基于射线声学的水下传感网络静默定位算法

李浩铭; 鄢社锋; 徐立军; 季飞

doi:10.11999/JEIT200383

基于射线声学的水下传感网络静默定位算法

doi: 10.11999/JEIT200383

李浩铭^{1, 2},
鄢社锋^{1, 2, ,},
徐立军¹,
季飞³

1.
中国科学院声学研究所北京 100190
2.
中国科学院大学北京 100049
3.
华南理工大学广州 510641

基金项目: 国家自然科学基金(61725106)，广东省自然科学基金重大基础培育项目(2016A030308006)

详细信息

作者简介:
李浩铭：男，1994年生，博士生，研究方向为信号与信息处理，水下定位与导航

鄢社锋：男，1978年生，研究员，研究方向为信号与信息处理，阵列信号处理，水下定位与导航，水声通信

徐立军：男，1977年生，研究员，研究方向为信号与信息处理，水下定位与导航，水声通信

季飞：女，1970年生，教授，研究方向为移动通信技术与网络、水声通信与水下传感器网络、水声探测等

通讯作者:
鄢社锋　sfyan@ieee.org

中图分类号: TB568
计量
- 文章访问数: 1227
- HTML全文浏览量: 327
- PDF下载量: 109
- 被引次数: 0
出版历程
- 收稿日期: 2020-05-15
- 修回日期: 2020-09-25
- 网络出版日期: 2020-09-29
- 刊出日期: 2021-03-22

A Silent Location Algorithm for Underwater Sensor Network Based on Ray Acoustics

Haoming LI^{1, 2},
Shefeng YAN^{1, 2
, ,},
Lijun XU¹,
Fei JI³

1.
Institute of Acoustics, Chinese Academy of Sciences, Beijing 100190, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China
3.
South China University of Technology, Guangzhou 510641, China

Funds: The National Natural Science Fundation of China (61725106), The Natural Science Foundation of Guangdong Province (2016A030308006)

摘要

摘要: 水下传感网络静默定位方法是一种可服务于多用户的免时钟同步定位算法，待定位节点全程无需发声，具有隐蔽性强和方便扩展等优点。该文提出了一种结合声线跟踪技术的水下传感网络节点静默定位方法，将高斯-牛顿法引入到水下网络节点静默定位中，解决了已有方法存在定位盲区的问题。鉴于水中声速分布不均的情况，将声线跟踪技术融入迭代过程，用以修正声线弯曲带来的定位误差。同时，针对实际应用过程中可能出现的信标节点阵型不佳的情况，采用了改进的Tikhonov正则化方法，根据目标函数变化情况反馈控制正则化参数，消除了雅可比矩阵不满秩对迭代过程的影响。通过仿真分析，验证了该文算法的有效性。
- 水下传感网络 /
- 静默定位 /
- 高斯-牛顿法 /
- 声线跟踪 /
- Tikhonov正则化
Abstract: The silent location algorithm for underwater sensor network is a time-synchronization free algorithm that can serve multiple users. No sound is needed of the target node in the whole process which make the algorithm secluded and extended. In this paper, a silent location algorithm for underwater sensor network based on ray-tracing technology is proposed. The problem of location blind area in the existing methods is solved by introducing the Gauss-Newton method into the algorithm proposed. In view of the uneven distribution of sound velocity in water, the ray-tracing technology is integrated into the iterative process to correct the positioning error caused by the bending of the sound ray. At the same time, considering the situation that the beacon node array may not be good in the practical application, an improved Tikhonov regularization method is adopted to control the regularization parameters according to the feedback of the iterative effect, which can compensate the influence of the singular Jacobian matrix on the objective function. The effectiveness of the proposed algorithm in this paper is verified by simulation analysis.
- Underwater sensor network /
- Silent location /
- Gauss-Newton method /
- Ray-tracing technology /
- Tikhonov regularization

HTML全文

图 1 水下传感网络静默定位流程

下载: 全尺寸图片幻灯片

图 2 基于射线声学的水下传感网络静默定位算法流程图

下载: 全尺寸图片幻灯片

图 3 布阵区域内目标函数分布情况

下载: 全尺寸图片幻灯片

图 4 定位阵型不佳时本文算法迭代情况

下载: 全尺寸图片幻灯片

图 5 各误差来源对定位结果影响

下载: 全尺寸图片幻灯片

图 6 定位误差随剖面等效误差变化关系

下载: 全尺寸图片幻灯片

参考文献(19)

孙大军, 郑翠娥, 崔宏宇, 等. 水下传感器网络定位技术发展现状及若干前沿问题[J]. 中国科学: 信息科学, 2018, 48(9): 1121–1136. doi: 10.1360/N112017-00262

SUN Dajun, ZHENG Cuie, CUI Hongyu, et al. Developing status and some cutting-edge issues of underwater sensor network localization technology[J]. SCIENTIA SINICA Informationis, 2018, 48(9): 1121–1136. doi: 10.1360/N112017-00262

RAMEZANI H, JAMALI-RAD H, and LEUS G. Target localization and tracking for an isogradient sound speed profile[J]. IEEE Transactions on Signal Processing, 2013, 61(6): 1434–1446. doi: 10.1109/TSP.2012.2235432

LIU Jun, WANG Zhaohui, CUI Junhong, et al. A joint time synchronization and localization design for mobile underwater sensor networks[J]. IEEE Transactions on Mobile Computing, 2016, 15(3): 530–543. doi: 10.1109/TMC.2015.2410777

MORTAZAVI E, JAVIDAN R, DEHGHANI M J, et al. A robust method for underwater wireless sensor joint localization and synchronization[J]. Ocean Engineering, 2017, 137: 276–286. doi: 10.1016/j.oceaneng.2017.04.006

ZHENG Cuie, SUN Dajun, CAI Lin, et al. Mobile node localization in underwater wireless networks[J]. IEEE Access, 2018, 6: 17232–17244. doi: 10.1109/ACCESS.2018.2795600

蔡守桂. 结合声速反演的水声传感网络定位误差修正方法研究[D]. [硕士论文], 浙江大学, 2019: 26–51.

CAI Shougui. Research on positioning error correction in underwater acoustic sensor network with sound speed inversion[D]. [Master dissertation], Zhejiang University, 2019: 26–51.

ZHOU Zhong, PENG Zheng, CUI Junhong, et al. Scalable localization with mobility prediction for underwater sensor networks[J]. IEEE Transactions on Mobile Computing, 2011, 10(3): 335–348. doi: 10.1109/TMC.2010.158

曹俊, 郑翠娥, 孙大军, 等. AUV直线航迹下的单信标测距定位[J]. 哈尔滨工程大学学报, 2017, 38(5): 733–738. doi: 10.11990/jheu.201512093

CAO Jun, ZHENG Cuie, Sun Dajun, et al. AUV positioning based on single-beacon ranging in straight-line trajectory[J]. Journal of Harbin Engineering University, 2017, 38(5): 733–738. doi: 10.11990/jheu.201512093

JIN Bonan, XU Xiaosu, ZHU Yongyun, et al. Single-source aided semi-autonomous passive location for correcting the position of an underwater vehicle[J]. IEEE Sensors Journal, 2019, 19(9): 3267–3275. doi: 10.1109/JSEN.2019.2892840

CHEPURI S P, RAJAN R T, LEUS G, et al. Joint clock synchronization and ranging: Asymmetrical time-stamping and passive listening[J]. IEEE Signal Processing Letters, 2013, 20(1): 51–54. doi: 10.1109/LSP.2012.2222371

韩云峰. 大规模水下传感器网络节点精确定位技术研究[D]. [博士论文], 哈尔滨工程大学, 2016: 16–39.

HAN Yunfeng. Research on large scale underwater sensor network node accurate localization[D]. [Ph. D. dissertation], Harbin Engineering University, 2016: 16–39.

CHENG Xiuzhen, SHU Haining, LIANG Qilian, et al. Silent positioning in underwater acoustic sensor networks[J]. IEEE Transactions on Vehicular Technology, 2008, 57(3): 1756–1766. doi: 10.1109/TVT.2007.912142

TAN H, GABOR A F, EU Z A, et al. A Wide Coverage Positioning System (WPS) for underwater localization[C]. 2010 IEEE International Conference on Communications, Cape Town, South Africa, 2010: 1–5.

CARROLL P, MAHMOOD K, ZHOU Shengli, et al. On-demand asynchronous localization for underwater sensor networks[J]. IEEE Transactions on Signal Processing, 2014, 62(13): 3337–3348. doi: 10.1109/TSP.2014.2326996

蒋俊正, 李杨剑, 赵海兵, 等. 一种大规模传感器网络节点分布式定位算法[J]. 电子与信息学报, 2019, 41(12): 3022–3028. doi: 10.11999/JEIT181101

JIANG Junzheng, LI Yangjian, ZHAO Haibing, et al. A distributed node localization algorithm for large scale sensor networks[J]. Journal of Electronics &Information Technology, 2019, 41(12): 3022–3028. doi: 10.11999/JEIT181101

BERTSEKAS D P. Nonlinear Programming[M]. Belmont, USA: Athena Scientific, 1999: 22–108.

李昭. 贝叶斯反演在高精度水声定位中的应用研究[D]. [博士论文], 哈尔滨工程大学, 2016: 26–33.

LI Zhao. Research on application of Bayesian inversion in high-accuracy underwater localization[D]. [Ph. D. dissertation], Harbin Engineering University, 2016: 26–33.

曹俊, 郑翠娥, 孙大军, 等. 系数矩阵正定的单信标测距定位算法[J]. 电子与信息学报, 2017, 39(4): 981–988. doi: 10.11999/JEIT160604

CAO Jun, ZHENG Cuie, Sun Dajun, et al. A single beacon location algorithm with positive definite coefficient matrix[J]. Journal of Electronics &Information Technology, 2017, 39(4): 981–988. doi: 10.11999/JEIT160604

KIDO M, OSADA Y, and FUJIMOTO H. Temporal variation of sound speed in ocean: A comparison between GPS/acoustic and in situ measurements[J]. Earth, Planets and Space, 2008, 60(3): 229–234. doi: 10.1186/BF03352785

施引文献

资源附件(0)

访问统计