the purpose, the invention is realized by the following specific technical scheme:
a precise underwater sound positioning method based on iterative depth fine adjustment comprises the following specific steps:
s1: coarsely positioning a target: using the target zone sound velocity profile S to obtain a zone average sound velocity valuePerforming linear propagation model ranging to obtain a ball intersection positioning model, and solving by adopting a least square method to obtain an initial positioning estimated position and an initial positioning depth of the target;
s2: judging an iteration loop: if the current depth step valueDepth adjustment step thresholdExecuting S3, otherwise executing S9;
s3: correcting horizontal positioning: searching an initial glancing angle of a transmitted signal by a binary method by utilizing a sound velocity profile S, further obtaining a theoretical horizontal propagation distance, then obtaining a repositioning estimation position of a projection plane where the current depth is located by utilizing a least square method based on a positioning equation of a circular intersection model;
s4: calculating the propagation time matching error cost of the signal before depth fine tuning: calculating the horizontal distance from each reference node to the horizontal repositioning estimation position according to the horizontal repositioning estimation position, obtaining a signal matching glancing angle by adopting a dichotomy method, obtaining theoretical signal propagation time, calculating the mean square error sum between the theoretical signal propagation time and the actually measured signal propagation time between each reference node and the target node before depth fine tuning, and recording as the matching error cost before depth fine tuning；
S5: fine-tuning of depth if the depth is steppedThen the depth coordinates are updatedOtherwise；
S6: calculating the propagation time matching error cost of the signal after the depth fine adjustment: after depth fine tuning, obtaining a signal matching glancing angle by a dichotomy according to a horizontal distance from a target positioning position, and further obtaining theoretical signal propagation time; calculating theoretical signal propagation time and actual measurement signal propagation time between each reference node and target node after depth fine adjustmentThe sum of the mean square errors is recorded as the matching error cost after fine tuning：
（7）；
S7: adjusting the depth fine adjustment step: if it isDepth step valueDepth step directionOtherwise, the depth stepping value and the depth stepping direction are not adjusted;
s8: updating the optimal positioning position of the target;
s9: and outputting the optimal positioning position of the target.
Further, the S1 specifically is:
s1-1: knowing the target region acoustic velocity profileReference node coordinatesWhereinRepresenting reference nodes, wherein the propagation time of the measured signals between each reference node and the target node to be measured is as followsHorizontal distance matching threshold，Represents the horizontal direction, time matches the threshold，Indicating time, depth adjustment step threshold，Representing a depth step value;
s1-2: at a regional average sound velocity valuePerforming linear propagation model rangingWhereinIndicating that the maximum value of the sequence is taken,representing a minimum value of a sequence, and listing a ball intersection positioning model equation:
（1）
wherein the method comprises the steps ofThe object is represented by a set of objects,representing iteration, solving equation (1) by using a least square method to obtain an initial positioning estimated position of the targetInitial positioning depth of；
S1-3: initializing the number of iterationsDepth step valueDepth step directionIndicating that the pointing depth decreases,indicating the pointing direction.
Further, the step S3 specifically includes:
s3-1: by means of sonic velocity profileInitial glancing angleFor initial value, searching by the reference node in dichotomyInitial signalingGlancing angleCalculating different initial glancing angles according to equation (2)Signaling the current position of the target(depth is) Theoretical signal propagation time of (2)：
（2）
Wherein the method comprises the steps of，The number of depth layers where the current depth sound velocity value is located is asRecording the initial glancing angle of the corresponding signal as；
S3-2: according to the initial glancing angleCalculating a signal from the reference node according to equation (3)Delivered to the current depth of the targetTheoretical horizontal propagation distance at time：
（3）
S3-3: by using theoretical horizontal propagation distanceListing a circular intersection model positioning equation according to equation (4):
（4）
expanding and solving by using a least square method to obtain a repositioning estimation position of a projection plane where the current depth is。
Further, the S4 specifically is:
s4-1: estimating position from horizontal repositioningCalculating each reference node according to equation (5)To horizontal repositioning estimated positionHorizontal distance of (2)：
（5）
S4-2: according to the horizontal distanceTaking the initial glancing angle of 45 DEG as a starting value, searching the signal by using the formula (3) by adopting a dichotomy methodExamination nodeTo depth of deliveryHorizontal distanceThe signal matching glancing angle is recorded as；
S4-3: at initial glancing angles of the signalObtaining theoretical signal propagation time by calculation according to formula (2)；
S4-4: calculating theoretical signal propagation time between each reference node and target node before depth fine tuning according to (6)With measured signal propagation timeThe sum of the mean square errors between them is recorded as the cost of the matching error：
（6）。
Further, the step S6 specifically includes:
s6-1: after the depth fine adjustment, the target positioning position isAccording to the horizontal distanceWith initial glancing shotThe angle of 45 DEG is the initial value, and the reference node is searched by using the (3) search signal by adopting a dichotomyTo depth of deliveryHorizontal distanceThe signal matching glancing angle is recorded as；
S6-2: at initial glancing angles of the signalObtaining theoretical signal propagation time by calculation according to formula (2)；
S6-3: calculating theoretical signal propagation time between each reference node and target node before depth fine tuning according to (7)With measured signal propagation timeThe sum of the mean square errors between them is recorded as the cost of the matching error：
（7）。
Further, the step S8: updating the optimal positioning position of the target: recording the optimal positioning position of the targetIs thatAndthe smaller one corresponds to the positioning position, whereinRepresenting the optimal value, updating。
Further, the step S9: outputting the optimal positioning position of the target: outputting the optimal positioning coordinates of the underwater target subjected to sound ray correction。
The invention has the advantages and beneficial effects that:
according to the method provided by the invention, under the condition that the depth information of the target is unknown, the nonlinear function between the sound field and the position is not required to be subjected to gradient solution, the algorithm complexity is low, the accurate positioning of the target can be rapidly realized by performing dichotomy fine adjustment aiming at the depth direction with the largest underwater sound positioning error, and the positioning method can obtain a better positioning settlement result by reasonably setting the depth stepping value and the depth stepping threshold value, so that the local optimal solution can be jumped out at a probability, and the method is widely suitable for positioning of the internal node equipment of a system with invalid depth sensor and positioning of an external non-system target with completely unknown depth information; for a scene where the target depth information is known, which is actually a special scene of the present invention, it is still applicable.
Therefore, compared with the traditional sound ray correction positioning method, the method has wider application scene and quick convergence, not only can precisely position the target depth information known scene applicable to the traditional method, but also can realize quick and precise positioning of the target information unknown scene.
Drawings
FIG. 1 is a schematic overall flow chart of the present invention.
Fig. 2 is a schematic diagram of a positioning scenario in an embodiment of the present invention.
Fig. 3 is a schematic diagram of an iterative depth fine tuning underwater sound positioning convergence process in an embodiment of the present invention.
FIG. 4 is a graph showing the comparison of the positioning accuracy performance in the embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further described and illustrated below by combining with the embodiment.
Example 1
The network system composed of sea surface buoy nodes, underwater sensing nodes and submarine anchor nodes is known, the node distribution of the network system is shown in figure 2, the positions of the sea surface buoy nodes and the submarine anchor nodes are known and serve as reference nodes, and the underwater sensing nodes serve as nodes to be positioned.
Randomly selecting target node to be positionedIts true coordinates areIn meters.
The basic flow of the precise underwater sound positioning method based on iterative depth fine adjustment provided by the embodiment is shown in fig. 1, and the method comprises the following steps:
step 1: coarse positioning of target
Knowing the target region acoustic velocity profileReference node coordinatesWhereinRepresenting reference nodes, according to the topological structure of fig. 2, the number of the reference nodes in the communication range of the target node to be positioned is 13, and the propagation time of the actual measurement signal between each reference node and the target node to be positioned is as followsHorizontal distance matching thresholdThe length of the square meter is equal to the length of the square meter,represents the horizontal direction, time matches the thresholdIn the case of a millisecond,indicating time, depth adjustment step thresholdThe rice is used for the production of rice,indicating the amount of depth change.
At a regional average sound velocity valuePerforming linear propagation model rangingListing ball intersection positioning model equations and solving by adopting a least square method to obtain an initial target positioning estimated positionInitial positioning depth ofThe positioning error is 6.8225 meters.
Initializing the number of iterationsDepth step valueMeter, depth step directionIndicating that the pointing depth decreases,indicating the pointing direction.
Step 2: iterative loop judgment
If the current depth step valueStep 3 is executed, otherwise step 9 is executed.
Step 3: horizontal positioning correction
1) By means of sonic velocity profileInitial glancing angleFor initial value, searching by the reference node in dichotomyInitial glancing angle of the emitted signalCalculating different initial glancing angles according to equation (2)Signaling the current position of the target(depth is) Theoretical signal propagation time of (2)；
When (when)Recording the initial glancing angle of the corresponding signal as；
2) According to the initial glancing angleCalculating a signal from the reference node according to equation (3)Delivered to the current depth of the targetTheoretical horizontal propagation distance at time：
3) By using theoretical horizontal propagation distanceListing a circular intersection model positioning equation according to the formula (4); expanding and solving by using a least square method to obtain a repositioning estimation position of a projection plane where the current depth is。
Step 4: signal propagation time matching error cost calculation before depth fine tuning
1) Estimating position from horizontal repositioningCalculating each reference node according to equation (5)To horizontal repositioning estimated positionHorizontal distance of (2)；
2) According to the horizontal distanceUsing initial glancing angle 45 degree as initial value, using dichotomy to search signal from reference node by equation (3)To depth of deliveryHorizontal distanceThe signal matching glancing angle is recorded as；
3) At initial glancing angles of the signalObtaining theoretical signal propagation time by calculation according to formula (2)；
4) Calculating theoretical signal propagation time between each reference node and target node before depth fine tuning according to (6)With measured signal propagation timeThe sum of the mean square errors between them is recorded as the cost of the matching error。
Step 5: depth fine tuning
If it isThen the depth coordinates are updatedOtherwise。
Step 6: signal propagation time matching error cost calculation after depth fine adjustment
1) After the depth fine adjustment, the target positioning position isAccording to the horizontal distanceUsing initial glancing angle 45 degree as initial value, using dichotomy to search signal from reference node by equation (3)To depth of deliveryHorizontal distanceThe signal matching glancing angle is recorded as；
2) At initial glancing angles of the signalObtaining theoretical signal propagation time by calculation according to formula (2)；
3) Calculating theoretical signal propagation time between each reference node and target node before depth fine tuning according to (7)With measured signal propagation timeThe sum of the mean square errors between them is recorded as the cost of the matching error。
Step 7: depth fine tuning step adjustment
If it isDepth step valueDepth step directionOtherwise, the depth stepping value and the depth stepping direction are not adjusted.
Step 8: target optimal positioning location update
Recording the optimal positioning position of the targetIs thatAndthe smaller one corresponds to the positioning position, whereinRepresenting the optimal value, updating。
Step 9: target optimal positioning position output
Outputting the optimal positioning coordinates of the underwater target subjected to sound ray correctionThe final positioning error per meter is 0.36505 meters, and the iterative positioning convergence process is shown in fig. 3.
The underwater sound positioning based on the iterative depth fine adjustment is sequentially carried out on 10 different nodes to be positioned, and compared with the existing linear propagation method, the positioning accuracy performance of the method provided by the invention is obviously improved compared with the coarse positioning based on the linear propagation method.
The present invention has been described in detail with reference to the above embodiments, and the functions and actions of the features in the present invention will be described in order to help those skilled in the art to fully understand the technical solution of the present invention and reproduce it.
Finally, although the description has been described in terms of embodiments, not every embodiment is intended to include only a single embodiment, and such description is for clarity only, as one skilled in the art will recognize that the embodiments of the disclosure may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (7)
1. The precise underwater sound positioning method based on the iterative depth fine adjustment is characterized by comprising the following steps of:
s1: coarsely positioning a target: using the target zone sound velocity profile S to obtain a zone average sound velocity valuePerforming linear propagation model ranging to obtain a ball intersection positioning model, and solving by adopting a least square method to obtain an initial positioning estimated position and an initial positioning depth of the target;
s2: judging an iteration loop: if the current depth step valueDepth adjustment step threshold +.>Executing S3, otherwise executing S9;
s3: correcting horizontal positioning: searching an initial glancing angle of a transmitted signal by a binary method by utilizing a sound velocity profile S, further obtaining a theoretical horizontal propagation distance, then obtaining a repositioning estimation position of a projection plane where the current depth is located by utilizing a least square method based on a positioning equation of a circular intersection model;
s4: calculating the propagation time matching error cost of the signal before depth fine tuning: calculating the horizontal distance from each reference node to the horizontal repositioning estimation position according to the horizontal repositioning estimation position, obtaining a signal matching glancing angle by adopting a dichotomy, obtaining theoretical signal propagation time, and calculating the theoretical signal propagation time between each reference node and the target node before depth fine adjustmentThe sum of the mean square error and the propagation time of the measured signal is recorded as the cost of the matching error before fine tuning；
S5: fine-tuning of depth if the depth is steppedThen update the depth coordinate +.>Otherwise；
S6: calculating the propagation time matching error cost of the signal after the depth fine adjustment: after depth fine tuning, obtaining a signal matching glancing angle by a dichotomy according to a horizontal distance from a target positioning position, and further obtaining theoretical signal propagation time; calculating theoretical signal propagation time and actual measurement signal propagation time between each reference node and target node before depth fine tuningThe sum of the mean square errors between them, denoted as post-fine tuning match error cost +.>：
S7: adjusting the depth fine adjustment step: if it isDepth step value +.>Depth step directionOtherwise, the depth stepping value and the depth stepping direction are not adjusted;
s8: updating the optimal positioning position of the target;
s9: and outputting the optimal positioning position of the target.
2. The precise underwater sound positioning method based on iterative depth fine adjustment of claim 1, wherein S1 specifically comprises:
s1-1: knowing the target region acoustic velocity profileReference node coordinates +.>Wherein->Representing reference nodes, wherein the propagation time of the measured signal between each reference node and the target node to be measured is +.>Horizontal distance matching threshold +.>，/>Represents the horizontal direction, time matches the threshold，/>Representing time, depth adjustment step threshold +.>，/>Representing a depth step value;
s1-2: at a regional average sound velocity valueDistance measurement of linear propagation model>Wherein->Representing taking the maximum value of the sequence, +.>Representing a minimum value of a sequence, and listing a ball intersection positioning model equation:
（1）
wherein the method comprises the steps ofIndicating goal->Representing iteration, solving equation (1) by using a least square method to obtain the estimated position +.>The initial positioning depth is +.>；
S1-3: initializing the number of iterationsDepth step value +.>Depth step direction +.>Watch (Table)Indicating the direction of decreasing depth>Indicating the pointing direction.
3. The precise underwater sound positioning method based on iterative depth fine adjustment of claim 1, wherein the step S3 is specifically:
s3-1: by means of sonic velocity profileInitial glancing angle +.>For initial value, searching by the reference node in dichotomyInitial glancing angle of the signal>Calculating different initial glancing angles +.>Signaling the current position of the target +.>(depth +.>) Is>：
（2）
Wherein the method comprises the steps of，/>The number of depth layers where the current depth sound velocity value is located is +.>At the time, the initial glancing angle of the corresponding signal is recorded as +.>；
S3-2: according to the initial glancing angleCalculating a signal from the reference node +.>Delivered to the current depth of the targetTheoretical horizontal propagation distance +.>：
（3）
S3-3: by using theoretical horizontal propagation distanceListing a circular intersection model positioning equation according to equation (4):
（4）
developing and solving by using a least square method to obtain repositioning estimation of a projection plane where the current depth isPosition gauge。
4. The precise underwater sound positioning method based on iterative depth fine adjustment of claim 1, wherein S4 is specifically:
s4-1: estimating position from horizontal repositioningCalculating each reference node according to equation (5)To horizontal repositioning estimation position +.>Horizontal distance +.>：
（5）
S4-2: according to the horizontal distanceTaking the initial glancing angle of 45 DEG as a starting value, searching a signal by using the formula (3) by adopting a dichotomy method from a reference node +.>To depth->Horizontal distance->The signal at that time matches the glancing angle, denoted +.>；
S4-3: at initial glancing angles of the signalCalculating according to formula (2) to obtain theoretical signal propagation time +.>；
S4-4: calculating theoretical signal propagation time between each reference node and target node before depth fine tuning according to (6)And measured signal propagation time->The sum of the mean square errors between them is denoted as matching error cost +.>：
（6）。
5. The precise underwater sound positioning method based on iterative depth fine adjustment of claim 1, wherein S6 is specifically:
s6-1: after the depth fine adjustment, the target positioning position isAccording to horizontal distance->Taking the initial glancing angle of 45 DEG as a starting value, searching a signal by using the formula (3) by adopting a dichotomy method from a reference node +.>To depth->Horizontal distance->The signal at that time matches the glancing angle, denoted +.>；
S6-2: at initial glancing angles of the signalCalculating according to formula (2) to obtain theoretical signal propagation time +.>；
S6-3: calculating theoretical signal propagation time between each reference node and target node before depth fine tuning according to (7)And measured signal propagation time->The sum of the mean square errors between them is denoted as matching error cost +.>：
（7）。
6. The iterative depth fine-tuning based precise underwater sound localization method of claim 1, wherein said S8: updating the optimal positioning position of the target: recording the optimal positioning position of the targetIs->And->The smaller one of the above corresponds to the positioning position, wherein +.>Representing the optimal value, update->。
7. The iterative depth fine-tuning based precise underwater sound localization method of claim 1, wherein said S9: outputting the optimal positioning position of the target: outputting the optimal positioning coordinates of the underwater target subjected to sound ray correction。
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