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)

计量
- 文章访问数: 1764
- HTML全文浏览量: 153
- PDF下载量: 396
- 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

HTML全文

参考文献(32)

VALLICROSA G, RIDAO P, and RIBAS D. AUV single beacon range-only SLAM with a SOG filter[C]. IFAC Symposium on Information Control in Manufacturing, Sozopol, Bulgaria, 2015: 26-31.

GAURAV C, ARPITA S, TWINKLE T, et al. Conditions for target tracking with range-only information[J]. Robotics and Autonomous Systems, 2016, 75: 176-186.

郭雅静, 李春雨, 张东升, 等. 基于航位推算/水声定位系统的水下拖体组合导航方法[J]. 海洋地质前沿, 2015, 31(6): 63-67. doi: 10.16028/j.1009-2722.2015.06010.

GUO Yajing, LI Chunyu, ZHANG Dongsheng, et al. The integrated navigation method by underwater towing body based on dead reckoning/hydroacoustic positioning system[J]. Marine Geology Frontiers, 2015, 31(6): 63-67. doi: 10.16028/j.1009-2722.2015.06010.

孙大军, 郑翠娥. 水声导航、定位技术发展趋势探讨[J]. 海洋技术学报, 2015, 34(3): 64-65.

SUN Dajun and ZHENG Cuie. Discussion on development trend of underwater acoustic navigation and positioning technology[J]. Journal of Ocean Technology, 2015, 34(3): 64-65.

ALEXANDER P S. The AUV positioning using ranges from one transponder LBL [C]. Proceedings of the 1995 MTS/IEEE Oceans Conference, San Diego, CA, USA, 1995: 1620-1623.

VAGANAY J, BACCOU P, and JOUVENCEL B. Homing by acoustic ranging to a single beacon [C]. Proceedings of the 2000 MTS/IEEE Oceans Conference, Providence, RI, USA, 2000: 1457-1462.

LARSEN M B. Synthetic long baseline navigation of underwater vehicles [C]. Proceedings of the 2000 MTS/IEEE Oceans Conference, Providence, RI, USA, 2000: 2043-2050.

CARE E. Virtual long baseline (VLBL) autonomous underwater vehicle navigation using a single transponder [D]. [Master dissertation], Massachusetts Institute of Technology, 2006: 29-38.

刘明雍, 李闻白, 刘富樯, 等. 基于单信标测距的水下导航系统可观测性分析[J]. 西北工业大学学报, 2011, 29(1): 87-92. doi: 10.3969/j.issn.1000-2758.2011.01.016.

LIU Mingyong, LI Wenbai, LIU Fuqiang , et al. Observability analysis of underwater navigation system based on single beacon ranging[J]. Journal of Northwestern Polytechnical University, 2011, 29(1): 87-92. doi: 10.3969/j.issn.1000-2758. 2011.01.016.

严卫生, 房新鹏, 崔荣鑫. 单信标测距AUV水下定位系统观测性分析[J]. 中南大学学报(自然科学版), 2012, 43(8): 3085-3090.

YAN Weisheng, FANG Xinpeng , and CUI Rongxin. Observability analysis of single-beacon underwater localization of autonomous underwater vehicle[J]. Journal of Central South University (Science and Technology), 2012, 43(8): 3085-3090.

王久光. 基于UTP的UUV远程航海水下位置校准及控制方法研究[D]. [硕士论文]. 哈尔滨工程大学, 2012: 38-52.

WANG Jiuguang. Underwater position calibration and control for UUV long-distance navigation based on UTP [D]. [Master dissertation]. Harbin Engineering University, 2012: 38-52.

严浙平, 邓超, 李本银, 等. UTP/DR组合导航算法研究[J]. 计算机工程与应用, 2014, 50(19): 7-10. doi: 10.3778/j.issn. 1002-8331.13120345.

YAN Zheping, DENG Chao, LI Benyin, et al. Research on UTP/DR integrated navigation system [J]. Computer Engineering and Application, 2014, 50(19): 7-10. doi: 10.3778 /j.issn.1002-8331.13120345.

BJERM J, KENNETH G, and OVE K. A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system[C]. Proceedings of the 2003 MTS/IEEE Oceans Conference, San Diego, CA, USA, 2003: 1146-1153.

HEGRENAS O, GADE K, and HAGEN O K. Underwater transponder positioning and navigation of autonomous underwater vehicles[C]. MTS/IEEE Biloxi-Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009, Biloxi, MS, USA, 2009: 1-7.

刘山洪, 邓彩群. 坐标转换与坐标变换研究[J]. 吉林建筑大学学报, 2016, 33(1): 43-47.

LIU Shanhong and DENG Caiqun. Transformation of coordinate system[J]. Journal of Jilin Jianzhu University, 2016, 33(1): 43-47.

潘国荣, 汪大超, 周跃寅. 两种大转角空间坐标转换模型研究[J]. 山东科技大学学报, 2015, 34(1): 61-67. doi: 10.16452/ j.cnki.sdkjzk.20150317.010.

PAN Guorong, WANG Dachao, and ZHOU Yueyin. Two spatial coordinate transformation model of large angle[J]. Journal of Shandong University of Science and Technology, 2015, 34(1): 61-67. doi: 10.16452/j.cnki.sdkjzk.20150317.010.

王彪, 支志福, 戴跃伟. 移动水声通信多径传输非一致多普勒估计方法研究[J]. 电子与信息学报, 2015, 37(3): 733-738. doi: 10.11999/JEIT140665.

WANG Biao, ZHI Zhifu, and DAI Yuewei. Study on non-uniform doppler estimation for underwater acoustic mobile communication with multilath tansmission[J]. Journal of Electronics Information Technology, 2015, 37(3): 733-738. doi: 10.11999/JEIT140665.

袁兆凯, 隋天宇, 李宇, 等. 水声扩频通信中多普勒估计与补偿算法研究[J]. 电子与信息学报, 2012, 34(1): 51-56. doi: 10.3724/SP.J.1146.2011.00528

YUAN Zhaokai, SUI Tianyu, LI Yu, et al. The estimation and compensation of Doppler effect on underwater acoustic spread spectrum communication[J]. Journal of Electronics Information Technology, 2012, 34(1): 51-56. doi: 10.3724/SP. J.1146.2011.00528.

严浙平, 陈烨, 朱慧龙, 等. UUV导航测速信息的灰色自适应滤波方法研究[J].传感技术学报, 2016, 29(2): 237-241. doi: 10.3969/j.issn.1004-1699.2016.02.015.

YAN Zheping, CHEN Ye, ZHU Huilong, et al. Research on grey adaptive filtering method of velocity information for UUV navigation[J]. Chinese Journal of Sensors and Actuators, 2016, 29(2): 237-241. doi: 10.3969/j.issn.1004- 1699.2016.02.015.

郑为, 邹启明, 倪文玺. 水下无人潜航器避障与导航仿真系统设计与应用[J]. 系统仿真学报, 2016, 28(1): 91-98. doi: 10.16182/j.cnki.joss.2016.01.013.

ZHENG Wei, ZOU Qiming, and NI Wenxi. Design and application of underwater unmanned vehicle simulation system for navigation and obstacle avoidance[J]. Journal of System Simulation, 2016, 28(1): 91-98. doi: 10.16182/j.cnki. joss.2016.01.013.

施引文献

资源附件(0)

访问统计