CN110412546A - A kind of localization method and system for submarine target - Google Patents
A kind of localization method and system for submarine target Download PDFInfo
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- CN110412546A CN110412546A CN201910745603.7A CN201910745603A CN110412546A CN 110412546 A CN110412546 A CN 110412546A CN 201910745603 A CN201910745603 A CN 201910745603A CN 110412546 A CN110412546 A CN 110412546A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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Abstract
The present invention gives a kind of localization methods and system for submarine target, and the underwater sound signal sent including obtaining signal source acquires the underwater sound signal intensity of target current location；Pad value based on Gradient correction algorithm and underwater sound signal intensity calculates target at a distance from signal source；The estimated position that target is calculated using inertial navigation technology is carried out the amendment of target athletic posture position to estimated position using distance, obtains the correction position of target；Precision based on estimated position and correction position sets corresponding weighted value, and estimated position and correction position are weighted least square, obtain the location information of target.It is calculated by the weighted least-squares to estimated position and correction position, greatly improves the precision of Underwater Navigation, compared with the existing reckoning positioning based on SINS, locating effect is more accurate.
Description
This application claims on 06 27th, 2019 submission Patent Office of the People's Republic of China, application No. is 201910566875.0, invention
A kind of priority of the Chinese patent application of entitled " localization method and system for submarine target ", entire contents pass through
Reference is incorporated in the present application.
Technical field
The present invention relates to marine acoustics and signal processing technology field, especially a kind of localization method for submarine target and
System.
Background technique
In recent years, with the rapid development of electronic technology, the quickening of exploitation paces, underwater unmanned vehicle obtain under water
It is widely applied, either undersea detection, underwater operation seawater underwater reconnaissance has its figure.And underwater nothing in practical applications
People's aircraft need to often realize prolonged self-locating function, and the time may hiding up to half a year.This requires the bodies that navigates under dampening
Power consumption can not be excessively high, and location algorithm needs better long-time stability.
Common underwater method for self-locating mainly based on the weighting vector that measuring signal propagation time and signal reach,
To measure position of the current goal away from beacon.At this point, being the position of solving target, simultaneous resolving usually is carried out with multiple beacons.
Such as Long baselines positioning system, short baseline positioning system.Due to the mode that ultra short baseline locating system is ARRAY PROCESSING, array element point
Cloth is more concentrated it is believed that Single Point Source.It only manages that this kind of technology is very mature, but in general surveys the system hardware of time delay
Higher cost needs to consider temporal stationary problem, while variation of the velocity of sound in ocean is more changeable, can bring biggish
Interference.And it is same, direction of arrival generally using array signal processing as basic principle, this requires that, target itself needs carry
More complicated hardware facility, power consumption are consequently increased.
In addition, single beacon self align technology of current combining target athletic posture information is also more.Such as with Kalman filtering
For basic principle, spreading kalman, Unscented kalman filtering and all kinds of innovatory algorithms derived.It certainly further include with pattra leaves
This is filtered into basic principle, the derivative innovatory algorithm such as particle filter algorithm.And the basic norm of these algorithms is to establish state
Equation of transfer and measurement equation carry out the positioning of target.This kind of algorithm is in the system for surveying time delay, due to there is higher hardware branch
Support, so the person's of having the characteristics that error in measurement is lower, if marine environment is more steady, there is higher positioning accuracy.However, with
The various change of environment, the effect that equation often established itself will bring great error, and then affect algorithm itself.
Summary of the invention
The invention proposes a kind of localization methods and system for submarine target.
In one aspect, the invention proposes a kind of localization methods for submarine target, method includes the following steps:
S1: obtaining the underwater sound signal that signal source is sent, and acquires the underwater sound signal intensity of target current location；
S2: the pad value based on Gradient correction algorithm and underwater sound signal intensity calculates target at a distance from signal source；
S3: calculating the estimated position of target using inertial navigation technology, carries out target movement to estimated position using distance
The amendment of posture position obtains the correction position of target；
S4: the precision based on estimated position and correction position sets corresponding weighted value, utilizes estimated position and amendment position
It sets and is weighted least square, obtain the location information of target.
In the particular embodiment, signal source is single beacon signal source.The transmitting of energy is carried out using a beacon, is realized
Mode is simple, installation easy to carry.
In a preferred embodiment, distance calculates and also uses curve filtering algorithm trap signal intensity outlier in step S2,
The trap signal outlier method of curve filtering algorithm are as follows: calculate the underwater sound signal strength difference Δ at current time and previous moment
PkAnd Δ PkThe underwater sound signal strength difference Δ P at corresponding nearest momentk-1, course information and Δ P based on targetk-ΔPk-1's
Value determines whether the underwater sound signal intensity value at current time is outlier, if the underwater sound signal intensity at current time is outlier, mistake
Filter the underwater sound signal intensity value at the moment.By curve filtering algorithm can abnormal signal in effective trap signal acquisition it is strong
Angle value effectively avoids exceptional value bring position error.
In the particular embodiment, the specific judgment mode of outlier are as follows: if course information is far from signal source, and Δ Pk>
ΔPk-1, then the underwater sound signal intensity value at current time is outlier；If course information is close to signal source, and Δ PkLess than Δ
Pk-1, then the underwater sound signal intensity value at current time is outlier.
In the particular embodiment, calculation formula of the target at a distance from signal source are as follows:Wherein Ir
For the underwater sound signal intensity of current location, I0To refer to underwater sound signal intensity, n is decay factor.
In the particular embodiment, with reference to underwater sound signal intensity I0With the calculation of decay factor n are as follows: in current waters
Parameter value [the I of middle acquisition at least two pointa, a] and [Ib, b], utilize formula Ia=I0+ nlg (a), Ib=I0+ nlg (b) is calculated
The reference underwater sound signal intensity I in current waters0With decay factor n；Wherein Ia、IbRespectively indicate the underwater sound signal of two collection points
Intensity value, a, b respectively indicate two collection points at a distance from signal source.
In the particular embodiment, the position calculation formula of target point isWherein, H is indicated
Coefficient matrix, W are system X estimation error covariance matrix, and z indicates position measuring value.
In the particular embodiment, the setting means of weighted value are as follows: the precision of location information is directly proportional to the weighted value.
According to the second aspect of the invention, a kind of computer readable storage medium is proposed, computer journey is stored thereon with
Sequence, the computer program are subsequently can by computer above method when device executes.
According to the third aspect of the invention we, a kind of positioning system of submarine target is proposed, which includes:
Signal acquisition unit: it is configured to obtain the underwater sound signal that beacon is sent, the underwater sound letter of acquisition target current location
Number intensity；
Distance exam unit: being configured to the pad value based on Gradient correction algorithm and underwater sound signal intensity, calculates target
At a distance from beacon；
Position correction unit: it is configured to calculate the estimated position of target using inertial navigation technology, utilizes distance correction
The correction position of estimated position acquisition target；
Position calculation unit: it is configured to be weighted least square to estimated position and correction position, obtains target
Location information.
The present invention is acquired analysis using underwater sound signal strength information, and bond strength decays to be estimated with the mapping inertia of distance
Count out the distance between current goal itself and beacon information, specifically calculated using Gradient correction algorithm obtain target and beacon it
Between distance, and utilize curve filtering algorithm Exception Filter value, itself posture information of combining target carries out the reckoning of position, benefit
It is modified with position of the distance value of calculating to reckoning, least square finally is weighted to correction position and DR position and is obtained
Obtain more accurate target position information.Positioning system IPF-RSS based on underwater sound signal loss of strength combines existing inertia
Airmanship SINS designs a kind of self aligning system of single beacon using weighted least-squares, and it is underwater fixed to greatly improve
The precision of position, compared with the existing reckoning positioning based on SINS, locating effect is more preferably.
Detailed description of the invention
Including attached drawing to provide a further understanding of embodiments and attached drawing is incorporated into this specification and is constituted this
Part of specification.Drawing illustration embodiment and together with the description principle for explaining the present invention.It will readily recognize that
To many expected advantages of other embodiments and embodiment, because described in detail below by quoting, they become by preferably
Understand.By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, other spies of the application
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the flow chart of the localization method for submarine target of one embodiment of the present of invention；
Fig. 2 is the effect picture schematic diagram of the submarine target positioning of a specific embodiment of the invention；
Fig. 3 is the algorithm flow chart of the signal strength distance exam process of a specific embodiment of the invention；
Fig. 4 is the frame diagram of the positioning system for submarine target of one embodiment of the present of invention；
Fig. 5 is the structural framing based on underwater sound signal strength retrogression's self aligning system of a specific embodiment of the invention
Figure.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Localization method according to an embodiment of the invention for submarine target, Fig. 1 shows according to the present invention
The flow chart of the localization method for submarine target of embodiment.As shown in Figure 1, method includes the following steps:
S101: obtaining the underwater sound signal that signal source is sent, and acquires the underwater sound signal intensity of target current location.It is listened using water
Device obtains the intensity for working as prelocalization underwater sound signal, greatly reduces the cost of equipment.
In a preferred embodiment, hydrophone can be general hydrophone, in addition power amplifier can be obtained currently
The strength information of positioning signal.Without array transducer array acquisition signal, without all kinds of high-end digital processings
Device platform realizes time synchronization, greatly reduces the cost and volume power consumption of equipment.
In a preferred embodiment, signal source is that single beacon issues, the GPS signal being analogous in space, as shown in Figure 2
System effect schematic diagram, beacon only send positioning signal on sea, and the positioning object of service can be any number of.Beacon sheet
Body is there is no the concept of communication between the target for needing location information, and only beacon unilaterally sends signal, this to position
Target itself is not necessarily to send signal, and then greatly reduces energy consumption output, simplifies the configuration of hardware.
S102: the pad value based on Gradient correction algorithm and underwater sound signal intensity calculates target at a distance from signal source.Base
In the distance exam method to the underwater sound signal intensity received, it can be achieved that the demand of low-power consumption, highly concealed type, and location response
Fastly.
In a preferred embodiment, target is calculated at a distance from signal source using Gradient correction algorithm.Target and signal source
Distance calculation formula are as follows:Wherein IrFor the underwater sound signal intensity of current location, I0To believe with reference to the underwater sound
Number intensity, n is decay factor.
In the particular embodiment, under same water area condition, with reference to underwater sound signal intensity I0Will be definite value, decaying because
Sub- n undulate quantity is little, is also considered as definite value.The measurement carried out in current waters at least twice obtains the different parameter of at least two groups
It is worth [Ia, a] and [Ib, b] ..., it is based on formula Ia=I0+ nlg (a), Ib=I0+ nlg (b) carries out quadratic equation solution, calculates
The underwater sound signal intensity I in current waters0With decay factor n, wherein Ia、IbRespectively indicate the underwater sound signal intensity of two collection points
Value, a, b respectively indicate two collection points at a distance from the signal source.
In a preferred embodiment, using the exceptional value of curve filtering algorithm filtering underwater sound signal.Curve filtering algorithm
Trap signal outlier method are as follows: calculate the underwater sound signal strength difference Δ P at current time and previous momentkAnd Δ PkIt is corresponding nearest
The underwater sound signal strength difference Δ P at momentk-1, course information and Δ P based on targetk-ΔPk-1Value determine current time
Whether underwater sound signal intensity value is outlier, if the underwater sound signal intensity at current time is outlier, filters the underwater sound letter at the moment
Number intensity value.
In the particular embodiment, the specific judgment mode of outlier are as follows: if course information is far from the signal source, and Δ
Pk> Δ Pk-1, then the underwater sound signal intensity value at current time is outlier；If course information is close to the signal source, and Δ PkIt is small
In Δ Pk-1, then the underwater sound signal intensity value at current time is outlier.
S103: calculating the estimated position of target using inertial navigation technology, carries out target fortune to estimated position using distance
The amendment of dynamic posture position, obtains the correction position of target.Pass through the available target present speed of inertial navigation SINS technology
There is accumulated error in the relevant parameters such as information, location information, course information, pitch angle and roll angle, position error,
It can be modified using the distance of corrected Calculation, it is excessive to reduce deviations caused by position error accumulation.
In the particular embodiment, it is assumed that, the target DR position as measured by inertial navigation SINS technology is XSINS, and
It is L by the distance that Gradient correction algorithm and curve filtering algorithm measureRSS；And the variance that the two measures is respectively σS, σR.To obtain
More accurate estimated result proposes that one kind is based on according to weighted least square algorithm and the basic thought of particle filter algorithm
The distance correction algorithm of target athletic posture, i.e., by measured LRSSTo XSINSIt is modified.
In the particular embodiment, correction algorithm specifically: in section [XSINS-σS, XSINS+σS] the interior N number of grain of selection of range
Sub- point set Γ={ XS1, XS2, L, XSNIndicate particle coordinate set, then particle integrates and the distance set of sound source is D=Γ-S0, wherein
S0For sound source coordinate.Take in distance set D with LRSSBetween the nearest point X of probability highest, that is, Euclidean distanceSINS-RSS={ D-LRSS}minIt does
For revised position result.(formula is summarized as follows)
D=Γ (X)-S0, X ∈ [XSINS-σS, XSINS+σS]
XSINS-RSS={ D-LRSS}min
S104: the precision based on estimated position and correction position sets corresponding weighted value, and estimated position and amendment position
It sets and is weighted least square, obtain the location information of target.
In the particular embodiment, the specific formula for calculation of target position are as follows:
It is assumed that the target DR position as measured by inertial navigation SINS technology is XSINS, and by amendment obtained above
Position is XSINS-RSS.The two different estimated results obtained by two different systems of measurement accuracy, if setting XrealIt is true
Actual distance is from then there is SINS estimating system XSINS=Xreal+VSINS, VSINSThe evaluated error of expression system, is repaired similarly for by posture
X in positive systemSINS-RSS=Xreal+VSINS-RSS, VSINS-RSSIt also is the evaluated error of current system.By two measuring system knots
Fruit is associated with:
Then there is estimated result by weighted least-squares
Wherein W is the covariance matrix of V.
In the particular embodiment, the setting means of weighted value are as follows: the precision of location information is directly proportional to the weighted value.
Such as 40% and 60% are set for the weight of estimated position and correction position according to precise manner.It should be appreciated that can root
Other numerical value are carried out to weighted value according to actual measuring and calculating scene and system to set accordingly, are wanted with meeting the calculating under different scenes
It asks.
Fig. 3 shows the algorithm flow chart of the signal strength distance exam process of a specific embodiment of the invention.
This method specifically includes the following steps:
S301: input module is acquired using underwater sound signal, obtains the underwater sound signal received.Power is added using hydrophone
Current positioning signal information can be obtained in amplifier.Greatly reduce the cost and volume power consumption of equipment.
S302: signal strength analysis.Underwater sound signal based on acquisition, analysis obtain the strength information of the underwater sound signal.
S303: signal strength outlier removal.Signal strength outlier is removed, and is carried out based on signal strength apart from calculating.
In the particular embodiment, location algorithm has specifically included Gradient correction algorithm 3031, curve filtering algorithm 3032
With one-dimensional WLS-IPF algorithm 3033.
In the particular embodiment, 3031 specific embodiment of Gradient correction algorithm are as follows:
Certain twice measurement have different parameter values be respectivelyAndAnd in identical sound source distance d
The underwater sound signal amplitude that place receives corresponds toThen
Given that it is known that curve 1, then its corresponding parameter n can be calculated1AndSubstitute into the intensity being currently receivedIt calculates
Estimated value outAre as follows:
And actual value is d, then its distance estimations errorThe corresponding ratio for calculating error and actual range
K:
And actual range has according to curve bThen above formula can be changed toFor the function representation of parameter
Formula:
Progress logarithmic transformation, which handles while merging common factor, to be had:
Wherein,
Simultaneously, it is assumed that the actual value for having been obtained for 2 preceding 3 points of curve can then calculate α and β according to above formula.In turn
It can be according to the actual value measuredCorrect evaluated error.
In the particular embodiment, 3032 specific embodiment of curve filtering algorithm are as follows: use curve filtering algorithm mistake
The exceptional value of drainage acoustical signal.The trap signal outlier method of curve filtering algorithm are as follows: calculate current time and previous moment
Underwater sound signal strength difference Δ PkAnd Δ PkThe underwater sound signal strength difference Δ P at corresponding nearest momentk-1, the course based on target
Information and Δ Pk-ΔPk-1Value determine whether the underwater sound signal intensity value at current time is outlier, if the underwater sound at current time is believed
Number intensity is outlier, then filters the underwater sound signal intensity value at the moment.The specific judgment mode of outlier are as follows: if course information is remote
From the signal source, and Δ Pk> Δ Pk-1, then the underwater sound signal intensity value at current time is outlier；If course information is close
The signal source, and Δ PkLess than Δ Pk-1, then the underwater sound signal intensity value at current time is outlier.
In the particular embodiment, the specific calculation formula of one-dimensional WLS-IPF algorithm 3033 are as follows: L=(HTR-1H)-1HTR- 1Z1, wherein H represents coefficient matrix (transposition), and R represents covariance matrix Z1Represent distance measuring value matrix.
S304: apart from mapping algorithm.Characterize the relationship between distance d and current received signal strength I.
Specific formula for calculation are as follows:Wherein IrFor the underwater sound signal intensity of current location, I0For reference
Underwater sound signal intensity, n are decay factor.
Fig. 4 shows the frame diagram of the positioning system according to an embodiment of the invention for submarine target.This is
System includes signal acquisition unit 401, distance exam unit 402, position correction unit 403 and position calculation unit 404.
In the particular embodiment, signal acquisition unit 401 is configured for obtaining the underwater sound signal that beacon is sent, acquisition
The underwater sound signal intensity of target current location.Signal acquisition unit 401 includes hydrophone and power amplifier.
In a preferred embodiment, hydrophone can be general hydrophone, in addition power amplifier can be obtained currently
The strength information of positioning signal.Without array transducer array acquisition signal, without all kinds of high-end digital processings
Device platform realizes time synchronization, greatly reduces the cost and volume power consumption of equipment.
In a preferred embodiment, beacon only sends positioning signal, service on sea using single beacon configuration, beacon
Positioning object can be any number of.There is no the concepts of communication between the target for needing location information for beacon itself, only
Beacon unilaterally sends signal, this makes positioning target itself be not necessarily to send signal, and then greatly reduces energy consumption output, letter
The configuration of hardware is changed.
In the particular embodiment, distance exam unit 402 is configured for Gradient correction algorithm and the underwater sound
The pad value of signal strength calculates the target at a distance from the beacon.Position correction unit 403 is configured for using used
Property airmanship calculates the estimated position of the target, obtains repairing for the target using estimated position described in the distance correction
Positive position.Position calculation unit 404 is configured for being weighted least square to the estimated position and the correction position,
Obtain the location information of the target.Pass through distance exam unit 402, position correction unit 403 and position calculation unit 404
The operation of series of algorithms eliminates the error in each algorithm to a certain extent, and it is fixed may finally to obtain accurate target
Position information.
In a preferred embodiment, be provided with strapdown inertial navigation device in target, to obtain target velocity information,
Course information and location information.Strapdown inertial navigation device can quickly obtain the current velocity information of target and heading device
Breath, and position can be calculated according to velocity information and course information, it is estimated that the position of target different moments is believed
Breath, the reference data as above-mentioned algorithm.
Fig. 5 show a specific embodiment according to the present invention based on underwater sound signal strength retrogression's self aligning system
Structural framing figure.The system includes that distance obtains module 501, inertial navigation module 502,503 and of blending algorithm WLS-IPF module
Location information 404.Distance obtains the location information data that module 501 and inertial navigation module 502 obtain and passes through blending algorithm
WLS-IPF module 503 carries out calculating final output location information 504.Melting for data is carried out using blending algorithm WLS-IPF module
Operation is closed, the error that distance obtains data acquired in module 501 and inertial navigation module 502 is reduced, makes the calculated position of institute
Confidence breath is more accurate.
In the particular embodiment, it includes that sequentially connected underwater sound signal acquires input unit that distance, which obtains module 501,
5011, signal strength analysis unit 5012, signal strength outlier removal unit 5013 and apart from map unit 5014.Distance obtains
The demand of low-power consumption, highly concealed type, and location response can be achieved using the calculating that signal strength carries out distance and position for module 501
Fastly.
In the particular embodiment, inertial navigation module 502 includes gyroscope 5021, accelerometer 5022 and electronic compass
5023, the speed 5024 and attitude angle of target are obtained by gyroscope 5021, accelerometer 5022 and 5023 operation of electronic compass
5025.Target present speed information, location information, heading device can be obtained based on SINS technology by inertial navigation module 502
The relevant parameters such as breath, pitch angle and roll angle calculate for carrying out subsequent distance correction or position correction and provide data basis.
The embodiment of the present invention further relates to a kind of computer readable storage medium, is stored thereon with computer program, the meter
Calculation machine program is subsequently can by computer the method implemented when device executes above.The computer program includes to be used for execution flow chart institute
The program code for the method shown.It is situated between it should be noted that the computer-readable medium of the application can be computer-readable signal
Matter or computer-readable medium either the two any combination.
The present invention is acquired analysis using underwater sound signal strength information, and bond strength decays to be estimated with the mapping inertia of distance
Count out the distance between current goal itself and beacon information, specifically calculated using Gradient correction algorithm obtain target and beacon it
Between distance, and utilize curve filtering algorithm Exception Filter value, itself posture information of combining target carries out the reckoning of position, benefit
It is modified with position of the distance value of calculating to reckoning, least square finally is weighted to correction position and DR position and is obtained
Obtain more accurate target position information.Positioning system IPF-RSS based on underwater sound signal loss of strength combines existing inertia
Airmanship SINS designs a kind of self aligning system of single beacon using weighted least-squares, and it is underwater fixed to greatly improve
The precision of position, compared with the existing reckoning positioning based on SINS, locating effect is more preferably.
The application is based on state natural sciences fund 61671394 and central colleges and universities basic scientific research operating cost special fund
Subsidize the research achievement of (20720170044).
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of localization method for submarine target, which comprises the following steps:
S1: obtaining the underwater sound signal that signal source is sent, and acquires the underwater sound signal intensity of target current location；
S2: the pad value based on Gradient correction algorithm and the underwater sound signal intensity calculates the target and the signal source
Distance；
S3: calculating the estimated position of the target using inertial navigation technology, is carried out using the distance to the estimated position
The amendment of target athletic posture position, obtains the correction position of the target；
S4: the precision based on the estimated position Yu the correction position sets corresponding weighted value, utilizes the estimated position
It is weighted least square with the correction position, obtains the location information of the target.
2. the localization method according to claim 1 for submarine target, which is characterized in that the signal source is Dan Xinbiao
Signal source.
3. the localization method according to claim 1 for submarine target, which is characterized in that the target and the signal
The calculation formula of the distance in source are as follows:Wherein IrFor the underwater sound signal intensity of current location, I0For with reference to water
Acoustic signal intensity, n are decay factor.
4. the localization method according to claim 3 for submarine target, which is characterized in that distance meter in the step S2
It calculates and also uses curve filtering algorithm trap signal intensity outlier, the trap signal outlier method of the curve filtering algorithm are as follows: meter
Calculate the underwater sound signal strength difference Δ P at current time and previous momentkAnd Δ PkThe underwater sound signal intensity difference at corresponding nearest moment
It is worth Δ Pk-1, course information and Δ P based on the targetk-ΔPk-1Value determine that the underwater sound signal intensity value at current time is
It is no to filter the underwater sound signal intensity value at the moment if the underwater sound signal intensity at current time is outlier for outlier.
5. the localization method according to claim 4 for submarine target, which is characterized in that the specific judgement of the outlier
Mode are as follows: if course information is far from the signal source, and Δ Pk> Δ Pk-1, then the underwater sound signal intensity value at current time be
Outlier；If course information is close to the signal source, and Δ PkLess than Δ Pk-1, then the underwater sound signal intensity value at current time be
Outlier.
6. the localization method according to claim 5 for submarine target, which is characterized in that described strong with reference to underwater sound signal
Spend I0With the calculation of the decay factor n are as follows: acquire the parameter value [I of at least two point in current watersa, a] and [Ib,
B], utilize formula Ia=I0+ nlg (a), Ib=I0+ nlg (b) calculates the reference underwater sound signal intensity I in current waters0With it is described
Decay factor n；Wherein Ia、IbRespectively indicate the underwater sound signal intensity value of two collection points, a, b respectively indicate two collection points with
The distance of the signal source.
7. the localization method according to claim 1 for submarine target, which is characterized in that count the position of the target point
Calculate formula are as follows:Wherein, H indicates that coefficient matrix, W are the covariance matrix of system estimation error, Z
Indicate the measurement position matrix of two systems.
8. the localization method according to claim 1 for submarine target, which is characterized in that the setting side of the weighted value
Formula are as follows: the precision of the location information is directly proportional to the weighted value.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program is counted
Calculation machine processor implements method described in any one of any one of claims 1 to 88 when executing.
10. a kind of positioning system for submarine target characterized by comprising
Signal acquisition unit: it is configured to obtain the underwater sound signal that beacon is sent, the underwater sound signal for acquiring target current location is strong
Degree；
Distance exam unit: being configured to the pad value based on Gradient correction algorithm and the underwater sound signal intensity, described in calculating
Target is at a distance from the beacon；
Position correction unit: it is configured to calculate the estimated position of the target using inertial navigation technology, utilizes the distance
Correct the correction position that the estimated position obtains the target；
Position calculation unit: it is configured to be weighted least square to the estimated position and the correction position, obtains institute
State the location information of target.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019105668750 | 2019-06-27 | ||
| CN201910566875 | 2019-06-27 |
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