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

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...

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

Images