Underwater acoustic positioning method, device, storage medium, computer equipment

Abstract

The present application relates to an underwater acoustic positioning method, device, storage medium, and computer equipment. The method includes: obtaining the position information of reference nodes; performing time synchronization on the reference nodes to obtain clock skew respectively; obtaining information received by each reference node to be positioned The first transmission delay is obtained from the delay of the reference message of the node; the corresponding second transmission delay is obtained according to the clock skew corresponding to each reference node and the first transmission delay; the second transmission delay corresponding to each reference node The time delay is calculated by linear regression to obtain the corresponding third transmission time delay; the relevant information of sound velocity and water depth when the reference message is exchanged is obtained; according to the position information of each reference node, the corresponding third transmission time delay, the corresponding sound speed and water depth The relevant information of water depth obtains the location information of the node to be positioned. Through this solution, layering effect compensation and time-synchronized positioning can be realized, making underwater acoustic positioning more accurate.

Description

technical field [0001] The present application relates to the field of computer technology, and in particular to an underwater acoustic positioning method, device, storage medium, and computer equipment. Background technique [0002] In the time synchronization and positioning research of many underwater sensors, although some practical problems have been considered and some effective solutions have been proposed accordingly, such as long transmission delay, deployment of reference nodes, energy efficiency and so on. However, there are still some challenging problems that have not been well solved. [0003] The impact of node mobility has not been well resolved. In the process of calculating transmission delay, due to the mobility of nodes, the distance between two points or transmission delay will change with time. Because in the network of underwater acoustic sensors, the nodes will move passively or actively with the water flow in real time, such as AUV, underwater robo...

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Problems solved by technology

[0004] The impact of stratification effects is not well addressed

Because the speed of sound under water changes with external conditions such as temperature, pressure, and salinity, the sound does not travel in a straight line underwater, but bends with depth. This characteristic has led to a large number of Proposed positioning algorithms such as TOA, TDOA, AOA, etc. are not accurate, and the errors introduced by them need to be compensated

Although the above problems have attracted the attention of the academic community, they have not formed a systematic solution.

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