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Underwater positioning method based on ranging and neural network algorithm

A neural network algorithm, underwater positioning technology, applied in neural learning methods, biological neural network models, positioning and other directions to achieve the effect of reducing ranging error

Active Publication Date: 2016-11-09
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of inclusiveness and position calculation in order to improve the tolerance of positioning algorithms to these disturbances, especially noise

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  • Underwater positioning method based on ranging and neural network algorithm
  • Underwater positioning method based on ranging and neural network algorithm
  • Underwater positioning method based on ranging and neural network algorithm

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specific Embodiment approach

[0062] Consider that K anchor nodes and N nodes to be positioned have been deployed in the positioning area. In order to obtain a certain amount of data (greater than or equal to 100) to carry out the training of the neural network model, consider using a detector in the present invention to make it move along a fixed track underwater, and the speed of motion is constant as v m / s, and in the water Using acoustic signals for information transmission, the motion velocity v of the detector is much smaller than the transmission velocity of acoustic waves underwater. During the movement, the detector uses a certain ranging method, such as TOA, TDOA, AOA, etc., to measure and record the distance between the current point and the K anchor nodes at intervals of a fixed distance, as well as the coordinates of the current point until walking complete track.

[0063] In the present invention, the positioning area is selected in a water area of ​​200m*200m, and K=12 anchor nodes are set ...

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Abstract

The invention discloses an underwater positioning method based on ranging and a neural network algorithm. The method comprises the steps that K anchor nodes and N to-be-positioned nodes are arranged in positioning water; the distance between each to-be-positioned node and K anchor nodes is measured; and positioning is carried out for two stages of offline training and online positioning. The stage of offline training comprises the steps that the distance between the n-th to-be-positioned node and all anchor nodes is measured to form a distance vector, and the distance vector is input into a three-layer nerve network which comprises a neural network input layer, a neural network hidden layer and a neural network output layer; prediction model parameters are updated through algorithm iteration; and neural network model parameters are output. The stage of online positioning comprises the steps that the current distance between the n-th to-be-positioned node and all anchor nodes is measured to form a distance vector; the distance vector is input to the neural network model parameters acquired in the stage of offline training; and the position coordinates of the to-be-positioned nodes are output to reduce ranging errors.

Description

technical field [0001] The invention relates to the field of underwater wireless sensor networks, in particular to an underwater positioning method based on ranging and neural network algorithms. Background technique [0002] In recent years, countries around the world have paid more and more attention to ocean issues. With the development of marine environmental protection, resource development, marine engineering and other projects and the rapid development of terrestrial wireless sensor network research, Underwater Wireless Sensor Network (UWSN) has become a new research hotspot. Among them, the positioning problem of underwater wireless sensor network is a research focus. [0003] The existing UWSN positioning algorithms can usually be divided into ranging-based algorithms and ranging-free algorithms according to whether the distance of nodes needs to be measured during the positioning process. In the ranging-based algorithm, it is necessary to obtain the distance betw...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/00H04W64/00G06N3/02G06N3/08
CPCG01S5/00G06N3/02G06N3/084H04W64/006
Inventor 董宇涵李征王睿张林张凯
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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