Underwater acoustic locating method based on equivalent sound velocity
A technology of underwater acoustics and positioning methods, applied in positioning, measuring devices, instruments, etc., can solve problems such as positioning errors of sound propagation models
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Embodiment 1
[0039] An underwater acoustic positioning method based on equivalent sound velocity, comprising the following steps:
[0040] Step 1: Initialize, set the initial position p of the underwater target source m (x m ,y m ,z m ), randomly place n sensor receivers underwater, i.e. receiving nodes, and record their positions as p 1 (x 1 ,y 1 ,z 1 ), p 2 (x 2 ,y 2 ,z 2 ),...,p n (x n ,y n ,z n );
[0041] Step 2: Measurement of Time Difference of Arrival (TDoA), the calculation of Time Difference of Arrival adopts the generalized cross-correlation (GCC) method, the target source is known to emit sound wave s(t), and the sound wave signal received by the i-th receiving point is defined as: ri (t)=h i (t)×s(t)+n i (t), the acoustic wave signal received by the jth receiving point is: r j (t)=h j (t)×s(t-τ)+n j (t), where n i (t) and n j (t) represent the additive noise of the sound waves received by the i-th receiving point and the j-th receiving point, assuming n i...
Embodiment 2
[0075] Such as figure 1 As shown, taking the underwater vehicle AUV as an example, an underwater acoustic positioning method based on the equivalent sound velocity includes the following steps:
[0076] Step 1: Arrangement of sensor receiving nodes and parameter statistics. Set the initial state of the embodiment: the initial position of the underwater vehicle AUV is p m =[1000, 1000, 10] T , the positions of the four underwater receiving nodes are: p 1 =[0,0,0] T ,p 2 =[2000, 2000, 5] T ,p 3 =[1000, 0, 100] T ,p 4 =[0, 1000, 100] T , during most of the voyage time, the underwater vehicle moves along a straight line, and the speed of the AUV in this embodiment is taken as v m ==[-20, 10, 1] T m / s, the negative direction indicates the increase of depth.
[0077] Step 2: Measurement of Time Difference of Arrival (TDoA). pass figure 2 In the process shown, multiplication, averaging, and maximizing the output, the arrival time difference of the two signals can be ca...
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