Method for estimating passive motion speed of underwater node based on Doppler frequency shift estimation
A technology of Doppler frequency shift and passive motion, which is applied in the field of passive motion velocity vector estimation of underwater nodes based on Doppler frequency shift estimation, and can solve problems such as failure of positioning information
Active Publication Date: 2019-11-26
WUHAN UNIV
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[0006] Aiming at the deficiencies of the prior art, the present invention provides a passive motion velocity vector estimation method for underwater nodes based on Doppler frequency shift estimation, with the purpose of solving the problem that the passive motion of underwater nodes due to the influence of water flow causes the failure of positioning information
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[0106] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0107]Examples of the embodiments are shown in the accompanying drawings, and the embodiments described below by referring to the accompanying drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
[0108] An embodiment of the present invention provides a method for estimating a passive motion velocity vector of an underwater node based on Doppler frequency shift estimation, comprising the following steps:
[0109] Step 1: Assuming that the k-th positioning is currently being performed, a positioning model based on different time of arrival (TDOA) is established, and the communication time information between the sensor node and the reference buoy node during the k-1 positioning process is obtained, and the k-th positioning is calculated. -1 positionin...
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The invention discloses a method for estimating the passive motion speed of an underwater node based on Doppler frequency shift estimation. The method includes: carrying out kth positioning currently,establishing a positioning model based on a time difference of arrival (TDOA), acquiring communication time information of an underwater sensor node and a reference buoy node during the (k-1)th positioning processing, and calculating the positioning position of the sensor node during the (k-1)th positioning process; calculating a projection component of an actual motion velocity vector of the sensor node on the connecting line between the position of the sensor node and the position of the reference buoy node during the (k-1)th positioning process according to a Doppler frequency shift measurement value obtained in the process from the (k-1)th positioning to the kth positioning and the actual motion velocity vector of the reference buoy node; estimating an actual motion velocity vector ofthe sensor node during the process from the (k-1)th positioning to the kth positioning; and acquiring an actual motion velocity vector prediction value of the sensor node during the process from thekth positioning to the (k+1)th positioning and predicting a real-time position of the node.
Description
technical field [0001] The invention belongs to the field of underwater sensor network positioning, in particular to a method for estimating passive motion velocity vectors of underwater nodes based on Doppler frequency shift estimation. Background technique [0002] The ocean is a huge treasure house of resources on the earth, but human beings' understanding and investigation of the ocean is less than 10%. The huge ocean is waiting for human cognition, development and utilization. Marine environmental monitoring, marine resource development and protection of marine rights and interests have become major strategic needs of various countries. The huge underwater pressure and large area are not suitable for direct long-term human operations. With the development of embedded systems, the advancement of underwater acoustic communication and signal processing technology, the underwater acoustic communication sensor network has become an important tool for deep-sea oil well explor...
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Login to View More IPC IPC(8): G01S11/14
CPCG01S11/14Y02D30/70
Inventor 李德识黄威陈健刘鸣柳孟凯涛陈浩乐
Owner WUHAN UNIV