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Multi-channel constraint based long baseline positioning method for underwater communication nodes

An underwater communication and positioning method technology, applied in the directions of positioning, radio wave measurement systems, measurement devices, etc., can solve the problems of low reliability, restrict the scope of application and accuracy of time delay estimation methods, etc., to improve accuracy, improve The effect of positioning accuracy

Active Publication Date: 2019-05-24
INST OF ACOUSTICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the marine environment parameters are complex and multi-channel, and have the characteristics of changing with time and space. Therefore, in the prior art, a transmission signal arrival time is selected as a method of propagation time to obtain a higher precision time delay. The reliability of the estimated value is low, which seriously restricts the scope and accuracy of the delay estimation method

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  • Multi-channel constraint based long baseline positioning method for underwater communication nodes
  • Multi-channel constraint based long baseline positioning method for underwater communication nodes
  • Multi-channel constraint based long baseline positioning method for underwater communication nodes

Examples

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Embodiment 1

[0023] The following combination Figure 1 to Figure 4 Examples of the present application will be described.

[0024] Such as figure 1 As shown, this embodiment provides a long baseline positioning method for underwater communication nodes based on multi-channel channel constraints, including:

[0025] Step 1. Construct a signal delay model based on the navigation signals of multiple propagation paths received by the receiving ship. The navigation signal is sent from the transmitting ship to the receiving ship, and the number of propagation paths is determined by the current water environment. The calculation of the signal delay model The formula is:

[0026]

[0027] In the formula, y * (n) is the navigation signal transmitted by the transmitting ship received by the receiving ship, s(n) is the sampled navigation signal, a * m is the sampled signal amplitude of the navigation signal of the mth propagation path, τ * m is the signal delay after sampling the navigatio...

Embodiment 2

[0068] In this embodiment, a method for calculating the average sound velocity is provided in order to improve the accuracy of the long baseline positioning method in this application. The method for determining the average sound velocity specifically includes:

[0069] Step b1, constructing an acoustic navigation model according to the position coordinates of the transmitting ship and the navigation signals between the receiving ship and the transmitting ship, wherein the navigation signals are sent from the transmitting ship to the receiving ship;

[0070] In the step b1, it specifically includes:

[0071] Step b11, according to the sailing speed of the receiving ship (v xk ,v yk ) and the equivalent sound velocity change n of navigation signal propagation k cs , to construct the first matrix equation, the calculation formula of the first matrix equation is:

[0072] x k =X k-1 +V k-1 ,

[0073] x k =[x k the y k c 1k ... c mk ] T ,

[0074]

[0075] In ...

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Abstract

The invention discloses a multi-channel constraint based long baseline positioning method for underwater communication nodes. The method includes step 1, constructing a signal delay model according tonavigation signals of multiple transmission routes received by a receiving ship; step 2, according to the signal delay model and the navigation signals, calculating the the receiving time sequence ofthe receiving ship receiving the navigation signals; step 3, according to the navigation signals, the receiving time sequence and a coordinate calculation model, calculating positioning coordinates of the receiving ship. By the multi-channel constraint based long baseline positioning method, the accuracy of estimated time delay values of underwater sound positioning signals is improved, and the positioning accuracy and precision in underwater sound positioning are improved.

Description

technical field [0001] The present application relates to the technical field of underwater acoustic navigation and positioning, in particular, to a long baseline positioning method for underwater communication nodes based on multi-channel channel constraints. Background technique [0002] When sound waves propagate in water, due to the refraction of the water medium and the reflection of sound waves on the water surface and the bottom of the water, there are multiple propagation paths from the emission point to the receiving point. This phenomenon is called the multi-path effect, which affects underwater acoustic navigation and positioning One of the main reasons for precision. In the ocean channel, interfaces with large reflection coefficients such as the sea surface and the bottom of the sea will generate strong multi-path echoes, which are doped in the navigation signal at the receiving point, which seriously affects the detection of the best arrival time of the navigati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/10H04B13/02
Inventor 张海如汪俊王海斌陈德胜吴立新
Owner INST OF ACOUSTICS CHINESE ACAD OF SCI