Convex optimization-based high-precision positioning method

Abstract

The present invention relates to a convex optimization-based high-precision positioning method in an underwater target positioning problem. The method of the present invention comprises a step of setting the to-be-calculated coordinate of a target as x=[x0,y0,z0]<T>, wherein the step comprises firstly measuring the distances ri between the target to several surrounding beacons and the coordinates ai=[xi, yi, zi]<T> corresponding to the beacons, setting the range finding errors to each beacon as Epsilon i which follow the Gaussian distribution of which the expected value is 0 and the variance is sigma i<2>, and obtaining a range finding equation of the target, etc. By carrying out the formal transformation and adding the limitation conditions on a least-square structure of an underwater target spherical intersecting positioning equation, the least-square structure is transformed into a DC structural form in a convex optimization theory, and further a convex-concave process (CCP) method can be utilized to solve, and aiming at the disadvantage that a direct CCP algorithm need to iterate an initial value in a feasible domain, a slack variable and a penalty function are added in an original optimization equation, thereby expanding the feasible domain, and broadening the limitation to the initial value. Compared with a linear least-square positioning calculation method, the convex optimization-based high-precision positioning method enables the positioning precision to be improved, and realizes the high-precision underwater target positioning.

Description

technical field [0001] The invention relates to a high-precision positioning method based on convex optimization in the underwater target positioning problem. Background technique [0002] Hydroacoustic positioning technology can provide important positioning, navigation and communication support for seabed exploration equipment such as ROV and AUV. By installing and deploying acoustic positioning equipment on surface working vessels, underwater mobile platforms, and operating sea areas, real-time monitoring of underwater target positions and information interaction between the surface and underwater platforms can be realized. , marine resources development, deep-sea space station construction and other projects. [0003] So far, underwater acoustic positioning technology can be divided into two categories: ranging-based positioning technology and non-ranging-based positioning technology, and high-precision positioning technology is realized by ranging. Communicate with th...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to obtain the linear least squares structure and realize by the mode of two-phase subtraction item of the positioning equation to obtain the linear least squares structure for the general solution method of the least squares structure of the spherical intersection positioning equation in the positioning problem of the underwater acoustic positioning technology, remove two Due to the problem that the sub-term causes the positioning accuracy to decrease, a high-precision positioning method based on convex optimization is proposed to improve the positioning solution accuracy of the spherical intersection positioning equation.

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