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考虑锚节点位置不确定的水下目标定位算法研究

闫敬 张婷 尤康林 商志刚 杨晛 罗小元

闫敬, 张婷, 尤康林, 商志刚, 杨晛, 罗小元. 考虑锚节点位置不确定的水下目标定位算法研究[J]. 电子与信息学报, 2024, 46(1): 67-73. doi: 10.11999/JEIT221563
引用本文: 闫敬, 张婷, 尤康林, 商志刚, 杨晛, 罗小元. 考虑锚节点位置不确定的水下目标定位算法研究[J]. 电子与信息学报, 2024, 46(1): 67-73. doi: 10.11999/JEIT221563
YAN Jing, ZHANG Ting, YOU Kanglin, SHANG Zhigang, YANG Xian, LUO Xiaoyuan. Research on Underwater Target Localization Algorithm Considering the Uncertainty of Anchor Position[J]. Journal of Electronics & Information Technology, 2024, 46(1): 67-73. doi: 10.11999/JEIT221563
Citation: YAN Jing, ZHANG Ting, YOU Kanglin, SHANG Zhigang, YANG Xian, LUO Xiaoyuan. Research on Underwater Target Localization Algorithm Considering the Uncertainty of Anchor Position[J]. Journal of Electronics & Information Technology, 2024, 46(1): 67-73. doi: 10.11999/JEIT221563

考虑锚节点位置不确定的水下目标定位算法研究

doi: 10.11999/JEIT221563
基金项目: 国家自然科学基金(62222314, 61973263, 62033011),河北省青年拔尖人才计划(BJ2020031),河北省自然科学基金(F2022203001, F2021203056),河北省中央引导地方基金(226Z3201G)
详细信息
    作者简介:

    闫敬:男,教授,博士生导师,研究方向为水声传感网络定位组网、水下机器人协同控制

    张婷:女,硕士生,研究方向为水下目标定位、深度强化学习

    尤康林:男,硕士生,研究方向为水下机器人控制、深度强化学习

    商志刚:男,教授,博士生导师,研究方向为海空跨域通信、水声工程、水下无人集群

    杨晛:女,副教授,博士生导师,研究方向为多潜器协同控制

    罗小元:男,教授,博士生导师,研究方向为传感器/执行器网络协同组网控制

    通讯作者:

    商志刚 shangzhigang@hrbeu.edu.cn

  • 中图分类号: TN929.3

Research on Underwater Target Localization Algorithm Considering the Uncertainty of Anchor Position

Funds: The National Natural Science Foundation of China (62222314, 61973263, 62033011), The Youth Talent Program of Hebei (BJ2020031), The Natural Science Foundation of Hebei Province (F2022203001, F2021203056), The Central Guidance Local Foundation of Hebei Province (226Z3201G)
  • 摘要: 考虑时钟异步和声波分层效应的影响,该文研究了当测量过程受到未知噪声干扰,且锚节点位置不确定时水下目标节点的定位问题。首先构造了水下节点间飞行时间模型,设计了一种交互式异步通信协议,建立了最小化定位误差的优化目标函数。然后提出了一种基于深度强化学习的水下目标定位算法,并采用层归一化来改进深度神经网络,进一步提高模型的泛化能力。最后,仿真和实验结果验证所提方法的有效性。
  • 图  1  目标节点定位结果

    图  2  不确定锚节点${A_3}$修正结果

    图  3  目标节点测试效果

    图  4  SAC定位算法的优势与适用性

    图  5  实验平台部署

    图  6  多目标节点定位

    表  1  超参数设置

    参数名称数值
    $\gamma $折扣因子0.99
    $\lambda $学习率0.003
    $\chi $软更新系数0.01
    ${N_{\text{e}}}$最大回合数1000
    $ {N_{\text{s}}} $最大步数400
    ${N_{ \mathcal{D}}}$经验池容量100000
    ${n_{\text{b}}}$批量数据的大小128
    下载: 导出CSV
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    [6] MRIDULA K M and AMEER P M. Localization under anchor node uncertainty for underwater acoustic sensor networks[J]. International Journal of Communication Systems, 2018, 31(2): e3445. doi: 10.1002/dac.3445
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    [14] YAN Jing, YI Ming, YANG Xian, et al. Broad learning-based localization for underwater sensor networks with stratification compensation[J]. IEEE Internet of Things Journal, 2023.
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出版历程
  • 收稿日期:  2022-12-21
  • 修回日期:  2023-05-23
  • 网络出版日期:  2023-05-27
  • 刊出日期:  2024-01-17

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