A method and device for underwater target positioning
An underwater target and target quantity technology, which is applied in the field of underwater target positioning methods and devices, and can solve problems such as failure to work normally.
Active Publication Date: 2021-08-06
JILIN UNIV
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Problems solved by technology
Accidents may occur when the untethered underwater robot is working underwater and it cannot work normally. In order to be able to salvage and repair the untethered underwater robot in time, it is necessary to quickly and accurately locate the specific position of the untethered underwater robot in the underwater environment.
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[0053] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0054] Such as figure 1 As shown, it is a schematic diagram of an underwater target positioning method provided in the embodiment of the present application, including the following steps:
[0055] S101: Determine measurement data of the underwater target based on the preset hyperbolic equations and the time information when each base station receives the underwater target feedback signal.
[0056] In S101, a set of preset hyperbolic equations is used to characterize the positional...
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The present application provides an underwater target positioning method and device, based on the preset hyperbolic equations and the time information when each base station receives the underwater target feedback signal, the position measurement data of the underwater target is determined. Based on the preset target motion model, the motion state model of the underwater target is corrected. Based on the preset target tracking gate, the measurement data is grouped to obtain target measurement data clusters. The preset initial track of the underwater target and the target measurement data in the cluster are associated with each other to generate multiple associated assumptions. The optimal correlation hypothesis is selected from multiple correlation hypotheses, and the track corresponding to the optimal correlation hypothesis is taken as the real track of the underwater target. The measurement data used to characterize the position of the underwater robot in the underwater environment and the track of the underwater robot are associated and assumed, and combined with the corrected motion state model, the real track of the underwater robot is obtained. Based on the real track It can accurately grasp the specific position of the underwater robot.
Description
technical field [0001] The present application relates to the technical field of data processing, in particular to an underwater target positioning method and device. Background technique [0002] The ocean contains rich mine resources and biological resources. With the development and utilization of marine resources, the research on autonomous underwater vehicles (AUV) has become a hot field. On the one hand, the cable-free underwater robot can avoid manual exploration of the underwater environment, prevent casualties, and handle tasks that cannot be completed by humans. On the other hand, untethered underwater robots can detect the underwater environment at will, and obtain underwater information that cannot be observed by manual exploration and detection instruments. Accidents may occur when the untethered underwater robot is working underwater and it cannot work normally. In order to be able to salvage and repair the untethered underwater robot in time, it is necessary ...
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IPC IPC(8): G01S5/28G01S13/58
CPCG01S5/28G01S13/58
Inventor 王晓宇刘军关雯雪崔军红宋姗姗王俊
Owner JILIN UNIV