Single transponder slope distance underwater sound positioning method and system based on adaptive Kalman filtering (AKF)

Abstract

The invention belongs to the field of underwater sound communication and navigation, and relates to a single transponder slope distance underwater sound positioning method and system based on adaptiveKalman filtering (AKF). The single transponder slope distance underwater sound positioning system based on the adaptive Kalman filtering (AKF) is composed of a transponder, a sound signal transceiver, a Doppler flow meter, an attitude sensor, a depth sensor and an adaptive Kalman filtering controller. Based on an adaptive Kalman filtering (AKF) algorithm, single slope distance information, depthmeasuring information, speed information and attitude information of an underwater vehicle are integrated, noise of the sensors, time delay, update frequency and multi-sensor information fusion are considered, a single slope distance positioning method of the single transponder of the underwater vehicle is established, three-dimensional coordinates of the underwater vehicle are calculated, and accurate positioning is realized. According to the single transponder slope distance underwater sound positioning method based on the AKF, arrangement and positioning work costs of the transponder can besaved, the problems that speed and distance are limited by a sound signal propagating underwater, the slope distance measuring updating frequency is slower, and updating with depth and attitude measuring information is not synchronous can be solved, and thus, the positioning efficiency and precision are improved.

Description

technical field [0001] The invention belongs to the field of underwater acoustic communication and navigation, and relates to an adaptive AKF-based single transponder slant distance underwater acoustic positioning method and system. Background technique [0002] In the underwater acoustic positioning system, the commonly used methods are long baseline, short baseline, and ultra-short baseline. Although these three methods can provide reliable three-dimensional coordinates of underwater vehicles and realize positioning, they all require more than three transponders. , and it is necessary to perform positioning correction on each of the responders separately, which requires a lot of operating time and cost. [0003] At present, domestic scholars have conducted some research. For example: Wang Xiying and others proposed a LBL / MINS integrated navigation system and its navigation information fusion method (application number 201510518511.7). The system includes the long baseline...

AI Technical Summary

Problems solved by technology

This method enables the system to switch between two positioning modes of long-baseline hydroacoustic positioning and ultra-short-baseline hydroacoustic positioning, and also requires the deployment of multiple subm...

Images