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An underwater acoustic navigation and localization method based on particle filter algorithm

A particle filter algorithm, navigation and positioning technology, applied in navigation, surveying and mapping and navigation, navigation calculation tools, etc., can solve problems such as equivalent sound velocity error, large positioning error of underwater vehicles, and failure of underwater vehicle positioning. Achieve the effect of reducing possibility, improving accuracy, and realizing long-distance precise underwater acoustic positioning and navigation

Active Publication Date: 2019-12-27
INST OF ACOUSTICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, whether it is engineering measurement or theoretical calculation, due to the complexity of the underwater acoustic channel, there is an error in using the obtained equivalent sound velocity as a known parameter, and the error of the equivalent sound velocity will cause the positioning error of the underwater vehicle to increase with the navigation distance. becomes larger with the increase of , which leads to the failure of underwater vehicle positioning

Method used

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  • An underwater acoustic navigation and localization method based on particle filter algorithm
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  • An underwater acoustic navigation and localization method based on particle filter algorithm

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Embodiment 1

[0038] The following combination Figure 1 to Figure 6 Embodiment 1 of the present application will be described.

[0039] Such as figure 1 As shown, this embodiment provides a particle filter algorithm-based underwater acoustic navigation and positioning method, including: step 1, according to the second position coordinates of the beacon and the pulse positioning signal between the aircraft and the beacon, construct an acoustic navigation model, Among them, the pulse positioning signal is sent by the beacon to the aircraft;

[0040] Specifically, such as figure 2 As shown, set the Y-axis direction to 0°, and the coordinates of the three beacons are B1(0,0), B2(r,0) and The initial position of the aircraft is A(3r / 4, r / 5), and the aircraft moves in a straight line at a constant speed along the track 201 with a speed of 2.5m / s and a heading of 75° clockwise. In practical applications, even if the aircraft moves in a straight line at a uniform speed, it will be affected b...

Embodiment 2

[0078] After calculating the first position coordinates and the equivalent sound velocity of the aircraft through Embodiment 1, a signal delay model can also be constructed, and the third position coordinates of the aircraft can be calculated by using the equivalent sound velocity, and then the weighting algorithm can be used, according to the first The position coordinates and the third position coordinates are used to calculate the fourth position coordinates of the aircraft, including:

[0079] Step 7: Construct a signal delay model based on the pulse positioning signals received by the aircraft from multiple propagation paths, where the pulse positioning signal is sent by the beacon to the aircraft, the number of propagation paths is determined by the current water environment, and the signal delay model The calculation formula is:

[0080]

[0081] In the formula, y * (n) is the pulse positioning signal transmitted by the beacon received by the aircraft, s(n) is the p...

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Abstract

The invention discloses an underwater acoustic navigation positioning method based on a particle filtering algorithm. The method comprises the following steps of 1, building an acoustic navigation model according to second position coordinates of a beacon and a pulse positioning signal between an underwater vehicle and the beacon, wherein the pulse positioning signal is sent to the underwater vehicle through the beacon, wherein the step 1 specifically comprises the following sub-steps of 11, according to a navigation speed of the underwater vehicle and an equivalent sound velocity change quantity of pulse positioning signal propagation, building a first matrix equation; 12, according to the second position coordinates, propagation time of the pulse positioning signal and error parameters of the propagation time, building a second matrix equation; and 13, marking the first matrix equation and the second matrix equation as the acoustic navigation model; and 2, by adopting a weighting algorithm, calculating first position coordinates and an equivalent sound speed of the underwater vehicle according to the pulse positioning signal and the acoustic navigation model. Through the technical scheme, the accuracy of an underwater equivalent sound velocity estimation value is improved, and the possibility of positioning failure of the underwater vehicle is reduced.

Description

technical field [0001] The present application relates to the technical field of underwater navigation, in particular, to an underwater acoustic navigation and positioning method based on a particle filter algorithm. Background technique [0002] An underwater vehicle is an integrated system that can complete underwater tasks by virtue of its own power system and navigation system. Acoustic navigation utilizes the characteristics of small attenuation and long propagation distance of sound signals under water The position-known beacon is used as the reference position, and the distance from the beacon to the underwater vehicle is calculated by measuring the time when the pulse positioning signal emitted by the beacon reaches the underwater vehicle, so as to obtain the position information of the underwater vehicle. Acoustic navigation mainly includes ultra-short baseline navigation, short baseline navigation and long baseline navigation. [0003] In the prior art, the conven...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 王海斌李瑨瑶汪俊韩一丁陈曦
Owner INST OF ACOUSTICS CHINESE ACAD OF SCI