Delay estimation method and device used for indoor underwater target positioning

Abstract

The invention discloses a delay estimation method and device used for indoor underwater target positioning. The device comprises a signal generating module, a signal acquiring and processing module, an ultrasonic transducer and hydrophones. The delay estimation method includes the steps that firstly, outlier removal and normalization are performed on acquired signal data; secondly, circulating relevant processing is performed on signals of the hydrophones and original signals of the transducer; thirdly, peak values of relevant signals are solved through a lead-lag method and a threshold method; if the two solved peak values are different, read-in data of a data acquisition card are wrong, data are re-read and used for calculation, and when the two solved peak values are the same, the peak values are corrected through a tracking envelop solving method, and final peak values and transverse coordinates corresponding to the peak values are obtained, and sound signal delay is obtained by multiplying transverse coordinate values by an AD sampling period. By means of the method and device, the delay estimation operation time can be shortened, accuracy is higher than the accuracy of a common cross-correlation method, and therefore underwater target positioning accuracy can be effectively improved.

Description

technical field [0001] The invention relates to the field of underwater positioning and navigation, in particular to a time delay estimation method and device for indoor underwater target positioning. Background technique [0002] In the process of realizing the engineering and practical application of autonomous underwater vehicles (AUV), the realization of underwater navigation and positioning technology is the most critical step. In order to correctly indicate the specific position of the AUV underwater, the underwater positioning system must be able to provide accurate positioning information over a long period of time, so as to further guide the AUV to complete various complex tasks, so achieving precise positioning is a difficult task. [0003] At present, the existing positioning systems are mainly divided into three categories: ultra-short baseline, short baseline, and long baseline. Most of the indoor and medium-sized underwater positioning systems use the short bas...

AI Technical Summary

Problems solved by technology

Delay estimation is to use the theory and method of parameter estimation and signal processing to estimate and measure the time difference between the time of the ultrasonic transducer signal received by each transponder and the time difference generated by the signal, and mostly use correlation algorithms, simple correlation algorithms The accuracy is not high, and the calculation of the so-called generalized correlation algorithm or weighted delay estimation is more complicated, the calculation time is long, and the scope of application has certain limitations

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