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Underwater target positioning method based on improved arrival frequency difference

A positioning method and underwater target technology, which is applied in the field of underwater target positioning based on improved frequency difference of arrival, can solve the problems of low signal frequency resolution and inability to accurately measure target azimuth, so as to improve positioning accuracy and reduce design difficulty Effect

Active Publication Date: 2021-04-20
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For underwater target detection, since the speed of the underwater vehicle and the signal carrier frequency are much lower than satellite and radio detection, and the underwater environment is harsh, the frequency resolution of the signal is low, and the target orientation cannot be accurately measured. The traditional FDOA method Not suitable for underwater environment

Method used

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  • Underwater target positioning method based on improved arrival frequency difference
  • Underwater target positioning method based on improved arrival frequency difference
  • Underwater target positioning method based on improved arrival frequency difference

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Effect test

Embodiment 1

[0052] The underwater target positioning method based on the improved frequency difference of arrival refers to the Doppler frequency shift of the arrival signal due to the relative motion between the target and the underwater mobile platform, which is solved by calculating the difference of the frequency difference of arrival of the signal at different times The technology of the location of the target. Its scene situation diagram is as follows figure 1As shown, the position of the underwater acoustic beacon is mainly determined by a single maneuvering vehicle receiving the signals emitted by the acoustic beacon at two locations. In the figure, the aircraft travels along the preset route at a certain speed, and the acoustic beacon emits an acoustic pulse signal at a certain period, and the aircraft is at x 1 、x 2 The location (positioning node) receives the acoustic burst signal. The underwater target positioning method based on the improved frequency difference of arrival...

Embodiment 2

[0094] The simulation parameters are as follows: without loss of generality, the coordinates of the target are set to x t =[0,200,50], the track of the mobile positioning platform is a straight line, the depth is 0m, the mobile positioning platform moves at a constant speed, and the speed is 5m / s. The estimation error of each input parameter is: the frequency difference information measurement error is 0.5Hz, the delay difference information measurement error is 1ms, the sound velocity measurement error is 2m / s, the coordinate error of the positioning node is 1.5m, and the speed measurement error of the mobile positioning platform is 1%. Other parameters are set as follows: the sound velocity is 1500m / s, the acoustic beacon signal frequency is 10kHz, and the signal period is 1s.

[0095] The positioning method involved in the present invention is used to estimate the position of the acoustic beacon. Real-time solution results such as image 3 As shown, the corresponding pos...

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Abstract

The invention discloses an underwater target positioning method based on an improved arrival frequency difference. The method comprises the following steps: step 1, acquiring time delay difference information and frequency difference information required by calculation from an input signal; step 2, establishing a resolving equation of a target position according to the obtained time delay difference and frequency difference information; according to the obtained information, establishing a time delay difference relation equation and a frequency difference relation equation of the underwater maneuvering platform and the target at two different positions to form a positioning calculation equation set; and step 3, solving the equation by adopting a Newton iteration method, and if the solved result does not meet the iteration precision requirement, repeatedly carrying out cyclic solving until the solved precision requirement is met, thereby finally finishing the positioning precision calculation. According to the invention, a traditional frequency difference satellite positioning method is improved, so that the method can be applied to underwater acoustic positioning occasions, the positioning precision of an underwater acoustic positioning system is effectively improved, and the software and hardware design difficulty is reduced.

Description

technical field [0001] The invention belongs to the field of underwater target positioning; in particular, it relates to an underwater target positioning method based on the improved arrival frequency difference. Background technique [0002] For Frequency Difference of Arrival (FDOA), it is mostly used in the field of satellite and radio positioning. Due to the relative motion between the radiation source and multiple stations, the arrival signal produces a Doppler frequency shift. By measuring the difference between different receiving stations Arrival signal frequency difference, and then solve the position information of the target itself. For underwater target detection, since the speed of the underwater vehicle and the signal carrier frequency are much lower than satellite and radio detection, and the underwater environment is harsh, the frequency resolution of the signal is low, and the target orientation cannot be accurately measured. The traditional FDOA method Not...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/18
CPCY02D30/70
Inventor 孙思博梁国龙明瑞和曲龙付进王燕王逸林张光普齐滨邹男
Owner HARBIN ENG UNIV
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