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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

Active Publication Date: 2013-09-25
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, even if there is a very accurate underwater synchronization method to ensure that the underwater sensor nodes can be synchronized underwater, and the measurement error of the sensor is very small, the wrong estimation of the sound propagation model will still cause a large error in positioning

Method used

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  • Underwater acoustic locating method based on equivalent sound velocity
  • Underwater acoustic locating method based on equivalent sound velocity
  • Underwater acoustic locating method based on equivalent sound velocity

Examples

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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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Abstract

The invention relates to an underwater acoustic locating method based on equivalent sound velocity. The underwater acoustic locating method is characterized by including the following steps of step1, initialization, specifically setting an initial position of an underwater target source, and placing n sensors and receivers underwater at random, step 2, measuring time difference of arrival, step 3, computing the equivalent sound velocity, and step 4, locating the target source through a Kalman filter so as to reduce influences of background noise and improve underwater locating accuracy. Compared with the prior art, the underwater acoustic locating method based on the equivalent sound velocity has the advantages of being capable of achieving synchronous three-dimensional locating and real-time velocity computation, small in locating error, high in accuracy and the like.

Description

technical field [0001] The invention relates to the field of underwater acoustic positioning, in particular to an underwater acoustic positioning method based on equivalent sound velocity. Background technique [0002] Accurate underwater positioning is very important for many applications of underwater sensor networks, such as underwater precise navigation, marine resource exploitation, tracking marine life, and monitoring environmental safety, etc. In order to obtain more meaningful data from underwater sensor nodes and autonomous underwater vehicles (AUVs) in underwater sensor networks, more accurate underwater positioning system solutions are needed. [0003] However, the positioning of the underwater environment is different from the positioning of the land. The existing positioning methods of underwater vehicles can be roughly divided into three categories: acoustic positioning based on underwater sensor networks, matching positioning based on terrain information, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/22
Inventor 孙大佳梁晓霖丁良辉杨峰钱良
Owner SHANGHAI JIAO TONG UNIV
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