Underwater acoustic sensor network deep sea target positioning method based on glancing angle sound ray correction

An underwater acoustic sensor and target positioning technology, which is used in positioning, direction finders and instruments using ultrasonic/sonic/infrasonic waves, etc., can solve the problems of sound ray propagation distance error, uneven sound speed, easy node drift, etc., to achieve correction Influence and improve the effect of positioning accuracy

Pending Publication Date: 2021-11-19
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The underwater environment is complex, such as uneven sound velocity, prolonged propagation time, easy drift of nodes, high communication energy consumption, etc., which make it difficult for underwater nodes and targets to achieve strict clock synchronization, and the cost of maintaining clock synchronization is very high
In the case of asynchronous node and target clocks, the measured sound ray propagation time will be inaccurate, and the sound ray propagation distance obtained by the sound ray correction method suitable for clock precise synchronization network will have a large error, and then the accuracy of target positioning Increased error

Method used

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  • Underwater acoustic sensor network deep sea target positioning method based on glancing angle sound ray correction
  • Underwater acoustic sensor network deep sea target positioning method based on glancing angle sound ray correction
  • Underwater acoustic sensor network deep sea target positioning method based on glancing angle sound ray correction

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Experimental program
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Effect test

Embodiment 1

[0049] Embodiment 1: Simulation of the influence of the sound ray propagation time measurement value error on the performance of the traditional sound ray correction method.

[0050] The target location method based on the traditional sound ray correction requires the clock synchronization between the node and the target. When the clock between the node and the target is asynchronous, there will be errors in the measurement value of the sound ray propagation time. When there is an error in the measurement value of the sound ray propagation time, the effect of the traditional sound ray correction method is simulated.

[0051] The node position coordinates are (50m, 100m, 35m), and the target position coordinates are (1000m, 800m, 1000m). Set the parameters to be modified in MunkB_ray.env, and then run the bellhop command to generate the MunkB_ray.arr file to obtain the propagation time of the sound ray. When the propagation time measurement has no error and the error variance ...

Embodiment 2

[0054] Embodiment 2: In the case of asynchronous clocks, a fixed horizontal distance, and targets at different depths of the sound velocity profile, the performance simulation of the deep-sea target positioning method based on glancing angle sound ray correction.

[0055] The underwater environment is complex, making it difficult to achieve strict clock synchronization between underwater nodes and targets. When there is a small error in the measurement value of the sound ray propagation time caused by the asynchronous clock of the node and the target, the positioning method based on the traditional sound ray correction is compared. And the performance of the deep-sea target positioning method based on the grazing angle sound ray correction proposed by the present invention.

[0056] There are 6 nodes in the sensor network, and the position coordinates of the nodes are s 1 = (50m, 100m, 35m), s 2 = (103m, 600m, 22m), s 3 = (500m, 670m, 30m), s 4 = (620m, 300m, 40m), s 5 = (...

Embodiment 3

[0065] Embodiment 3: In the case of asynchronous clock, when the depth is constant, and the target is at different horizontal distances, the performance simulation of the deep-sea target positioning method based on the glancing angle sound ray correction.

[0066] In order to verify the effect of the deep-sea target precise positioning method based on grazing angle sound ray correction proposed by the present invention when the horizontal distance between the target and the node is different, it is assumed that the depth of the target is constant, and the horizontal distance between the target and the node is gradually increased. From the simulation and analysis of the second part of the embodiment, we know that when the target and the node clock are asynchronous, the traditional sound ray correction method can no longer meet the accuracy requirements, but the positioning method proposed in the present invention can obtain high-precision distance estimation, significantly improv...

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Abstract

The invention provides an underwater acoustic sensor network deep sea target positioning method based on glancing angle sound ray correction; under the condition that the sound velocity profile and the glancing angle of a node receiving end are known, the accurate horizontal distance between the node and the target can be obtained, and then the target positioning accuracy is improved. According to the method, the technical problem that a time-based distance measurement method and a traditional sound ray correction method cannot be used under the condition that a sensor node and a target clock are asynchronous is solved, the influence of sound ray bending on distance measurement and target positioning is corrected, and the target positioning precision is obviously improved; the glancing-angle-based sound ray correction method can be used for deep-sea target positioning of an underwater acoustic sensor network and can also be used for deep-sea target positioning of other underwater acoustic positioning systems.

Description

technical field [0001] The invention relates to the technical field of underwater acoustic positioning, in particular to a method for precise positioning of deep-sea targets through an underwater acoustic sensor network. Background technique [0002] The ocean accounts for about 71% of the earth's surface area, and the space for human activities is gradually expanding from the land to the ocean. The 21st century is also called the century of the ocean. The ocean is rich in minerals and fish resources, and it is also a blue bridge and an important gateway for our country to connect to the world. Therefore, the development of the ocean has important political significance, civil value and military value. Due to its simple infrastructure, small node size, low equipment cost, convenient deployment and strong survivability, the underwater acoustic sensor network is widely used in various marine activities, including marine environment monitoring, seabed resource detection, disast...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/22G01S5/00G01S3/802
CPCG01S5/22G01S5/01G01S3/802
Inventor 申晓红康玉柱王海燕闫永胜贾天一申莹
Owner NORTHWESTERN POLYTECHNICAL UNIV
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