Co-localization method of underwater moving target under asynchronous clock

A technology of moving targets and collaborative positioning, applied in positioning, instruments, measuring devices, etc., can solve problems such as positioning result errors, difficult node positioning, and complex implementation processes, and achieve the effects of reducing impact, overcoming clock asynchrony, and getting rid of dependence

Active Publication Date: 2019-02-01
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above method assumes that the nodes are stationary during the positioning process, and ignores the passive movement of the nodes under the action of water flow. These passive displacements will introduce large errors to the positioning results.
Moreover, the implementation process of the above method is relatively complicated, and it is difficult to realize the positioning of nodes

Method used

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  • Co-localization method of underwater moving target under asynchronous clock
  • Co-localization method of underwater moving target under asynchronous clock
  • Co-localization method of underwater moving target under asynchronous clock

Examples

Experimental program
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Effect test

Embodiment 1

[0057] Embodiment 1: After the target receives the time stamp information sent back by the four submersibles and the real-time position information of each submersible, the target runs an asynchronous algorithm to calculate its own position based on these information.

[0058] Because the clocks between the submersibles and between the submersible and the target are not synchronized, there is a clock deviation between the time stamps received by the target. In order to eliminate this effect, the method of making a difference between the time values ​​​​under the same clock is used:

[0059] ΔT is =(t is -t ss )-(t ii -t si ), i=1,2,3,4

[0060]

[0061] recombine figure 2 , under the condition of considering the noise, the relationship between the time difference obtained above and the transmission delay between submersibles and between submersibles and targets is established:

[0062] ΔT is =τ si +τ' si +w is

[0063] ΔT ki =τ sk +τ ki -τ si +w ki

[0064...

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Abstract

The invention discloses a cooperative positioning method for an underwater moving object under an asynchronous clock, and the method comprises the following steps: carrying out the positioning and clock synchronization of four submersible vehicles on the water through the GPS; enabling the first submersible vehicle to dive to a certain depth for self-positioning, to estimate the water flowing speed, to broadcast the water flowing speed to other submersible vehicles, and then to continue to dive; enabling the other three submersible vehicles to dive after the other three submersible vehicles receive the water flowing speed, and to periodically broadcast HELLO; enabling a target to transmit a positioning request after the target receives HELLO; enabling each submersible vehicle to enter a waiting mode after each submersible vehicle receives the positioning request, to wait to receive a time stamp transmitted by the submersible vehicle with a smaller number, and to transmit the self-recorded time stamp to the submersible vehicle with a bigger number and the target; enabling the target to transmit stopping information after the target receives the time stamps transmitted by the four submersible vehicles, to carry out positioning compensation according to the water flowing speed and to obtain the position of the target, and stopping the positioning. The method can achieve higher-precision target positioning in an asynchronous clock and water flowing environment.

Description

technical field [0001] The invention relates to the technical field of intelligent perception and control of underwater acoustic sensors, in particular to an underwater moving target cooperative positioning method under an asynchronous clock. Background technique [0002] Underwater target positioning aims to obtain the position information of underwater targets through the communication and data processing capabilities of the underwater acoustic sensor network. This technology is widely used in marine hydrological observation, marine engineering and marine scientific research and other fields. However, it is difficult to achieve clock synchronization in the underwater environment, and at the same time, the action of water flow makes the target present dynamic evolution characteristics. These factors bring great difficulties to the positioning of underwater moving targets. How to solve the positioning of underwater moving targets in an asynchronous clock and water flow envi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S15/74G01S7/52G01S5/30G01S5/26
CPCG01S5/26G01S5/30G01S7/52004G01S15/74
Inventor 闫敬张晓宁罗小元李鑫滨关新平
Owner YANSHAN UNIV
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