Super-short baseline water sound positioning system based on maximum likelihood estimation and positioning algorithm

Abstract

The invention discloses a super-short baseline water sound positioning system based on maximum likelihood estimation and a positioning algorithm, which solves the technical problem that the long-distance positioning accuracy of the super short baseline positioning system is low. The super-short baseline water sound positioning system consists of an under-water responder and a sound reception basic matrix, wherein the under water responder is capable of generating and emitting ultrasonic wave positioning signals and the sound reception basic matrix capable of receiving and processing ultrasonic positioning signals; the positioning algorithm utilizes internal geometry relations among all basic matrix member signals, does not need the ultrasonic signal to reach the azimuth of array element of the matrix array and improves the accuracy of the position solution. The maximum likelihood estimation is utilized to perform integral processing on the signal reaching all the array members after summation in order to obtain a global optimal positioning result. Unified resolving is performed on the ultrasonic signals, which is equivalent to improving integration time. As a result, when the signal to noise ratio of the signals is relatively low, the super-short baseline water sound positioning system based on maximum likelihood estimation can effectively improves the signal-to-noise ratio and further guarantee the accuracy of the signals.

Description

technical field [0001] The invention belongs to the technical field of ultrasonic positioning, and relates to an underwater long-distance high-precision ultra-short baseline ultrasonic positioning technology, in particular to an ultra-short baseline underwater acoustic positioning system based on maximum likelihood estimation and a positioning algorithm thereof. Background technique [0002] For the development of marine resources or military needs, it is usually necessary to know the real-time position information of the underwater target carrier. However, due to the large attenuation of light waves and radio waves propagating in water, traditional radio and optical positioning systems unable to work properly. The attenuation speed of sound waves in water is very slow and can be transmitted over long distances. Therefore, the underwater acoustic positioning technology based on sound waves has been widely used in engineering fields such as underwater operations and deep sea ...

AI Technical Summary

Problems solved by technology

[0003] In view of the above technical problems, the present invention provides an ultra-short baseline underwater acoustic positioning system based on maximum likelihood estimation and its positioning algorithm, which solves the technical problem of low long-distance positioning accuracy of the ultra-short baseline positioning system; The inherent geometric relationship between the element signals can directly solve the position of the positioning target through the maximum likelihood estimation, effectively avoiding the influence of the signal arrival direction angle error and the ranging error on the positioning accuracy, and effectively improving the accuracy of the position calculation

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