基于单水声信标距离量测的匹配定位方法
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摘要
水声通信和测距能力是实现水下航行器准确定位的重要技术手段。当前基于水声定位的方法主要有利用测距和测向功能的水声定位技术以及水声测距辅助导航技术,二者的系统物理复杂度都比较高。本文提出了一种基于单水声信标距离量测的匹配定位方法,航行器在水声信标测距覆盖范围内,利用航行过程中多次测距信息构建测距圆序列形成位置约束,基于航位推算导航信息,将航行器在连续测距时间段内的相对航迹在圆序列上进行最优匹配,从而获得位置估计,通过对测距误差进行补偿可进一步提升定位精度。本方法所需物理系统结构复杂度低、可操作性强,仿真实验表明,该方法可以独立实现较高精度的定位。
Underwater acoustic communication and ranging capabilities are important techniques for accurate positioning ofunderwater vehicles. Currently, the underwater acoustic localization methods mainly include underwater acoustic positioningtechnology using underwater ranging and direction, and underwater acoustic distance measurement assisted navigationtechnologies, which are of higher system physical complexity. This paper proposes a matching positioning method based onthe distance measurement of single beacon. Putting the vehicle within the coverage range of underwater acoustic beacon, andusing the multiple ranging information during navigation and a ranging circle sequence was constructed. The positionconstraint is formed, and the relative trajectory of the vehicle during this period of time is optimally matched on the circlesequence to obtain a position estimate. The physical system structure required by this method is of low complexity but strongoperability. Simulation experiments show that this method can independently achieve higher precision positioning.
Underwater acoustic communication and ranging capabilities are important techniques for accurate positioning ofunderwater vehicles. Currently, the underwater acoustic localization methods mainly include underwater acoustic positioningtechnology using underwater ranging and direction, and underwater acoustic distance measurement assisted navigationtechnologies, which are of higher system physical complexity. This paper proposes a matching positioning method based onthe distance measurement of single beacon. Putting the vehicle within the coverage range of underwater acoustic beacon, andusing the multiple ranging information during navigation and a ranging circle sequence was constructed. The positionconstraint is formed, and the relative trajectory of the vehicle during this period of time is optimally matched on the circlesequence to obtain a position estimate. The physical system structure required by this method is of low complexity but strongoperability. Simulation experiments show that this method can independently achieve higher precision positioning.
引文
Bahr A,Leonard J J,Fallon M F,2009.Cooperative Localization for Autonomous Underwater Vehicles.The International Journal of Robotics Research,28(6):714-728.
Care E,2006.Virtual long baseline(VLBL)autonomous underwater vehicle navigation using a single transponder.[Master dissertation],Massachusetts Institute of Technology,29-38.
Larsen M B,2000.Synthetic Long Baseline Navigation of Underwater Vehicles.Proceedings of the 2000 MTS/IEEE Oceans Conference,Providence,RI,USA,2043-2050.
Stutters L,Liu H,Tiltman C,et al,2008,Navigation Techbologies for Autonomous Underwater Vehicles.IEEE Transactions on Systems,Man,and Cybernetics,Part C(Applications and Reviews),38(4):581-589.
Vaganay J,Baccou P,Jouvencel B,2000.Homing by acoustic ranging to a single beacon.Proceedings of the 2000 MTS/IEEE Oceans Conference,Providence,RI,USA,1457-1462.
曹俊,郑翠娥,孙大军,等,2017a.AUV直线航迹下的单信标测距定位.哈尔滨工程大学学报,38(5):733-738.
曹俊,郑翠娥,孙大军,等,2017b.系数矩阵正定的单信标测距定位算法.电子与信息学报,39(4):981-988.
曹俊,2017c.基于单信标测距的水下载体定位研究.哈尔滨:哈尔滨工程大学.
林旺生,2009.水声信道仿真与声线修正技术研究.哈尔滨:哈尔滨工程大学.
刘明雍,李闻白,刘富樯,等,2011.基于单信标测距的水下导航系统可观测性分析.西北工业大学学报,29(1):87-92.
严卫生,房新鹏,崔荣鑫,2012.单信标测距AUV水下定位系统观测性分析.中南大学学报(自然科学版),43(8):3085-3090.
张淼,李闻白,王冬,2012.单信标距离测量的AUV导航方法.西安工业大学学报,32(7):557-562,571.
Care E,2006.Virtual long baseline(VLBL)autonomous underwater vehicle navigation using a single transponder.[Master dissertation],Massachusetts Institute of Technology,29-38.
Larsen M B,2000.Synthetic Long Baseline Navigation of Underwater Vehicles.Proceedings of the 2000 MTS/IEEE Oceans Conference,Providence,RI,USA,2043-2050.
Stutters L,Liu H,Tiltman C,et al,2008,Navigation Techbologies for Autonomous Underwater Vehicles.IEEE Transactions on Systems,Man,and Cybernetics,Part C(Applications and Reviews),38(4):581-589.
Vaganay J,Baccou P,Jouvencel B,2000.Homing by acoustic ranging to a single beacon.Proceedings of the 2000 MTS/IEEE Oceans Conference,Providence,RI,USA,1457-1462.
曹俊,郑翠娥,孙大军,等,2017a.AUV直线航迹下的单信标测距定位.哈尔滨工程大学学报,38(5):733-738.
曹俊,郑翠娥,孙大军,等,2017b.系数矩阵正定的单信标测距定位算法.电子与信息学报,39(4):981-988.
曹俊,2017c.基于单信标测距的水下载体定位研究.哈尔滨:哈尔滨工程大学.
林旺生,2009.水声信道仿真与声线修正技术研究.哈尔滨:哈尔滨工程大学.
刘明雍,李闻白,刘富樯,等,2011.基于单信标测距的水下导航系统可观测性分析.西北工业大学学报,29(1):87-92.
严卫生,房新鹏,崔荣鑫,2012.单信标测距AUV水下定位系统观测性分析.中南大学学报(自然科学版),43(8):3085-3090.
张淼,李闻白,王冬,2012.单信标距离测量的AUV导航方法.西安工业大学学报,32(7):557-562,571.