Underwater long baseline acoustic positioning method based on TDOA

An acoustic positioning and long baseline technology, applied in positioning, radio wave measurement systems, measuring devices, etc., can solve the problems of unsatisfactory positioning accuracy and achieve the effects of reducing time, improving accuracy, and fast and accurate positioning

Inactive Publication Date: 2019-03-29
TIANJIN UNIV
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Problems solved by technology

However, the complexity of the underwater channel environment has a great impact on the propagation of sound underwater. The underwater acoustic positioning technology has been developed so far. Although considerable research results have been achieved, the complex characteristics of the underwater environment and the positioning algorithm Defects make the positioning accuracy unsatisfactory

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  • Underwater long baseline acoustic positioning method based on TDOA
  • Underwater long baseline acoustic positioning method based on TDOA
  • Underwater long baseline acoustic positioning method based on TDOA

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Embodiment Construction

[0048] A TDOA-based underwater long-baseline acoustic positioning method of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.

[0049] Such as image 3 As shown, a kind of TDOA-based underwater long baseline acoustic positioning method of the present invention comprises the following steps:

[0050] 1) A positioning base station array composed of several base stations and a survey ship for receiving data are deployed in the target sea area; each base station in the survey ship and the positioning base station array is provided with a sonar sensor for acoustic emission and reception .

[0051] 2) Establish a positioning model based on the TDOA method, and obtain the distance value between the i-th base station and the positioning target 7 based on the TDOA method; including:

[0052] at t 0 Position the target 7 at all times to send out a sound signal (explosion, vibration, etc.), and assume that the soun...

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Abstract

The invention provides an underwater long baseline acoustic positioning method based on TDOA. The method comprises the steps that a positioning base station array composed of a number of base stationsand a measuring ship used for receiving data are arranged in a target sea area; a positioning model based on a TDOA method is established, and a distance value between the i-th base station based onthe TDOA method and a positioning target is acquired; according to the distance value, a Chan algorithm is used to acquire the initial position of the positioning target; a Taylor algorithm is used toiterate the acquired initial position of the positioning target to acquire a more accurate result; threshold judgment is carried out on the result; if the result is less than a set threshold, the final result is output; and if the result is not less than the set threshold, threshold judgment is continued until the result is less than the threshold. According to the invention, the method is simple, and has the advantages of strong anti-interference ability and high positioning precision in an underwater environment; the positioning accuracy can be ensured; the time required for positioning isreduced; and an underwater target is rapidly and accurately positioned.

Description

technical field [0001] The invention relates to an underwater acoustic positioning method. In particular, it relates to an underwater long-baseline acoustic positioning method based on TDOA. Background technique [0002] Underwater acoustic positioning technology is widely used in the fields of ocean exploration, ocean observation, and ocean protection to locate targets in the underwater environment. However, the complexity of the underwater channel environment has a great impact on the propagation of sound underwater. The underwater acoustic positioning technology has been developed so far. Although considerable research results have been achieved, the complex characteristics of the underwater environment and the positioning algorithm All the defects make the positioning accuracy unsatisfactory. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a TDOA-based underwater long baseline acoustic positioning method wh...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/20
CPCG01S5/20
Inventor 张安民宁一伟张豪欧阳知雨刘禹刘帅刘荣霞侯泽北
Owner TIANJIN UNIV
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