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An underwater multi-target positioning method, terminal device and storage medium

A multi-target positioning and multi-target technology, applied in the field of underwater acoustic communication, can solve the problems that are difficult to solve directly, do not consider network node motion information, real-time application requirements, and parameter interdependence, and achieve the effect of low algorithm complexity.

Active Publication Date: 2022-05-24
XIAMEN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

On the other hand, the traditional technology only uses spatial constraints such as distance measurement in the positioning process, and does not consider the motion information of network nodes and real-time application requirements. Therefore, in the target mobile scene or real-time positioning scene, the positioning performance of the algorithm will be significantly reduced
[0004] The problem of multi-target real-time cooperative positioning in underwater acoustic sensor network is a complex multi-dimensional space-time estimation problem, which needs to optimize a large number of parameters at the same time, and the parameters are interdependent, so it is difficult to solve directly

Method used

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  • An underwater multi-target positioning method, terminal device and storage medium
  • An underwater multi-target positioning method, terminal device and storage medium
  • An underwater multi-target positioning method, terminal device and storage medium

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Embodiment 1

[0037] The embodiment of the present invention provides an underwater multi-target positioning method, such as figure 1 As shown, it is a flowchart of an underwater multi-target positioning method according to an embodiment of the present invention, and the method includes the following steps:

[0038] S1: Build a dynamic factor graph for multi-target real-time cooperative localization.

[0039] In this embodiment, the position of each target is abstracted into variable nodes, and the obtained distance measurement and speed measurement and the interdependence between the nodes are abstracted into function nodes to represent the position distribution state of each target in the network. Specifically, as figure 2 As shown (in this embodiment, three moving targets are tracked as an example), the current time t K , the dynamic factor graph includes two types of nodes: variable node p and function node f. The variable node p represents the position of the target, and the variab...

Embodiment 2

[0076] The present invention also provides an underwater multi-target positioning terminal device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the computer program when the processor executes the computer program. The steps in the above method embodiment of Embodiment 1 of the present invention.

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Abstract

The present invention relates to an underwater multi-target positioning method, a terminal device and a storage medium. The method includes: S1: constructing a dynamic factor graph for multi-target real-time cooperative positioning; S2: changing the dynamic factor graph over time Each node evolves and updates in real time; S3: Obtain the real-time position of each target according to the dynamic factor graph. The present invention can decompose complex global optimization problems into multiple simple local optimization problems for distributed solution, has the characteristics of low algorithm complexity, etc., and takes into account the distributed characteristics of the network, and the algorithm can be made according to the change of the network state Appropriate adjustment has obvious advantages in solving the problem of underwater multi-target real-time cooperative positioning.

Description

technical field [0001] The invention relates to the field of underwater acoustic communication, in particular to an underwater multi-target positioning method, terminal equipment and storage medium. Background technique [0002] With the development of underwater acoustic communication technology, research on real-time positioning technology for underwater acoustic sensor networks has gradually increased in recent years. For example, in underwater applications such as early warning systems, underwater real-time monitoring, network routing protocols and MAC protocol real-time control, providing real-time location information of underwater targets is crucial for system control and decision-making. [0003] Most of the traditional underwater acoustic sensor network moving target location technologies require frequent communication between the target and the known reference anchor nodes, which is a great challenge to the communication overhead and energy consumption of the netwo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G01S5/18
CPCG06Q10/04G01S5/18
Inventor 伊锦旺朱琴殷秋月肖远彪
Owner XIAMEN UNIV OF TECH
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