基于信标漂移误差识别的长基线定位算法
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摘要
针对长基线水声定位系统中信标位置漂移误差难以识别和估计的问题,分析了长基线水声定位系统中同步式测距系统时钟同步误差和应答式测距系统信标漂移误差的等效性,提出一种对有效声速系统误差进行修正的单信标测距定位算法。在此基础上提出一种在不掌握声场环境信息时可以有效识别信标漂移误差的长基线定位算法,利用有效声速分布范围对信标漂移误差进行识别,基于航迹融合后轨迹对固定信标位置漂移误差进行估计和修正。试验结果表明算法提高了长基线系统的定位精度和鲁棒性。
Beacon position drift error in long baseline acoustic positioning system is difficult to identify and estimate.The equivalence of clock synchronization error is analyzed in synchronous distance ranging system and the beacon drift error is analyzed in response distance ranging system.A single beacon location algorithm is proposed based on effective sound velocity correction.A long baseline positioning algorithm which can effectively identify the beacon drift error is put forward without acoustic environment information.The effective sound velocity distribution range is used to identify the beacon drift error.The fixed beacon position drift error is estimated and corrected with the fusion trajectory.Experiment results show that the algorithm improves the positioning accuracy and robustness of long baseline positioning system.
Beacon position drift error in long baseline acoustic positioning system is difficult to identify and estimate.The equivalence of clock synchronization error is analyzed in synchronous distance ranging system and the beacon drift error is analyzed in response distance ranging system.A single beacon location algorithm is proposed based on effective sound velocity correction.A long baseline positioning algorithm which can effectively identify the beacon drift error is put forward without acoustic environment information.The effective sound velocity distribution range is used to identify the beacon drift error.The fixed beacon position drift error is estimated and corrected with the fusion trajectory.Experiment results show that the algorithm improves the positioning accuracy and robustness of long baseline positioning system.
引文
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[2]殷冬梅,惠俊英,孙圣和,等.无线遥控、浮标式水下目标跟踪定位系统[J].系统工程与电子技术,2004,26(9):1246-1249.YIN D M,HUI J Y,SUN S H,et al.Design of wireless acoustic buoy array multi-targets tracking and positioning system[J].Systems Engineering and Electronics,2004,26(9):1246-1249.
[3]WEBSTER S E.Decentralized single beacon acoustic navigation:communication and navigation for underwater vehicles[D].Baltimore:Johns Hopkins University,2010.
[4]FREITAG L,GRUND M,SINGH S,et al.The WHOI micromodem:an acoustic communications and navigation system for multiple platforms[C]∥Proc.of the Oceans,2005:1086-1092.
[5]SINGH S,GRUND M,BINGHAM B,et al.Underwater acoustic navigation with the whoi micro-modem[C]∥Proc.of the Oceans,2006:1-4.
[6]SYED A A,HEIDEMANN J.Time synchronization for high latency acoustic networks[C]∥Proc.of the IEEE International Conference on Computer Communications,2006:1-12.
[7]LIU J,ZHOU Z,PENG Z,et al.Mobi-sync:efficient time synchronization for mobile underwater sensor networks[C]∥Proc.of the IEEE Global Telecommunications Conference,2011:1-5.
[8]CHIRDCHOO N,SOH W S,CHUA K C.MU-Sync:a time synchronization protocol for underwater mobile networks[C]∥Proc.of the Workshop on Underwater Networks,2008:35-42.
[9]JAKUBA M V,ROMAN C N,SINGH H,et al.Long-baseline acoustic navigation for under-ice autonomous underwater vehicle operations[J].Journal of Field Robotics,2008,25(11/12):861-879.
[10]TECHY L,MORGANSENY K A,WOOLSEYZ C A.Long-baseline acoustic localization of the Seaglider underwater glider[C]∥Proc.of the IEEE American Control Conference,2011:3990-3995.
[11]THOMSON D J M,DOSSO S E,BARCLAY D R.Modeling AUV localization error in a long baseline acoustic positioning system[J].IEEE Journal of Oceanic Engineering,2018:43(4):955-968.
[12]SIMAMORA Y S M,TJOKRONEGORO H A,LEKSONO E.Uncertainties and their estimations in long baseline acoustic positioning systems for autonomous underwater vehicle navigationa review[C]∥Proc.of the International Seminar on Sensors,Instrumentation,Measurement and Metrology,2017:1-5.
[13]高胜峰,陈建华,朱海.SINS/LBL组合导航序贯滤波方法[J].仪器仪表学报,2017,38(5):1071-1078.GAO S F,CHEN J H,ZHU H.Sequential filter algorithm in SINS/LBL integrated navigation Chinese[J].Journal of Scientific Instrument,2017,38(5):1071-1078.
[14]LARSEN M B.Synthetic long baseline navigation of underwater vehicles[C]∥Proc.of the Oceans,2000:2043-2050.
[15]SLIWKA J,CLEMENT B,PROBST I.Sea glider guidance around a circle using distance measurements to a drifting acoustic source[C]∥Proc.of the IEEE/RSJ International Conference on Intelligent Robots and Systems,2013:94-99.
[16]BURDINSKY I N,OTCHESKII S A.Observation error estimation in case of an AUV using a single beacon acoustic positioning system[C]∥Proc.of the Saint Petersburg International Conference on Integrated Navigation Systems,2017:1-4.
[17]DUBROVIN F S,SCHERBATYUK A F.Studying some algorithms for AUV navigation using a single beacon:the results of simulation and sea trials[J].Gyroscopy&Navigation,2016,7(2):189-196.
[18]VAULIN Y V,DUBROVIN F S,SCHERBATYUK A F.Some algorithms for determining an unknown initial position of AUV using information from a single beacon navigation system[J].Gyroscopy&Navigation,2017,8(3):209-216.
[19]VINCENT H T.Models,algorithms and measurement for underwater acoustic positioning[D].Rhode Island:University of Rhode Island,2001.
[20]梁国龙,林旺生,王燕.水声信道有效声速估计方法及空间特征分析[J].哈尔滨工程大学学报,2010,31(12):1587-1592.LIANG G L,LIN W S,WANG Y.Estimation method and special characteristic analysis of effective sound velocity in underwater acoustic channel[J].Journal of Harbin Engineering University,2010,31(12):1587-1592.
[21]GADRE A S,STILWELL D J.Underwater navigation in the presence of unknown currents based on range measurements from a single location[C]∥Proc.of the IEEE American Control Conference,2005:656-661.
[22]MENG X U,GUO J M.Research on GPS/GLONASS integrated precise point positioning[J].Geomatics and Information Science of Wuhan University,2010,35(12):1409-1413.
[23]LUNKOV A A,PETNIKOV V G,CHERNOUSOV A D.Estimating the effective sound speed in the bottom in shallow water areas[J].Acoustical Physics,2015,61(6):707-714.
[24]KUTSENKO A A,SHUVALOV A L,NORRIS A N.Evaluation of the effective speed of sound in phononic crystals by the monodromy matrix method(L)[J].Journal of the Acoustical Society of America,2011,130(6):10.1121/1.3654032.
[25]SPARROW V,POULAIN K,ROMOND R.The effective sound speed approximation and its implications for en-route propagation[J].Journal of the Acoustical Society of America,2014,135(4):10.1121/1.4877867.
[26]BELL K L,BAKER C J,SMITH G E,et al.Fully adaptive radar for target tracking part II:target detection and track initiation[C]∥Proc.of the IEEE Radar Conference,2014:309-314.
[27]ONUNKA C,BRIGHT G.Modelling radar signal error performance under atmospheric refraction and clutter attenuation[C]∥Proc.of the International Conference on Informatics in Control,Automation and Robotics,2016:404-412.
[28]JOHNSON T,SEELING P.Mobile node localization using cooperation and static beacons[C]∥Proc.of the IEEE International Conference on Communication,2013:281-285.
[29]MATHEWS J H,FINK K D.Numerical methods using Matlab[M].4th ed.Los Angeles:Pearson Education,2004.
[30]HE Y,WANG G H,GUAN X,et al.Information fusion theory and applications[M].Beijing:Publishing House of Electronics Industry,2010.