A High-precision Long-baseline Positioning Method for Underwater Volume Target
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摘要: 水下体目标几何尺度大、运动姿态未知等因素，会导致传统长基线定位模型失配。该文针对此问题，通过体目标姿态、位置联合估计，消除模型误差，实现体目标几何中心的归算，得到了一种水下体目标的长基线高精度定位方法。理论分析及数值仿真结果表明，体目标半径大尺度下模型误差不可忽略，在体目标半径5 m，测距精度0.2 m的条件下，较传统长基线定位方法，将垂直定位精度从32 m提升至0.5 m，实现亚米级精度定位。Abstract: When positioning underwater volume target using traditional long baseline positioning model, the large geometric scale and unavailable attitude of the volume target always leads to model mismatch problems. In this paper, a long baseline high-precision positioning method for underwater volume target is proposed. The method eliminates the model error and realizes the approximate reduction of the geometric center of the volume target through the joint estimation of the attitude and position coordinates. Theoretical analysis and Numerical simulation results show that the large scale of the radius of the volume target affects the positioning accuracy. The proposed method achieved sub-meter accuracy positioning and improved the vertical positioning accuracy from 32 m to 0.5 m compared with the traditional long baseline positioning method under the conditions of a target radius of 5 m and a ranging accuracy of 0.2 m.
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Key words:
- Long baseline positioning /
- Volume target /
- Model error
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算法1 体目标长基线定位方法 输入：长基线信标在地理坐标系坐标${\boldsymbol{X}}_i^{\rm G}$、量测距离${\boldsymbol{R}}$、体目标
上换能器的编号${\boldsymbol{P}}$、体目标半径${r_0}$输出：体目标质心在地理坐标系坐标${\boldsymbol{X}}_t^{\rm G}$，体目标姿态$\alpha $ (1)选择体目标质心在地理坐标系坐标、体目标姿态的迭代初值
${\boldsymbol{X}}_{t\left( 0 \right)}^{\rm G}$,${\alpha _{\left( 0 \right)}}$，令flag=1,(flag为标志位)(2)根据体目标半径${r_0}$计算体目标上第$k$个换能器在体目标坐标系
下的坐标${\boldsymbol{X} }_k^{\rm{S}}$(3)当满足flag=1时 (4)根据${\boldsymbol{X}}_{t\left( 0 \right)}^{\rm G}$,${\alpha _{\left( 0 \right)}}$,${\boldsymbol{X} }_k^{\rm{S}}$,${\boldsymbol{X}}_i^{\rm G}$,${\boldsymbol{P}}$,${\boldsymbol{R}}$计算目标函数值${\phi _0}$ (5)将观测方程线性化，并计算体目标质心、体目标姿态的更新
值${\boldsymbol{X}}_{t\left( 1 \right)}^{\rm G}$,${\alpha _{\left( 1 \right)}}$(6)根据${\boldsymbol{X}}_{t\left( 1 \right)}^{\rm G}$,${\alpha _{\left( 1 \right)}}$,${\boldsymbol{X} }_k^{\rm{S}}$,${\boldsymbol{X}}_i^{\rm G}$,${\boldsymbol{P}}$,${\boldsymbol{R}}$计算新的目标函数值${\phi _1}$ (7)若$\left| {{\phi _0} - {\phi _1}} \right| < \varepsilon $, $\left( {\varepsilon = {{10}^{ - 7}}} \right)$，那么 (8)令 flag=0, ${\boldsymbol{X}}_t^{\rm G} = {\boldsymbol{X}}_{t\left( 1 \right)}^{\rm G}$, $\alpha = {\alpha _{\left( 1 \right)}}$ (9)否则，令${\boldsymbol{X}}_{t\left( 0 \right)}^{\rm G} = {\boldsymbol{X}}_{t\left( 1 \right)}^{\rm G}$, ${\alpha _{\left( 0 \right)}} = {\alpha _{\left( 1 \right)}}$ (10)继续循环 (11)结束 
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