基于Chan算法的水下测控设备组网数据融合技术研究

梁国龙; 赵天白; 邹男; 张博轩

doi:10.11999/JEIT170727

基于Chan算法的水下测控设备组网数据融合技术研究

doi: 10.11999/JEIT170727

1.
(哈尔滨工程大学水声技术重点实验室哈尔滨 150001)
2.
(中国电子科技集团公司第54研究所石家庄 050081)

基金项目:

国家自然科学基金(11504064)，技术基础科研项目(JSJL2016604B003)，青岛海洋科学与技术国家实验室开放基金(QNLM2016ORP0102)

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出版历程
- 收稿日期: 2017-07-19
- 修回日期: 2017-12-27
- 刊出日期: 2018-05-19

An Underwater Measurement and Control Network Centralized Data Fusion Localization Algorithm Based on Chan-algorithm

1.
(Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China)
2.
(The 54th Research Institute of CETC, Shijiazhuang 050081, China)
3.
(Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China)

Funds:

The National Natural Science Foundation of China (11504064), The Technical Basic Research Projects (JSJL 2016604B003), The Qingdao Marine Science and Technology National Laboratory Open Foundation (QNLM2016ORP0102)

摘要

摘要: 依据水下测控设备组网系统的工作特点，为了有效挖掘现有测控设备的使用效能，构建高精度的综合性水下测控网络，该文提出基于Chan算法的水下测控设备组网集中式数据融合定位算法。该算法首先利用基于波达时间的加权最小二乘算法粗测目标位置，然后依据该目标位置和测量时延信息的关系，构造新的误差矢量，利用该误差矢量再次加权最小二乘估计解算目标位置。研究结果表明，该算法可实现多套水下测控设备的数据融合，可有效提高全域范围的定位精度，且精度高于纯基于波达时间的融合定位算法。
- 水下定位 /
- Chan算法 /
- 数据融合 /
- 定位精度
Abstract: In order to exploit the development potential of current measurement and control equipment and to build an omnibus underwater measurement and control network with higher precision, according to the working characteristics of the system itself, an underwater measurement and control network centralized data fusion localization algorithm based on Chan-algorithm method is proposed. It is an algorithm that coarsely calculates the target position according to the time of arrival by using the Weighted Least Squares (WLS) estimation method at first; secondly, it constructs new error vectors on the basis of the relationship between the position and the time delay information; last, the target position is resolved from the vectors by using WLS method again. The result of research demonstrates that the algorithm realizes the data fusion of multiple sets of underwater measurement and control equipment, which could improve the precision of localization globally. And the precision of the proposed method is much better than the data fusion localization algorithm purely based on the time of arrival.
- Underwater localization /
- Chan-algorithm /
- Data fusion /
- Localization precision

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