系数矩阵正定的单信标测距定位算法

曹俊; 郑翠娥; 孙大军; 张殿伦

doi:10.11999/JEIT160604

系数矩阵正定的单信标测距定位算法

doi: 10.11999/JEIT160604

基金项目:

国家自然科学基金(61531012)，国防基础科学研究计划(B2420133002)

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- 被引次数: 0
出版历程
- 收稿日期: 2016-06-06
- 修回日期: 2016-11-07
- 刊出日期: 2017-04-19

A Single Beacon Location Algorithm with Positive Definite Coefficient Matrix

Funds:

The National Natural Science Foundation of China (61531012), The National Defense Basic Scientific Research program of China (B2420133002)

摘要

摘要: 基于单信标测距的定位方法是水声定位技术的进一步发展，该文对直线航迹下的单信标测距定位进行研究。一方面，对于直线航迹，常规的直接降阶求解的算法已不适用。另一方面，水下载体的直线航迹或者直线航迹的延长线经过信标时，线性化迭代求解的算法不能够对载体进行定位。系数矩阵几乎奇异或者坏条件时，方程的解算结果误差会明显增大。该文针对前述解算方法存在的问题，提出一种改进的单信标测距定位解算方法，适当增加对角元使得系数矩阵正定，克服系数矩阵奇异或者坏条件时所带来的影响。仿真结果表明：该文算法大部分的情况下定位精度和高斯牛顿法一样；水下载体的直线航迹或者直线航迹的延长线经过信标时，该文算法同样能够实现定位解算；在线性化迭代的低精度区，该文算法能非常明显地提高定位精度。通过海上试验，进一步验证了该文算法的有效性。
- 单信标测距 /
- 直线航迹 /
- 虚拟信标 /
- 对角元
Abstract: The positioning method based on single beacon ranging is the further development of the underwater acoustic positioning technology. In this paper, the location of single beacon ranging based on the straight path is studied. On one hand, the conventional direct reduction method is not applicable to the straight path. On the other hand, when the beacon is in the straight line or the extension of the straight line, the linear iterative algorithm can not locate the carrier. When the coefficient matrix is almost singular or bad condition, the error of the solution will obviously increase. In this paper, an improved algorithm is proposed to solve the problems existing in the solving method, which can overcome the influence of singular or bad condition of coefficient matrix. Simulation results show that the localization accuracy of the proposed algorithm is similar to that of the Gauss Newton method in most cases. This algorithm can also realize the positioning calculation when the beacon is in the straight line or the extension of the straight line. This algorithm can obviously improve the positioning accuracy where the positioning accuracy is not high when using the linear iterative algorithm. The effectiveness of the proposed algorithm is verified by experiments on the sea.
- Single beacon ranging /
- Straight line track /
- Virtual beacon /
- Diagonal element

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