Regional optimal solution algorithm for underwater moving target precise positioning

A moving target and precise positioning technology, which can be used in the re-radiation of sound waves, the use of re-radiation, measurement devices, etc., and can solve the problem of inability to obtain positioning information.

Active Publication Date: 2016-09-28
YANSHAN UNIV
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Problems solved by technology

However, the above method assumes that there is an intersection point at the intersection of spherical surfaces, and ignores the influence of inaccurate positioning information caused by factors such as...

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  • Regional optimal solution algorithm for underwater moving target precise positioning
  • Regional optimal solution algorithm for underwater moving target precise positioning
  • Regional optimal solution algorithm for underwater moving target precise positioning

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Embodiment 1

[0057] Embodiment 1: After activating the sensor node to obtain the target information, a positioning equation set can be established. If the equation set can obtain a unique solution or multiple solutions, the target position can be obtained through relevant conditions. When an intersecting area appears, the area optimal solution algorithm is used, and the range of the intersecting area is first obtained, denoted as ,will The points within are brought into the following formula in turn:

[0058] Δ = X m A H | ( x - x m ) 2 + ( y - y m ) 2 + ( z - z m ) 2 - d m 2 |

[0059] By comparison Each point in the area corresponds to the calculated value of Δ, Δ min corresponding It can be considered as the optimal target position that meets the requirements of the positioning equations.

[0060] From the above settings, it can be seen that the essence of the regional optimal solution ...

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Abstract

The invention relates to a regional optimal solution algorithm for underwater moving target precise positioning, which comprises the steps that underwater sensor nodes are deployed, and location information of the nodes is acquired; an activation threshold of the nodes is set, and the nodes are enabled to initially stay at a dormant state; each dormant node periodically judges whether to turn into an activated state or not; the nodes, which stay at the activated state, send marked acoustic waves so as to carry out detection on a target; the node, whose residual energy is the highest, in the activated nodes is searched so as to act as an underwater data processing center, and the other three groups of target information are received to form a positioning equation set so as to solve the target location; a regional optimal solution algorithm is defined to solve a circumstance of intersection regions occurred in a large number of positioning equation sets appeared in reality, and an acquired optimal solution is enabled to act as the target position acquired by the positioning equation set at the moment; and the activated node returns back to the dormant state if not satisfying node activation conditions in five continuous periods. The regional optimal solution algorithm provided by the invention has the advantages of ability of improving the data utilization rate of a sensor network, high positioning precision, low energy consumption and the like.

Description

Technical field [0001] The invention relates to the technical field of intelligent control of underwater acoustic sensors, in particular to a regional optimal solution algorithm for precise positioning of underwater moving targets. Background technique [0002] At present, the precise positioning of underwater moving targets aims to obtain accurate position information of underwater targets through the collaborative sensing of underwater acoustic sensors, which can provide theoretical basis and technology for underwater target detection and defense, shipwreck salvage search and rescue, species tracking and detection, etc. support. However, the characteristics of the underwater complex environment, such as ocean currents, eddies, trenches, reefs, and even marine emergencies (deepness), as well as the limitation of the positioning range of a single underwater acoustic sensor node, make the positioning accuracy of underwater moving targets generally poor. high. [0003] In the prior...

Claims

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Application Information

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IPC IPC(8): G01S15/06
CPCG01S15/06
Inventor 闫敬顼自强罗小元关新平
Owner YANSHAN UNIV
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