Underwater acoustic positioning method, device, equipment and storage medium

Abstract

The invention relates to an underwater acoustic positioning method and device, equipment and a storage medium. Comprising the following steps: acquiring position coordinates of an underwater target at a first moment according to a four-buoy positioning method; setting the position coordinate as an iteration initial value of a Levenberg-Marquardt algorithm; constructing a residual equation set by adopting a three-buoy positioning method; and calculating the position coordinates of the underwater target at the second moment according to the iterative initial value and the residual equation set by adopting a Levenberg-Marquardt algorithm. Therefore, when the Levenberg-Marquardt algorithm is adopted to calculate the position coordinates of the underwater target at the second moment, the iterative initial value of the Levenberg-Marquardt algorithm is the position coordinates of the underwater target at the first moment, and the position coordinates are obtained through four-buoy positioning. Therefore, the accuracy of the position coordinates of the underwater target at the first moment is relatively high, so that the iterative initial value of the Levenberg-Marquardt algorithm is closer to a real solution, the occurrence of a singular matrix is avoided, and the positioning accuracy of the underwater target is effectively improved.

Description

Technical Field

[0001] This application relates to the field of underwater acoustic communication, and in particular to an underwater acoustic positioning method, apparatus, device and storage medium. Background Technology

[0002] Currently, acoustic positioning systems are the primary technology for underwater target navigation and positioning. Common acoustic positioning systems are classified into three types: long baseline positioning systems, short baseline positioning systems, and ultra-short baseline positioning systems. Among them, long baseline positioning systems offer advantages such as ease of installation and wide coverage. Therefore, long baseline positioning systems have consistently maintained a dominant position in acoustic positioning systems.

[0003] Currently, long baseline positioning systems primarily employ a four-buoy positioning method to calculate the position of underwater targets. Specifically, the underwater target simultaneously transmits acoustic signals to four surface buoys, and the time difference between the arrival times of these signals at the four buoys is measured. The position of the underwater target is then calculated based on this time difference. However, the position of the underwater target changes with seawater flow. Therefore, the four-buoy positioning method needs to be used multiple times to locate the underwater target.

[0004] However, due to the complex and variable marine environment, acoustic signals sent by underwater targets to buoys cannot reach all buoys, causing four-buoy positioning to often degrade to three-buoy positioning. The three-buoy positioning method is relatively sensitive to measurement errors, and singular matrices are prone to appearing in the calculation process, which further amplifies the measurement error and thus affects the positioning results of underwater targets. Summary of the Invention

[0005] This application provides an underwater acoustic positioning method, apparatus, device, and storage medium, aiming to solve the technical problem of how to improve the accuracy of underwater target positioning when four-buoy positioning is downgraded to three-buoy positioning.

[0006] In a first aspect, embodiments of this application provide an underwater acoustic localization method, which includes:

[0007] The position coordinates of the underwater target at the first moment were obtained using the four-buoy positioning method.

[0008] The position coordinates of the underwater target at the first moment are set as the initial values ​​for the iteration of the Levenberg-Marquardt algorithm;

[0009] The residual equations were constructed using the three-buoy positioning method.

[0010] Using the Levenburg-Marquardt algorithm, the position coordinates of the underwater target at the second time step are calculated based on the initial iteration values ​​and the residual equations.

[0011] Optionally, the residual equation set is as follows:

[0012] f i (x,y)=(d i -d0)-v×τ i

[0013] Where, d i Let di be the distance between the underwater target and the i-th buoy, d0 be the distance between the underwater target and the reference buoy, and τ be the distance between the underwater target and the reference buoy. i Let v be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy, v be the speed of sound, and i be 1 or 2.

[0014] Optionally, before constructing the residual equation system using the three-buoy positioning method, the method further includes:

[0015] The distance residuals between each buoy and the reference buoy are calculated using the four-buoy positioning method to obtain multiple distance residuals;

[0016] Calculate the average distance residual based on the multiple distance residuals;

[0017] The method of constructing the residual equation system using the three-buoy positioning method includes:

[0018] Using the three-buoy positioning method, the residual equation system is constructed based on the average distance residual.

[0019] Optionally, the step of using the three-buoy positioning method to construct the residual equation system based on the average distance residual includes:

[0020] The time difference is corrected based on the average residual of the distance to obtain the corrected time difference;

[0021] Using the three-buoy positioning method, the residual equation system is constructed based on the corrected time difference.

[0022] Optionally, the formula for calculating the corrected time difference is:

[0023]

[0024] Where, τ i' This is the corrected time difference. Let τ be the average residual distance, v be the speed of sound, and τ be the mean distance residual. i Let be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy.

[0025] Optionally, obtaining the position coordinates of the underwater target at the first moment using the four-buoy positioning method includes:

[0026] Construct a system of equations for the time difference of arrival;

[0027] The arrival time difference equations are converted into residual equations.

[0028] Construct the objective function based on the residual equation;

[0029] The Levenburg-Marquardt algorithm is used to calculate the position coordinates of the underwater target at the first moment.

[0030] Optionally, after calculating the average distance residual based on the plurality of distance residuals, the method further includes:

[0031] Store the average residual of the distance.

[0032] Secondly, embodiments of this application also provide an underwater acoustic positioning device, which includes a unit for performing the above-described method.

[0033] Thirdly, embodiments of this application also provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0034] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0035] This application provides an underwater acoustic positioning method, apparatus, device, and storage medium. The method includes: obtaining the position coordinates of an underwater target at a first moment using a four-buoy positioning method; setting the position coordinates of the underwater target at the first moment as the initial iteration value for the Leveenberg-Marquardt algorithm; constructing a set of residual equations using a three-buoy positioning method; and calculating the position coordinates of the underwater target at a second moment using the Leveenberg-Marquardt algorithm based on the initial iteration value and the set of residual equations. In this application, the position coordinates of the underwater target at the first moment are obtained using a four-buoy positioning method and set as the initial iteration value for the Leveenberg-Marquardt algorithm. Then, a set of residual equations is constructed using a three-buoy positioning method. Finally, the Leveenberg-Marquardt algorithm is used to calculate the position coordinates of the underwater target at the second moment. Therefore, when using the Leveenberg-Marquardt algorithm to calculate the position coordinates of the underwater target at the second moment, the initial iteration value of the Leveenberg-Marquardt algorithm is the position coordinates of the underwater target at the first moment. The position coordinates of the underwater target at the first moment are obtained through four-buoy positioning. Therefore, the high accuracy of the underwater target's position coordinates at the first moment makes the initial value of the Levenberg-Marquardt algorithm closer to the true solution, avoiding the occurrence of singular matrices, thereby reducing errors and effectively improving the positioning accuracy of the underwater target. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0039] Figure 1 This is one of the flowcharts illustrating an underwater acoustic positioning method provided in an embodiment of this application;

[0040] Figure 2 A second schematic flowchart illustrating an underwater acoustic positioning method provided in this application embodiment;

[0041] Figure 3 A schematic block diagram of an underwater acoustic positioning device provided in an embodiment of this application;

[0042] Figure 4 A computer device provided in an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0045] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0046] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0047] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0048] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0049] To address the technical problem of improving the accuracy of underwater target positioning when four-buoy positioning is downgraded to three-buoy positioning in the prior art, this application provides an acoustic positioning device that can improve the accuracy of underwater target positioning when four-buoy positioning is downgraded to three-buoy positioning.

[0050] Figure 1 This is a schematic flowchart of an underwater acoustic positioning method provided in an embodiment of this application. In one embodiment, the method includes:

[0051] S1. Obtain the position coordinates of the underwater target at the first moment using the four-buoy positioning method.

[0052] The four-buoy positioning method involves an underwater target simultaneously sending signals to four surface buoys; then measuring the time difference between the arrival times of the signals at the four buoys; finally, using this time difference, calculating the underwater target's position coordinates at the first instant. It should be noted that the underwater target's position coordinates at the first instant are world coordinates or geographic coordinates. Of course, the underwater target's position coordinates at the first instant can be other types of position coordinates. This application does not impose any restrictions on this.

[0053] S2. Set the position coordinates of the underwater target at the first moment as the initial values ​​for the iteration of the Levenberg-Marquardt algorithm.

[0054] When solving the objective function using the Levenberg-Marquardt algorithm, it is necessary to set initial values ​​for iteration. In this embodiment, the position coordinates of the underwater target at the first moment are set as the initial values ​​for the Levenberg-Marquardt algorithm iteration, so that these initial values ​​can be closer to the true solution.

[0055] S3. The residual equation system is constructed using the three-buoy positioning method.

[0056] In one embodiment, the residual equations are:

[0057] f i (x,y)=(d i -d0)-v×τ i

[0058] Where, d i Let di be the distance between the underwater target and the i-th buoy, d0 be the distance between the underwater target and the reference buoy, and τ be the distance between the underwater target and the reference buoy. i Let v be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy, v be the speed of sound, and i be 1 or 2.

[0059] It should be noted that in this embodiment, one of the three buoys is used as the reference buoy. Preferably, buoy 0 is used as the reference buoy. Therefore, there are two equations in the above residual equation system.

[0060] S4. Using the Levenburg-Marquardt algorithm, calculate the position coordinates of the underwater target at the second time step based on the initial values ​​of the iteration and the residual equations.

[0061] The specific calculation process is as follows:

[0062] A. Perform initialization operations;

[0063] The position coordinates of the underwater target at the first moment are set as the initial values ​​for iteration. A damping factor λ0, a scaling factor v, and a maximum number of iterations are set. Preferably, the damping factor is set to 0.01, the scaling factor is set to 2, and the maximum number of iterations is set to 30. It should be noted that the damping factor λ0, scaling factor v, and the maximum number of iterations can be set according to experimental data in this embodiment. This application does not impose any limitations on these settings.

[0064] B. Iterative calculation operation;

[0065] This application uses a single iteration as an example, and the specific calculation process is as follows:

[0066] a. Calculate the residual vector and Jacobian matrix based on the residual equations. The residual vector is:

[0067] f = [f1, f2, ..., f m ] T

[0068] Where m represents the number of equations. When using the three-buoy positioning method, m is 2; when using the four-buoy positioning method, m is 3. Each element in the residual vector is a residual equation.

[0069] The Jacobian matrix is:

[0070]

[0071] in,

[0072] It should be noted that (x0, y0) are the initial values ​​for the iteration. In other words, (x0, y0) are the position coordinates of the underwater target at the first moment.

[0073] b. Next, calculate the gradient g and the approximate Hessian matrix H.

[0074] Where the gradient g is:

[0075] g = J T f

[0076] The approximate Hessian matrix H is:

[0077] H = J T J+λI

[0078] Where I is the identity matrix.

[0079] c. Construct a system of linear equations:

[0080] HΔx=-g

[0081] d. Solve for the increment Δx based on the gradient g and the approximate Hessian matrix H. Where Δx = [Δx, Δy] T .

[0082] e. Calculate the new coordinates:

[0083] x new =x k +Δx

[0084] Where k is the number of iterations.

[0085] f. Calculate the old and new residuals, where the old residual is:

[0086] F old =f T f

[0087] g. The new residual is:

[0088]

[0089] h. Calculate the gain ratio:

[0090]

[0091] i. Update the damping factor and parameters:

[0092] Specifically, if ρ > 0, it indicates that the descent is effective.

[0093] x k+1 =x new ,

[0094]

[0095] v=2

[0096] If ρ≤0, then the descent is invalid.

[0097] x k+1 =x k ,

[0098] λ k+1 =λ k ·v,

[0099] v = 2v

[0100] C. If the current maximum number of iterations is reached or the step size is less than the threshold, stop the iteration; otherwise, repeat the iteration process in step B.

[0101] It should be noted that the position of underwater targets changes with the flow of seawater. Therefore, this embodiment requires repositioning of the underwater target. When four-buoy positioning is often downgraded to three-buoy positioning, this embodiment uses the result of four-buoy positioning and employs a three-buoy positioning method to achieve accurate positioning of the underwater target.

[0102] This application provides an underwater acoustic positioning method. The method includes: obtaining the position coordinates of an underwater target at a first moment using a four-buoy positioning method; setting the position coordinates of the underwater target at the first moment as the initial iteration value of the Leveenberg-Marquardt algorithm; constructing a system of residual equations using a three-buoy positioning method; and calculating the position coordinates of the underwater target at a second moment using the Leveenberg-Marquardt algorithm based on the initial iteration value and the system of residual equations. In this application, the position coordinates of the underwater target at the first moment are obtained using a four-buoy positioning method and set as the initial iteration value of the Leveenberg-Marquardt algorithm. Then, a system of residual equations is constructed using a three-buoy positioning method. Finally, the Leveenberg-Marquardt algorithm is used to calculate the position coordinates of the underwater target at the second moment. Therefore, when using the Leveenberg-Marquardt algorithm to calculate the position coordinates of the underwater target at the second moment, the initial iteration value of the Leveenberg-Marquardt algorithm is the position coordinates of the underwater target at the first moment. The position coordinates of the underwater target at the first moment are obtained through four-buoy positioning. Therefore, the high accuracy of the underwater target's position coordinates at the first moment makes the initial value of the Levenberg-Marquardt algorithm closer to the true solution, avoiding the occurrence of singular matrices, thereby reducing errors and effectively improving the positioning accuracy of the underwater target.

[0103] Please see Figure 2 , Figure 2 This is a second schematic flowchart of an underwater acoustic positioning method provided in an embodiment of this application. In one embodiment, before constructing the residual equation system using the three-buoy positioning method, the method further includes:

[0104] S5. Calculate the distance residuals between each buoy and the reference buoy using the four-buoy positioning method to obtain multiple distance residuals.

[0105] The formula for calculating the distance residual is as follows:

[0106] f i (x,y)=(d i -d0)-v·τ i (i = 1, 2, 3)

[0107] Where, d i Let d be the distance between the underwater target and the i-th buoy, and d0 be the distance between the underwater target and the reference buoy.

[0108] It should be noted that, based on the four-buoy positioning method, three distance residuals can be calculated.

[0109] S6. Calculate the average distance residual based on multiple distance residuals.

[0110] Among them, the average distance residual is the average of multiple distance residuals.

[0111] The method of constructing the residual equation system using the three-buoy positioning method includes:

[0112] S31. Using the three-buoy positioning method, a system of residual equations is constructed based on the average distance residual.

[0113] In one embodiment, the step of employing the three-buoy positioning method and constructing the residual equation system based on the average distance residual includes:

[0114] S311. Correct the time difference based on the average residual distance to obtain the corrected time difference.

[0115] The formula for calculating the corrected time difference is:

[0116]

[0117] Where, τ i' This is the corrected time difference. Let τ be the average residual distance, v be the speed of sound, and τ be the mean distance residual. i Let be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy.

[0118] S312. Using the three-buoy positioning method, a set of residual equations is constructed based on the corrected time difference.

[0119] In this embodiment, the corrected time difference replaces the original time difference in the residual equation system, resulting in a new residual equation system. Specifically:

[0120] f i (x,y)=(d i -d0)-v·τ i′ (i = 1, 2)

[0121] Where, τ i' This is the corrected time difference.

[0122] In one embodiment, obtaining the position coordinates of the underwater target at the first moment using the four-buoy positioning method includes:

[0123] S11. Construct a system of equations for the time difference of arrival.

[0124] The time difference equations are as follows:

[0125]

[0126] Δd i0 =d i -d0=v·(t i -t0)=v·τ i (i = 1, 2, 3)

[0127] Where (x,y) is the target position; d i τ is the distance from the target to the i-th buoy; v is the speed of sound; τ i It is the time difference between the arrival of the signal at the i-th buoy and the reference buoy (usually buoy 0).

[0128] S12. Transform the arrival time difference equations into residual equations.

[0129] The residual equation is as follows:

[0130] f i (x,y)=(d i -d0)-v·τ i (i = 1, 2, 3)

[0131] S13. Construct the objective function based on the residual equation.

[0132] The objective function is to minimize the sum of squares of the residuals:

[0133]

[0134] Where, p i Let p1 be the position coordinate of buoy i, and p0 be the position coordinate of buoy 0 (i.e., the reference buoy).

[0135] S14. The Levenburg-Marquardt algorithm is used to calculate the position coordinates of the underwater target at the first moment.

[0136] It should be noted that this embodiment of the application will take one iteration as an example, and the specific iteration process is as follows:

[0137] S141. Calculate the residual vector and the Jacobian matrix, where the residual vector is:

[0138] f i (x)=(||xp i ||-||x-p0||)-υτ i

[0139] The Jacobian matrix is:

[0140]

[0141] S142. Solve the incremental equation:

[0142] (J T J+λI)Δx=-J T f

[0143] Wherein, λI is the damping term. In this embodiment, a damping term is added to avoid the occurrence of singular matrices.

[0144] S143, Update parameters.

[0145] x new =x k +Δx

[0146] In one embodiment, after calculating the average distance residual based on the plurality of distance residuals, the method further includes:

[0147] Store the average residual of the distance.

[0148] This application embodiment stores the average distance residual for use during three-buoy positioning.

[0149] See Figure 3 , Figure 3 This is a schematic block diagram of an underwater acoustic positioning device provided in an embodiment of this application. Corresponding to the above-described underwater acoustic positioning method, this application also provides an underwater acoustic positioning device. The underwater acoustic positioning device includes a unit for performing the above-described underwater acoustic positioning method, and the device can be configured in a terminal such as a desktop computer, tablet computer, or laptop computer. Specifically, the underwater acoustic positioning device includes:

[0150] Acquisition unit 301 is used to acquire the position coordinates of the underwater target at the first moment according to the four-buoy positioning method;

[0151] Setting unit 302 is used to set the position coordinates of the underwater target at the first moment to the initial values ​​of the iteration of the Levenberg-Marquardt algorithm;

[0152] Construction unit 303 is used to construct the residual equation system using the three-buoy positioning method;

[0153] The calculation unit 304 is used to calculate the position coordinates of the underwater target at the second time step using the Levenburg-Marquardt algorithm based on the initial iteration value and the residual equation system.

[0154] In one embodiment, the residual equations are:

[0155] f i (x,y)=(d i -d0)-v×τ i

[0156] Where, d i Let di be the distance between the underwater target and the i-th buoy, d0 be the distance between the underwater target and the reference buoy, and τ be the distance between the underwater target and the reference buoy. i Let v be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy, v be the speed of sound, and i be 1 or 2.

[0157] In one embodiment, the calculation unit 304 is further configured to calculate the distance residual between each buoy and the reference buoy according to the four-buoy positioning method, thereby obtaining multiple distance residuals;

[0158] Calculate the average distance residual based on the multiple distance residuals;

[0159] The calculation unit 304 is specifically used to construct the residual equation system based on the average distance residual using the three-buoy positioning method.

[0160] In one embodiment, the construction unit 303 is specifically used to correct the time difference based on the average distance residual to obtain the corrected time difference;

[0161] Using the three-buoy positioning method, the residual equation system is constructed based on the corrected time difference.

[0162] In one embodiment, the formula for calculating the corrected time difference is:

[0163]

[0164] Where, τ i' This is the corrected time difference. Let τ be the average residual distance, v be the speed of sound, and τ be the mean distance residual. i Let be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy.

[0165] In one embodiment, the acquisition unit 301 is specifically used to construct a set of time difference of arrival equations;

[0166] The arrival time difference equations are converted into residual equations.

[0167] Construct the objective function based on the residual equation;

[0168] The Levenburg-Marquardt algorithm is used to calculate the position coordinates of the underwater target at the first moment.

[0169] In one embodiment, the device further includes a storage unit 305 for storing the average distance residual.

[0170] like Figure 4 As shown, this application provides a computer device including a processor 41, a communication interface 42, a memory 43, and a communication bus 44. The processor 41, the communication interface 42, and the memory 43 communicate with each other through the communication bus 44. The memory 43 is used to store computer programs.

[0171] In one embodiment of this application, when the processor 41 executes the program stored in the memory 43, it implements the underwater acoustic positioning control method provided in any of the foregoing method embodiments, including...

[0172] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0173] Therefore, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the underwater acoustic localization method provided in any of the foregoing method embodiments.

[0174] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk, or any other physical storage medium capable of storing program code. The computer-readable storage medium can be non-volatile or volatile.

[0175] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0176] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0177] The steps in the methods of this application embodiment can be adjusted, merged, or deleted according to actual needs. The units in the apparatus of this application embodiment can be merged, divided, or deleted according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0178] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0179] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0180] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0181] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for underwater acoustic localization, characterized in that, include: The position coordinates of the underwater target at the first moment were obtained using the four-buoy positioning method. The position coordinates of the underwater target at the first moment are set as the initial values ​​for the iteration of the Levenberg-Marquardt algorithm; The residual equations were constructed using the three-buoy positioning method. Using the Levenburg-Marquardt algorithm, the position coordinates of the underwater target at the second time step are calculated based on the initial iteration values ​​and the residual equations.

2. The method according to claim 1, characterized in that, The residual equations are as follows: f i (x,y)=(d i -d0)-v×τ i Where, d i Let di be the distance between the underwater target and the i-th buoy, d0 be the distance between the underwater target and the reference buoy, and τ be the distance between the underwater target and the reference buoy. i Let v be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy, v be the speed of sound, and i be 1 or 2.

3. The method according to claim 2, characterized in that, Before constructing the residual equation system using the three-buoy positioning method, the method further includes: The distance residuals between each buoy and the reference buoy are calculated using the four-buoy positioning method to obtain multiple distance residuals; Calculate the average distance residual based on the multiple distance residuals; The method of constructing the residual equation system using the three-buoy positioning method includes: Using the three-buoy positioning method, the residual equation system is constructed based on the average distance residual.

4. The method according to claim 3, characterized in that, The method of using the three-buoy positioning method, and constructing the residual equation system based on the average distance residual, includes: The time difference is corrected based on the average residual of the distance to obtain the corrected time difference; Using the three-buoy positioning method, the residual equation system is constructed based on the corrected time difference.

5. The method according to claim 4, characterized in that, The formula for calculating the corrected time difference is: Where, τ i' This is the corrected time difference. Let τ be the average residual distance, v be the speed of sound, and τ be the mean distance residual. i Let be the time difference between the signal reaching the i-th buoy and the signal reaching the reference buoy.

6. The method according to claim 1, characterized in that, The method of obtaining the position coordinates of the underwater target at the first moment using the four-buoy positioning method includes: Construct a system of time difference of arrival equations; The arrival time difference equations are converted into residual equations. Construct the objective function based on the residual equation; The Levenburg-Marquardt algorithm is used to calculate the position coordinates of the underwater target at the first moment.

7. The method according to claim 3, characterized in that, After calculating the average distance residual based on the plurality of distance residuals, the method further includes: Store the average residual of the distance.

8. A water acoustic positioning device, characterized in that, include: The acquisition unit is used to obtain the position coordinates of the underwater target at the first moment according to the four-buoy positioning method. The setting unit is used to set the position coordinates of the underwater target at the first moment to the initial values ​​of the iteration of the Levenberg-Marquardt algorithm; A construction unit is used to construct a system of residual equations using the three-buoy positioning method. The calculation unit is used to calculate the position coordinates of the underwater target at the second time step using the Levenburg-Marquardt algorithm based on the initial iteration value and the residual equation system.

9. A computer device, characterized in that, The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the method as described in any one of claims 1 to 7.

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