Fish ultrasonic marking precision positioning method and system suitable for complex water environment

Abstract

The invention discloses a fish ultrasonic wave marker precise positioning method and system suitable for a complex water environment. The method comprises the steps of S1, collecting the time when a signal marker fish arrives at each hydrophone in a hydrophone monitoring network or the time difference between arrivals at two hydrophones; S2, estimating approximate coordinates and a signal emissiontime of the signal marker fish by using a Chan algorithm; S3, taking the approximate coordinates of the signal marker fish as the center, constructing an approximate coordinate alternative interval,and dividing the approximate coordinate alternative interval into sub-nets; S4, taking a node position of one subnet as a position initial value of the signal marker fish, and carrying out the signalmarker positioning calculation by using the robust least-square estimation; and S5, evaluating a positioning calculation result obtained in the step S4, if the evaluation passes, determining the position calculation result as the precise positioning result of the signal marker fish, and otherwise, repeating the step S4. The method of the invention can effectively realize the accurate capture of fish movement trajectories with high precision and high reliability.

Description

technical field [0001] The invention belongs to the field of fish resource protection, and in particular relates to a fish ultrasonic marking precision positioning method suitable for complex water environments. Background technique [0002] As the top community of aquatic ecosystems, fishes simulate, reconstruct and restore their important habitats, so as to restore the structure and function of river ecosystems is an important goal of aquatic ecology [1] . However, the location of key habitats such as fish spawning grounds estimated by traditional methods such as fish early resource surveys, broodstock spawning behavior observations, and fishermen's visits has problems such as wide range, poor accuracy, and large errors. If the precise positioning of fish can be realized, on the one hand, the key habitat (such as spawning ground) can be accurately determined according to its key life period (such as spawning period), and the corresponding habitat factors can be obtained e...

AI Technical Summary

Problems solved by technology

However, in the case of poor selection of the initial position, the algorithm will hardly guarantee convergence

In addition, in the case of unavoidable gross errors, the traditional least squares estimation is not anti-interference, and the deviation of a single observation may cause the final positioning results to be unrecognizable

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