CN105929405B - Underwater moving target co-located method under asynchronous clock - Google Patents
Underwater moving target co-located method under asynchronous clock Download PDFInfo
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- CN105929405B CN105929405B CN201610237937.XA CN201610237937A CN105929405B CN 105929405 B CN105929405 B CN 105929405B CN 201610237937 A CN201610237937 A CN 201610237937A CN 105929405 B CN105929405 B CN 105929405B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a kind of underwater moving target co-located method under asynchronous clock, comprising the following steps: four latent devices are carried out on the water surface by GPS self-positioning synchronous with clock；Carry out self-positioning after No. 1 latent device dive to certain depth, estimation water velocity is simultaneously broadcast to other latent devices, continues thereafter with dive；The latent device of the other three receives dive after water velocity information, and is broadcast periodically HELLO；Target sends Location Request after receiving HELLO；After each latent device receives Location Request, into standby mode, the timestamp of self record is sent to latent device and the target numbered after it after it, which confirms, receives whole timestamps by the timestamp for waiting latent device of the number to be received before it to send；After the timestamp that intended recipient is sent to four latent devices, termination message is sent, and according to water velocity positioning compensation, obtains self-position, positioning terminates.The present invention in asynchronous clock and water environment, can realize the target positioning of degree of precision.
Description
Technical field
It is underwater under especially a kind of asynchronous clock the present invention relates to underwater sound sensor Intellisense and control technology field
Mobile target cooperative localization method.
Background technique
Submarine target positioning, it is intended to by the communications and data processing capacity of underwater sound sensing network, to obtain submarine target
Location information.This technology is widely used in the fields such as oceanographic hydrological observation, ocean engineering and ocean scientific investigation.However, underwater
It is synchronous that clock is difficult to realize in environment, while flow action makes target that Dynamic Evolution be presented, these factor water supply move down
The positioning of moving-target brings very big difficulty.How the positioning of underwater moving target is solved under asynchronous clock and water environment
The problem challenging as one.
It is found through retrieval, application publication number is that the Chinese patent application of CN103823205A discloses a kind of " Underwater Navigation
Navigation system and method ", this method pass through four clocks synchronous four positions, states arbitrarily base station and a water
Lower navigation neceiver realizes positioning.Then base station carries out navigation signal with pseudo noise code by the broadcasts navigational signals into water
Spread spectrum, spreading code function simultaneously as ranging code, by receiving the navigation signal of base station, calculate self-position and realize positioning.But it examines
Consider in practical underwater environment, stringent clock, which synchronizes, to be difficult to realize.Therefore, asynchronous when being positioned in this way
Clock can generate large effect to the communication between base station and receiver, so that the information obtained is difficult to reach precision even mistake
Effect, so that positioning is difficult to realize.
It is found again through retrieval, application publication number is that the Chinese Patent Application No. of CN104039010A discloses " when a kind of no
Between localization method under synchronous loop auxiliary water ", this method is realized by the communication of node and water surface anchor node and is positioned.Wherein
Each node is by sending a HELLO message and disposable ranging message, completing the detection of link symmetry and obtaining symmetrical
Linkage length.Then, water surface anchor node sends an own coordinate information, completes part of nodes using distance and coordinate information
Positioning.The above method assumes that position fixing process interior joint is static, has ignored the passive movement of flow action lower node, these are passive
Displacement can introduce large error to positioning result.And the above method realizes that process is more complicated, realizes that the positioning of node is compared
It is difficult.Therefore, how under the influence of asynchronous clock and water environment, the co-located method of underwater moving target is designed, with
Improve the accuracy of underwater moving target positioning, it appears particularly important.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings, designs the underwater mesh under the influence of a kind of asynchronous clock and water environment
Location algorithm is marked, to improve the accuracy positioned to underwater moving target.
In order to achieve the above objectives, the technical solution adopted by the present invention the following steps are included:
(1) in an underwater environment, the latent device of four movements of random placement, and number is 1,2,3,4 respectively, is used between latent device
Underwater sound communication mode carries out information exchange, and each latent device is equipped with depth finding meter；
(2) four latent devices obtain self-position and synchronised clock information, later No. 1 latent device dive by GPS on the water surface
To certain depth, 2,3, No. 4 latent devices obtain the letter of its x-axis and y-axis by reaching time-difference theoretical (TDOA) No. 1 latent device of auxiliary
Breath, z-axis can be obtained by depth finding meter, and then No. 1 latent device obtains the information of current location, and subsequent No. 1 latent device combines it
The preceding location information obtained on the water surface, estimates water velocity μ；
(3) No. 1 latent devices broadcast the water velocity μ estimated to 2,3, No. 4 latent devices, continue thereafter with dive, and by obtaining
The water velocity obtained is updated itself real time position；2,3, No. 4 latent devices receive dive after water velocity, and periodically right
Outer broadcast HELLO updates the real time position of itself also according to water velocity during dive；
(4) after intended recipient to " HELLO ", while Location Request is sent to four latent devices, to position target position (xs,
ys,zs), it sets at the time of target sends Location Request as tss, after each latent device receives positioning request information, into etc.
To mode, the timestamp for waiting latent device of the number to be received before it to send, when this device confirmation of diving receives whole time
After stamp, the timestamp of self record is sent to latent device and the target numbered after it；
(5) after goal verification receives the timestamp that four latent devices are sent, record what 1,2,3, No. 4 latent devices issued respectively
T at the time of timestamp reaches1s、t2s、t3s、t4s, termination message is then sent, position fixing process is terminated；
(6) in position fixing process, target is influenced to generate passively in addition to moving in the case where self power acts on, while by water flow
Movement, here, compensating the passive movement of target by the water velocity estimated in step (2), and combining target itself speed is asked
Obtain displacement (the Δ x in target position fixing processi,Δyi,Δzi), it is known that clock is asynchronous between target and each latent device, therefore target connects
There are deviations for each moment value in the temporal information received, and in order to eliminate these clock jitters, we are using the method made the difference, i.e.,
Value makes the difference at the time of to those under same clock, thus can be with offset clock deviation；
(7) target obtains the Delay between target and latent device, latent device according to the timestamp received and location information,
In view of noise exist, and press the smallest principle of noise, by associated time delays information and calculate at the time of difference can acquire target
Position (x when positioning startss,ys,zs), further according to the displacement of target in position fixing process, the reality at the end of target positioning can be acquired
When position (Xs,Ys,Zs)。
Compared with prior art, the invention has the following advantages that
1, target is obtained in position fixing process because of the displacement that flow action generates by the estimation to water velocity, thus
The passive movement generated in position fixing process by water currents is compensated for, positioning accuracy is improved.
2, solve the problems, such as that clock is nonsynchronous between target and latent device, realizes for the asynchronous of target by asynchronous algorithm
Positioning, to overcome the asynchronous influence of clock in underwater environment.
3, the positioning to target only can be realized by the communication between device of diving, gets rid of the dependence to water surface base station, reduce
The influence that the water surface and underwater factor generate position fixing process in conventional mapping methods, to underwater environment has good adaptability.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention for underwater moving target position fixing process.
Fig. 2 indicates the realization process of asynchronous algorithm in position fixing process.
In figure: A represents t at the time of target issues Location Requestss, B represents the timestamp that intended recipient is sent to No. 1 latent device
At the time of t1s, t at the time of C represents the timestamp that intended recipient is sent to No. 4 latent devices4s, D, which represents No. 1 latent device and receives positioning, to be asked
T at the time of askings1, t at the time of E represents No. 1 latent device sending timestamp11, at the time of F represents No. 4 latent devices and receives Location Request
ts4, G represents t at the time of No. 4 latent devices receive the timestamp that No. 1 latent device is sent14, H represent No. 4 latent devices issue timestamps when
Carve t44, t represents target and the position of latent device changes with the time.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
As shown in Figure 1, the method for the present invention the following steps are included:
(1) in an underwater environment, the latent device of four movements of random placement, and number is 1,2,3,4 respectively.It is used between latent device
Underwater sound communication mode carries out information exchange, and each latent device is equipped with depth finding meter.
(2) four latent devices obtain self-position and synchronised clock information, later No. 1 latent device dive by GPS on the water surface
To certain depth, 2,3, No. 4 latent devices obtain the letter of its x-axis and y-axis by reaching time-difference theoretical (TDOA) No. 1 latent device of auxiliary
Breath, z-axis can be obtained by depth finding meter, and then No. 1 latent device obtains the information of current location, and subsequent No. 1 latent device combines it
The preceding position P on the water surfacel, pass through formula:Water velocity μ is estimated.In formula
V (t) is the speed of No. 1 latent device, tlAt the time of for before latent device dive, tcAt the time of when for dive to certain depth, PlIt is No. 1
Latent position of the device on the water surface, PcThe position arrived for dive
(3) No. 1 latent devices broadcast the water velocity μ estimated to 2,3, No. 4 latent devices, continue thereafter with dive, and by obtaining
The water velocity obtained is updated itself real time position.2,3, No. 4 latent devices receive dive after water velocity, and periodically
Overseas broadcast " HELLO ".During dive, 1,2,3, No. 4 latent underwater position of device is updated by following formula:
Wherein, PkFor the underwater position of device of diving, PdFor position of the device in the water surface of diving, tkFor device each position under water of diving
At the time of setting corresponding, tdAt the time of for latent device before dive, μ is the water velocity estimated.
(4) after intended recipient to " HELLO ", while Location Request is sent to four latent devices, to position target position (xs,
ys,zs).As shown in connection with fig. 2, it sets at the time of target sends Location Request as tssA.Each latent device receives Location Request letter
After breath, into standby mode, the timestamp for waiting latent device of the number to be received before it to send, when this device confirmation of diving receives
After whole timestamps, the timestamp of self record is sent to latent device and the target numbered after it.Specific implementation process
It is as follows:
No. 1 latent device t at the time of receiving Location Requests1After D receives Location Request, to 2,3, No. 4 latent devices and targets
Sending time stamp, the timestamp include ts1, No. 1 latent device sending time stamp at the time of t11Real time position (the x of E and No. 1 latent device1,
y1,z1)；
No. 2 latent device t at the time of receiving Location Requests2After receiving Location Request, into standby mode, wait to be received
The timestamp that No. 1 latent device is sent, when No. 2 latent devices at the time of receiving the timestamp that No. 1 latent device issues t12Receive timestamp
Afterwards, it is stabbed to 3, No. 4 latent devices and target sending time, which includes ts2、t12, No. 2 latent device sending time stamps at the time of t22With
Real time position (the x of No. 2 latent devices2,y2,z2)；
No. 3 latent device t at the time of receiving Location Requests3After receiving Location Request, into standby mode, wait to be received
The timestamp that 1, No. 2 latent device is sent, when No. 3 latent devices respectively receive No. 1, No. 2 latent devices issue timestamp at the time of t13、
t23It after receiving timestamp, is stabbed to No. 4 latent devices and target sending time, which includes ts3、t13, No. 3 latent device sending times
T at the time of stamp33With the real time position (x of No. 3 latent devices3,y3,z3)；
No. 4 latent device t at the time of receiving Location Requests4After F receives Location Request, into standby mode, wait waiting
The timestamp that 1,2, No. 3 latent devices are sent is received, when No. 4 latent devices are receiving the timestamp of No. 1, No. 2, No. 3 latent devices sending respectively
Moment t14G、t24、t34It after receiving timestamp, is stabbed to No. 4 latent devices and target sending time, which includes ts4、t14、t24、
t34, No. 4 latent device sending time stamps at the time of t44Real time position (the x of H and No. 4 latent device4,y4,z4)。
(5) after goal verification receives the timestamp that four latent devices are sent, record what 1,2,3, No. 4 latent devices issued respectively
T at the time of timestamp reaches1sB、t2s、t3s、t4sThen C sends termination message, terminate position fixing process.
(6) in position fixing process, target is influenced to generate passively in addition to moving in the case where self power acts on, while by water flow
Movement, here, compensating the passive movement of target by the water velocity estimated in step (2), and combining target itself speed is asked
Obtain displacement (the Δ x in target position fixing processi,Δyi,Δzi):
Wherein, tisAt the time of sending back to timestamp for intended recipient to i-th of latent device, tssLocation Request is issued for target
Moment, V (t) are the speed of target, and μ is the water velocity estimated.
Clock is asynchronous between known target and each latent device, thus intended recipient to timestamp in each moment value exist it is inclined
Difference, in order to eliminate these clock jitters, we are using the method made the difference, i.e., asynchronous algorithm as shown in Figure 2, to those same
Value is made the difference as follows at the time of under clock:
ΔTis=(tis-tss)-(tii-tsi), i=1,2,3,4
Thus with offset clock deviation and two class values can be obtained.Wherein, Δ TisFor the time to target and No. i-th latent device
Stamp make the difference the target of acquisition and the difference of No. i-th latent device timestamp, Δ TkiFor to target and kth number, No. i-th latent device when
Between stamp make the difference the target and kth number, the difference of No. i-th latent device timestamp of acquisition, tssFor target issue Location Request when
It carves, tisAt the time of sending back to timestamp for intended recipient to latent device, tsi、tskAt the time of receiving Location Request for latent device, tii、tkk
At the time of diving device and target sending time stamp to other for latent device, tkiAt the time of the timestamp sent between device of diving reaches,Refer to
For any one device of diving.
(7) target obtains the time delay between target and latent device, latent device according to the timestamp received and location information and believes
Breath, it is contemplated that noise exist, and press the smallest principle of noise, by associated time delays information and calculate at the time of difference can acquire mesh
Mark issues position (x when Location Requests,ys,zs), further according to the displacement of target in position fixing process, can acquire target positioning terminates
When real time position (Xs,Ys,Zs).Specific formula is as follows
Propagation delay time τ between target and latent device, latent devicesi、τkiIt is obtained by the following formula:
Wherein, dsiFor the distance between target and latent device, dkiFor the distance between latent device, (xs,ys,zs) be target position
It sets, (xk,yk,zk)、(xi,yi,zi) be latent device real time position.τsiFor the propagation delay time between target and No. i-th latent device, τki
For the propagation delay time between the latent device of kth number and No. i-th latent device, C is the spread speed of sound wave in water.
Under the conditions of considering that noise is existing, Δ Tis、ΔTkiThere are following relationships between associated time delays:
ΔTis=τsi+τ'si+wis
ΔTki=τsk+τki-τsi+wki
Wherein wis、wkiThe noise of measured value respectively between target and latent device, latent device and uncertain value.τ'siFor target
Real time position and latent device real time position between propagation delay.
Noise minimum principle is followed, target position is obtained by following formula:
Wherein δ is latent device under identical measurement standard, the deviation that each measured value has.The solution of formula is used
The method of exhaustion.
Finally, at the end of positioning target real time position (Xs,Ys,Zs) obtained by following formula:
(Xs,Ys,Zs)=(xs+Δx4,ys+Δy4,zs+Δz4)
Wherein (xs,ys,zs) be target issue Location Request when position, (Δ x4,Δy4,Δz4) terminate for position fixing process
When target displacement.
Embodiment one: when the real-time position information of timestamp information and each latent device that intended recipient to four latent devices is sent back
Afterwards, target runs the position that asynchronous algorithm calculates oneself according to these information.
Since clock is asynchronous between each latent device, between latent device and target, intended recipient to timestamp between there are clocks
Deviation, in order to eliminate this influence, value is made the difference at the time of using under identical clock method:
ΔTis=(tis-tss)-(tii-tsi), i=1,2,3,4
In conjunction with Fig. 2, under conditions of considering noise, establish between above-mentioned resulting time difference and latent device, latent device with
The relationship of propagation delay time between target:
ΔTis=τsi+τ'si+wis
ΔTki=τsk+τki-τsi+wki
The position of target can be acquired by finally bringing these relationships into positioning equation.
Asynchronous algorithm from the above mentioned can be seen that value at the time of the essence of the algorithm is by under same clock and make the difference
Eliminate clock jitter, then establish between obtained difference and latent device, between latent device and target propagation delay time relationship, in turn
It establishes the positional relationship of value and latent device, target at the time of measure, the asynchronous tracking to target is realized with this.The algorithmic procedure
The influence of noise is considered, the precision of positioning result can be effectively improved.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (6)
1. a kind of underwater moving target co-located method under asynchronous clock, which comprises the following steps:
(1) in an underwater environment, the latent device of four movements of random placement, and number is 1,2,3,4 respectively, uses the underwater sound between device of diving
Communication mode carries out information exchange, and each latent device is equipped with depth finding meter；
(2) four latent devices obtain self-position and synchronised clock information, later No. 1 latent device dive to one by GPS on the water surface
Depthkeeping degree, 2,3, No. 4 latent devices assist No. 1 latent device to obtain the information of its x-axis and y-axis using time difference information is reached, and z-axis information can
It is obtained in terms of through depth finding, and then No. 1 latent device obtains the information of current location, in the water surface before subsequent No. 1 latent device combination
The location information of upper acquisition estimates water velocity μ；
(3) No. 1 latent devices broadcast the water velocity μ estimated to 2,3, No. 4 latent devices, continue thereafter with dive, and pass through acquisition
Water velocity is updated itself real time position；2,3, No. 4 latent devices receive dive after water velocity, and periodically externally wide
HELLO is broadcast, during dive, the real time position of itself is updated also according to water velocity；
(4) after intended recipient to HELLO, while Location Request is sent to four latent devices, to position target position (xs,ys,zs),
It sets at the time of target sends Location Request as tss, after each latent device receives positioning request information, into standby mode, etc.
The timestamp that latent device of the number to be received before it is sent will be certainly after this device confirmation of diving receives whole timestamps
The timestamp of body record is sent to latent device and the target numbered after it；
(5) after goal verification receives the timestamp that four latent devices are sent, the time that 1,2,3, No. 4 latent devices issue is recorded respectively
T at the time of stamp reaches1s、t2s、t3s、t4s, termination message is then sent, position fixing process is terminated；
(6) in position fixing process, target is influenced to generate passive fortune by water flow in addition to moving in the case where self power acts on
It is dynamic, here, compensating the passive movement of target by the water velocity estimated in step (2), and combining target itself speed acquires
Displacement (△ x in target position fixing processi,△yi,△zi), it is known that clock is asynchronous between target and each latent device, therefore intended recipient
To temporal information in each moment value there are deviations, in order to eliminate these clock jitters, using the method made the difference, i.e., to those
Value makes the difference at the time of under same clock, with offset clock deviation；
(7) target obtains the Delay between target and latent device, latent device according to the timestamp received and location information, considers
To noise exist, and press the smallest principle of noise, by associated time delays information and calculate at the time of difference can acquire target positioning
Position (x when beginnings,ys,zs), further according to the displacement of target in position fixing process, the real-time position at the end of target positioning can be acquired
Set (Xs,Ys,Zs)。
2. underwater moving target co-located method under asynchronous clock according to claim 1, which is characterized in that described
It is as follows to the estimation method of water velocity in step (2):
V (t) is the speed of No. 1 latent device, t in formulalAt the time of for before latent device dive, tcAt the time of when for dive to certain depth,
PlFor position of No. 1 latent device on the water surface, PcFor the position that dive is arrived, μ is the speed for needing the water flow estimated.
3. underwater moving target co-located method under asynchronous clock according to claim 1, which is characterized in that described
In step (3), after acquiring water velocity, 1,2,3, No. 4 latent underwater position of device can be obtained by the following formula:
Wherein, PkFor the underwater position of device of diving, PdFor position of the device in the water surface of diving, tkFor the device each position institute under water that dives
At the time of corresponding, tdAt the time of for latent device before dive, μ is the water velocity estimated.
4. underwater moving target co-located method under asynchronous clock according to claim 1, which is characterized in that described
In step (4), detailed process is as follows:
No. 1 latent device t at the time of receiving Location Requests1After receiving Location Request, when being sent to 2,3, No. 4 latent devices and target
Between stab, the timestamp include ts1, No. 1 latent device sending time stamp at the time of t11With the real time position (x of No. 1 latent device1,y1,z1)；
No. 2 latent device t at the time of receiving Location Requests2After receiving Location Request, into standby mode, No. 1 to be received is waited
The timestamp that latent device is sent, when No. 2 latent devices at the time of receiving the timestamp that No. 1 latent device issues t12After receiving timestamp,
It is stabbed to 3, No. 4 latent devices and target sending time, which includes ts2、t12, No. 2 latent device sending time stamps at the time of t22With No. 2
Real time position (the x of latent device2,y2,z2)；
No. 3 latent device t at the time of receiving Location Requests3After receiving Location Request, into standby mode, to be received 1,2 is waited
The timestamp that number latent device is sent, when No. 3 latent devices respectively receive No. 1, No. 2 latent devices issue timestamp at the time of t13、t23It connects
It after time of receipt (T of R) stamp, is stabbed to No. 4 latent devices and target sending time, which includes ts3、t13、t23, No. 3 latent device sending times
T at the time of stamp33With the real time position (x of No. 3 latent devices3,y3,z3)；
No. 4 latent device t at the time of receiving Location Requests4After receiving Location Request, into standby mode, to be received 1,2 are waited,
The timestamp that No. 3 latent devices are sent, when No. 4 latent devices respectively receive No. 1, No. 2, No. 3 latent devices issue timestamp at the time of t14、
t24And t34It after receiving timestamp, is stabbed to target sending time, which includes ts4、t14、t24、t34, No. 4 latent devices are when sending
Between stab at the time of t44With the real time position (x of No. 4 latent devices4,y4,z4)。
5. underwater moving target co-located method under asynchronous clock according to claim 1, which is characterized in that described
In step (6), target is (△ x from Location Request is sent to receiving latent device to send back to the displacement of timestamp this periodi,△yi,
△zi):
Wherein, tisAt the time of sending back to timestamp for intended recipient to No. i-th latent device, tssAt the time of issuing Location Request for target, V
It (t) is the speed of target, μ is the water velocity estimated；
For intended recipient at the time of value, made the difference as follows:
△Tis=(tis-tss)-(tii-tsi), i=1,2,3,4
Wherein, △ TisMake the difference the target of acquisition and No. i-th latent device timestamp for the timestamp to target and No. i-th latent device
Difference, △ TkiMake the difference for the timestamp to target and kth number, No. i-th latent device the target and kth number, No. i-th latent device of acquisition
The difference of timestamp, tssAt the time of issuing Location Request for target, tisAt the time of sending back to timestamp for intended recipient to latent device,
tsi、tskAt the time of receiving Location Request for latent device, tii、tkkAt the time of diving device and target sending time stamp to other for latent device,
tkiAt the time of the timestamp sent between device of diving reaches,Refer to any one latent device.
6. underwater moving target co-located method under asynchronous clock according to claim 1, which is characterized in that described
In step (7), the final real time position (X of targets,Ys,Zs) can be obtained by following formula:
Propagation delay time τ between target and latent device, latent devicesi、τkiIt is obtained by the following formula:
Wherein, dsiFor the distance between target and latent device, dkiFor the distance between latent device, (xs,ys,zs) be target position,
(xk,yk,zk)、(xi,yi,zi) be latent device real time position, τsiFor the propagation delay time between target and No. i-th latent device, τkiIt is
Propagation delay time between No. k latent device and No. i-th latent device, C are the spread speed of sound wave in water；
Under the conditions of considering that noise is existing, △ Tis、△TkiThere are following relationships between associated time delays:
△Tis=τsi+τ'si+wis
△Tki=τsk+τki-τsi+wki
Wherein, wisIndicate the uncertain measurement noise between target and latent device, wkiIt indicates not knowing measurement noise between latent device,
τskFor the propagation delay time between target and the latent device of kth number, τ 'siFor the biography between the real time position of target and the real time position of latent device
Sowing time prolongs；
Noise minimum principle is followed, target position is obtained by following formula:
Wherein δ is latent device under identical measurement standard, and the deviation that each measured value has uses exhaustion for the solution of formula
Method；
Finally, at the end of positioning target real time position (Xs,Ys,Zs) obtained by following formula:
(Xs,Ys,Zs)=(xs+△x4,ys+△y4,zs+△z4)
Wherein (xs,ys,zs) be target issue Location Request when position, (△ x4,△y4,△z4) it is mesh at the end of position fixing process
Target displacement.
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