Multi-base sonar positioning method based on signal arrival time difference

Abstract

The invention discloses a multi-base sonar positioning method based on a signal arrival time difference, and the method comprises the steps: building measurement models of two conditions through considering the assumption that the real propagation speed of a signal is a known distributed random variable and the real propagation speed of the signal is completely unknown; converting the measurementmodels of the two conditions into a linear relation equation, arranging the linear relation equation into a matrix form, and converting the matrix form into a weighted least square problem; convertingthe weighted least square problem of the two conditions into a non-convex constraint optimization problem, relaxing the non-convex constraint optimization problem into an easy-to-process convex problem, and adding additional constraints to tighten the problem; solving the tightened convex problem under the two conditions to obtain an optimal solution of the to-be-optimized variable so as to obtain preliminary estimated values of the target position under the two conditions; optimizing again by utilizing the preliminary estimated values to obtain a final estimated value; the method has the advantage of good target positioning performance.

Description

technical field [0001] The invention relates to an underwater target positioning technology, in particular to a multi-base sonar positioning method based on signal arrival time difference. Background technique [0002] The problem of unknown target localization has a large number of applications in wireless sensor networks, radar, sonar and many other fields, so it has received extensive attention. [0003] In underwater target positioning, because radio signals attenuate quickly when propagating in water, sonar is usually used as a transmitter to transmit signals and as a receiver to collect signals, and the signals are in the range of acoustic waves. Underwater target positioning is more difficult than land target positioning, which is mainly reflected in the following two aspects: [0004] 1) In underwater target positioning, the positions of the transmitter and receiver are not fixed and time-varying, resulting in random and time-varying position errors; [0005] 2) In...

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Problems solved by technology

For example: Prof. Rui and Prof. Ho developed an efficient four-step closed-form WLS (weighted least squares) estimator, however, this method may not work when the noise is large or the transmitter and receiver locations are not well distributed Good positioning performance, even fails with

Another example: Professor Jia et al. improved the above-mentioned four-step closed-form WLS estimator from two aspects. One method is to simplify the four-step method into a two-step solution, thereby reducing the computational complexity, but it only simplifies However, the positioning performance is not good or even fails in harsh environments or with a small number of transmitters; another method is to use the generalized trust region subproblem (GTRS) method to improve the positioning performance, however, the GTRS method cannot handles the case of multiple transmitters, which affects its application

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