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Underwater Acoustic Target Location and Tracking Method Based on Wave Glider Networking Technology

An underwater acoustics and target positioning technology, applied in satellite radio beacon positioning system, sound wave reradiation, instruments, etc., can solve the problem of poor track control accuracy, unsuitable for large-scale networking, and difficult multi-node networking and other issues, to achieve the effect of precise positioning and tracking

Active Publication Date: 2021-04-13
NAT DEEP SEA CENT +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Underwater autonomous robots have high-precision underwater navigation and trajectory control capabilities, but it is difficult to realize large-scale multi-node networking due to the limitation of underwater acoustic communication; underwater gliders have the characteristics of low noise and long-sequence work, but due to the Poor control accuracy and limited underwater acoustic communication are also not suitable for large-scale networking

Method used

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  • Underwater Acoustic Target Location and Tracking Method Based on Wave Glider Networking Technology
  • Underwater Acoustic Target Location and Tracking Method Based on Wave Glider Networking Technology
  • Underwater Acoustic Target Location and Tracking Method Based on Wave Glider Networking Technology

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Embodiment Construction

[0041] Assuming that the target motion can be described by linear equations, an observation network composed of 12 sets of wave glider nodes performs underwater acoustic target positioning and tracking, and each wave glider node drags a set of 8-element acoustic detection hydrophone arrays. The system constitutes as figure 2 shown. Take Extended Kalman Filter as a method of sequential Bayesian tracking to further explain the method of the present invention, but the scope of protection of the present invention is not limited by any form of example, and the whole implementation process is shown in image 3 , where the node track planning is according to figure 1 conduct.

[0042] An underwater acoustic target positioning and tracking method based on wave glider networking technology, the method includes an underwater acoustic target positioning and tracking method. The initial output of the positioning method is realized based on traditional triangulation or hyperbolic posit...

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Abstract

The invention relates to an underwater acoustic target positioning and tracking method based on the networking technology of wave gliders, belonging to the field of marine technology. Equipped with satellite communication module, attitude indicator and compass. A single node is connected to the centralized control center through satellite broadband communication. Multiple nodes realize remote real-time networking and transmit single-point acquisition signals back to the centralized control center. The centralized control center integrates signals from multiple nodes to preliminarily estimate the underwater acoustic target position. When the number of valid nodes is not enough to estimate the target position, the centralized control center plans the running trajectories of other wave gliders near the valid nodes to cover the target area, thereby increasing the number of valid nodes for target detection. Using the preliminary estimated underwater acoustic target position as the observed value of the target position, and combining the target motion equation to estimate the target current position as the final output, the accurate positioning and tracking of the underwater acoustic target can be realized.

Description

technical field [0001] The invention belongs to the field of ocean technology, and in particular relates to an underwater acoustic target positioning and tracking method based on wave glider networking technology. Background technique [0002] Underwater acoustic target localization and tracking has been widely concerned. Traditional underwater acoustic target positioning is usually achieved by large-aperture receiving arrays. With the development of various autonomous platforms, including underwater autonomous robots, underwater gliders, and wave gliders, distributed detection, positioning, and tracking are more feasible. Underwater autonomous robots have high-precision underwater navigation and trajectory control capabilities, but it is difficult to realize large-scale multi-node networking due to the limitation of underwater acoustic communication; underwater gliders have the characteristics of low noise and long-sequence work, but due to the Poor control accuracy and li...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S15/66G01S15/87G01S15/88G01S19/53
CPCG01S15/66G01S15/872G01S15/88G01S19/53
Inventor 杨志国颜曦刘保华董武文宗乐陆欢佳于凯本于盛齐张晓波
Owner NAT DEEP SEA CENT
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