基于迭代最小二乘的水下三维高鲁棒性定位算法

李风从; 仝方遒; 孙思博; 冯翔; 赵宜楠

doi:10.11999/JEIT220792

基于迭代最小二乘的水下三维高鲁棒性定位算法

doi: 10.11999/JEIT220792

1.
哈尔滨工业大学(威海)信息科学与工程学院威海 264209
2.
哈尔滨工程大学水声工程学院哈尔滨 150001

详细信息

作者简介:
李风从：男，助理研究员，博士，研究方向为自适应雷达信号处理

仝方遒：男，硕士生，研究方向为雷达通信一体化波形设计、水声定位

孙思博：男，副教授，研究方向为水下定位与导航

冯翔：男，助理研究员，博士，研究方向为认知雷达信号处理

赵宜楠：男，教授，博士，研究方向为无线定位与感知、智能感知技术

通讯作者:
仝方遒　tongfangqiu2021@163.com

中图分类号: TN929.3
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- PDF下载量: 135
- 被引次数: 0
出版历程
- 收稿日期: 2022-06-15
- 修回日期: 2022-09-05
- 网络出版日期: 2022-09-07
- 刊出日期: 2023-07-10

A Highly Robust Underwater 3D Localization Algorithm Based on Iterative Least Square

1.
School of Information Science and Engineering, Harbin Institute of Technology (Weihai), Weihai 264209, China
2.
School of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China

摘要

摘要: 为解决基于空间角信息水下3维定位中，闭式解算法中定位性能无法达到克拉默-拉奥界(CRLB)和牛顿迭代算法初始值选取问题，该文利用一种基于迭代最小二乘的高鲁棒性算法修正闭式解的残差项与选取迭代算法的初始值。利用伪线性加权最小二乘算法得到闭式解作为正则化修正迭代法的初始值，将迭代结果修正闭式解算法的残差项，通过迭代最小二乘法的交替运算，得到稳定精确的解。通过仿真验证了基于迭代最小二乘算法的高鲁棒性，消除伪线性加权最小二乘算法中残差项选取的不利影响，解决了迭代法初始值选取问题，得到与收敛情况下迭代法相近的定位性能。
- 水声定位 /
- 几何精度因子 /
- 加权最小二乘 /
- 牛顿迭代
Abstract: In order to solve the problem that the positioning performance of the closed solution algorithm can not reach the Cramer Rao Lower Bound (CRLB) and the initial value selection of Newton iterative algorithm in the underwater three-dimensional positioning based on spatial angle information, a highly robust algorithm based on iterative least squares is used to correct the residual term of the closed form solution and select the initial value of the iterative algorithm. The pseudo linear Weighted Least Squares (WLS) algorithm is used to obtain the closed form solution as the initial value of the regularization modified iterative method. The iterative result is used to modify the residual term of the closed form solution algorithm. Through the alternating operation of the iterative least squares method, a stable and accurate solution is obtained. Through simulation, the high robustness of the iterative least squares algorithm is verified, the adverse effect of the selection of the residual term in the pseudo linear weighted least squares algorithm is eliminated, the problem of selecting the initial value of the iterative method is solved, and the positioning performance similar to that of the iterative method in the case of convergence is obtained.
- Underwater acoustic positioning /
- Geometric Dilution Of Precision (GDOP) /
- Weighted Least Squares (WLS) /
- Newton iteration

HTML全文

图 1 基于空间角信息的水下3维定位模型

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图 2 6浮标下GDOP等高线图

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图 3 残差项与初值偏差鲁棒性分析

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图 4 不同算法随角度噪声变化关系曲线

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图 5 不同算法下站址误差鲁棒性分析

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图 6 不同算法随距离变化性能曲线

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表 1 仿真布阵

浮标序号	1	2	3	4	5	6
X (m)	0	–200	200	–200	0	200
Y (m)	400	200	200	–200	–400	–200
线阵角度( rad)	${{\pi} \mathord{\left/ {\vphantom {{\pi} 3}} \right. } 3}$	${{\pi} \mathord{\left/ {\vphantom {{\pi} {\text{3}}}} \right. } {\text{3}}}$	${{\pi} \mathord{\left/ {\vphantom {{\pi} {\text{3}}}} \right. } {\text{3}}}$	${{\pi} \mathord{\left/ {\vphantom {{\pi} {\text{3}}}} \right. } {\text{3}}}$	${{\pi} \mathord{\left/ {\vphantom {{\pi} {\text{3}}}} \right. } {\text{3}}}$	${{\pi} \mathord{\left/ {\vphantom {{\pi} {\text{3}}}} \right. } {\text{3}}}$

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