CN116973899B - Under-ice multi-target positioning method and device based on convex clustering - Google Patents
Under-ice multi-target positioning method and device based on convex clustering Download PDFInfo
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- G—PHYSICS
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- 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
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- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
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Abstract
The invention discloses a multi-target positioning method and device under ice based on convex clustering, which are used for determining marine environment parameters, the spatial position of a transmitting transducer under ice and the spatial position information of a plurality of receiving hydrophones relatively fixed under ice, taking the detection time delay of each receiving hydrophone received by a target as input measurement, and determining the corresponding relation between measurement and the target if all the measurement is label-free for multi-target scenes; regarding the corresponding relation between the label-free measurement and the multiple targets as a combined transportation optimization problem, and determining a transportation cost function; and calculating an optimal transportation scheme by using a convex optimization tool CVX, so as to realize the combined positioning of multiple targets and determine the three-dimensional position of the multiple targets in space. The method utilizes a one-to-many active sonar system to effectively position the horizontal distance and depth information of a target in space; by utilizing the characteristic of the sound ladder under ice, the multi-target positioning under ice is filled, and meanwhile, the combined positioning problem of the non-label multi-target is solved.
Description
Technical Field
The invention belongs to the field of underwater sound statistical signal processing, and particularly relates to a convex clustering-based method and a convex clustering-based device for positioning multiple targets under ice.
Background
Polar water acoustics has unique properties compared to other oceans, sound being the only medium available for telecommunication and monitoring in the arctic region due to the presence of ice caps. The presence of ice caps can also change the properties of the body of water, in arctic sub-ice bodies of water where the upper surface is primarily fresh cold sea water, rather than warm, higher salinity sea water, the acoustic environment of the arctic ocean has a strong upwardly refractive sonic profile. The presence of ice caps and their temporal-spatial variability give rise to unique environmental noise, whose roughness and thickness variations bring about high reflection coefficients, producing intense reverberation. Therefore, object detection, positioning, tracking and the like in a complex environment under ice have attracted attention in recent years.
The twenty-first century is the century of ocean, with the aggravation of greenhouse effect, the melting of polar ice and snow is accelerated, the value of polar region in the aspects of territory strategy, natural resources, shipping and scientific research is increasingly highlighted, the polar region becomes an important target of international competition and a new strategic place, high-technology equipment such as underwater vehicles are already applied to polar environments, the invention fills the blank of the positioning research of a plurality of targets under ice by utilizing the characteristic of sound velocity gradient under ice, and meanwhile solves the difficult problem of combined positioning of a plurality of targets without labels.
Disclosure of Invention
In order to solve the problem of multi-target positioning under ice, the invention discloses a multi-target positioning method under ice based on convex clustering, which is applied to marine environment and aims at a plurality of targets positioned under ice in a target searching range, and the multi-target positioning method under ice comprises the following steps:
s1, arranging a plurality of transmitting stations and receiving stations under ice, acquiring the space positions of the transmitting stations and the receiving stations under ice, and determining real-time environmental parameters of the marine environment;
s2, determining input measurement based on target detection time delay information for the positioning target under ice received by the receiving station;
s3, dividing the target search range into a plurality of grids, traversing the grids to obtain candidate grid point time delay information, and obtaining a transportation cost function according to the candidate grid point time delay information and the target detection time delay information;
and S4, calculating and analyzing an optimal transportation scheme according to the transportation cost function, obtaining the corresponding relation between the input measurement and the plurality of the sub-ice positioning targets, and positioning and clustering the plurality of the sub-ice positioning targets.
Further, the step S1 of arranging a plurality of transmitting stations and receiving stations under ice, acquiring the space positions of the transmitting stations and the receiving stations under ice, and determining the real-time environmental parameters of the marine environment specifically includes:
the real-time environmental parameters of the marine environment at least comprise:
ocean depth, ocean bottom density, ocean bottom attenuation coefficient, temperature, salinity;
and self-calibrating by using a GPS through a buoy to obtain the space positions under ice of the transmitting station and the receiving station.
Further, the step S2 of determining input measurement based on the target detection delay information for the positioning target under ice received by the receiving station specifically includes:
under the condition of a preset sound velocity gradient, according to a ray tracing theory, simulating and calculating the propagation delay and the horizontal propagation distance of the marine environment between two points at a first depth;
and calculating to obtain target detection time delay information of the transmitting station-the positioning target under ice-the receiving station based on the propagation time delay and the horizontal propagation distance and combining the constant sound line parameter.
Further, the step S3 of dividing the target search range into a plurality of grids, traversing the grids to obtain candidate grid point delay information, and obtaining a transportation cost function according to the candidate grid point delay information and the target detection delay information specifically includes:
dividing the target search range into a plurality of candidate grids, wherein each candidate grid is a candidate target position, and the candidate target position set is obtained;
constructing a plurality of groups of time delay measurement and multi-objective optimal transportation models by adopting a transportation cost function matrix and a transportation plan matrix;
obtaining a transportation cost function by adopting a Euclidean distance according to the candidate target position set and the sub-ice positioning target corresponding to the target detection time delay information;
and calculating to obtain candidate target point sets closest to two sides of the observation time delay according to the transportation cost function, and obtaining the positioning estimated value of the positioning target under ice.
Further, the step S4 of calculating and analyzing an optimal transportation scheme according to the transportation cost function, to obtain a correspondence between the input measurement and the plurality of sub-ice positioning targets, and to position and cluster the plurality of sub-ice positioning targets, includes:
solving the optimal transportation model by using a CVX tool box built in matlab to obtain a transportation schemeAnd the d position coordinate of the positioning object under ice +.>And obtaining target positioning estimated values of the plurality of sub-ice positioning targets.
According to a second aspect of the present invention, the present invention claims a convex cluster-based under-ice multi-target positioning device, comprising:
a memory for storing non-transitory computer readable instructions; and
and the processor is used for running the computer readable instructions so that the processor realizes the method for positioning the multiple targets under ice based on convex clustering when executing.
The invention discloses a multi-target positioning method and device under ice based on convex clustering, which are used for determining marine environment parameters, the spatial position of a transmitting transducer under ice and the spatial position information of a plurality of receiving hydrophones relatively fixed under ice, taking the detection time delay of each receiving hydrophone received by a target as input measurement, and determining the corresponding relation between measurement and the target if all the measurement is label-free for multi-target scenes; regarding the corresponding relation between the label-free measurement and the multiple targets as a combined transportation optimization problem, and determining a transportation cost function; and calculating an optimal transportation scheme by using a convex optimization tool CVX, so as to realize the combined positioning of multiple targets and determine the three-dimensional position of the multiple targets in space. The method utilizes a one-to-many active sonar system to effectively position the horizontal distance and depth information of a target in space; by utilizing the characteristic of the sound ladder under ice, the multi-target positioning under ice is filled, and meanwhile, the combined positioning problem of the non-label multi-target is solved.
Drawings
FIG. 1 is a workflow diagram of a convex cluster-based method for multi-objective positioning under ice in accordance with the present invention;
FIG. 2 is a schematic view of sound velocity gradient of a convex cluster-based method for positioning multiple targets under ice;
fig. 3 is a schematic diagram of a positioning result of a multi-objective positioning method under ice based on convex clustering.
Detailed Description
According to a first embodiment of the present invention, the present invention provides an under-ice multi-target positioning method based on convex clustering, which is applied in a marine environment, and aims at a plurality of under-ice positioning targets within a target search range, the under-ice multi-target positioning method includes:
s1, arranging a plurality of transmitting stations and receiving stations under ice, acquiring the space positions of the transmitting stations and the receiving stations under ice, and determining real-time environmental parameters of the marine environment;
s2, determining input measurement based on target detection time delay information for the positioning target under ice received by the receiving station;
s3, dividing the target search range into a plurality of grids, traversing the grids to obtain candidate grid point time delay information, and obtaining a transportation cost function according to the candidate grid point time delay information and the target detection time delay information;
and S4, calculating and analyzing an optimal transportation scheme according to the transportation cost function, obtaining the corresponding relation between the input measurement and the plurality of the sub-ice positioning targets, and positioning and clustering the plurality of the sub-ice positioning targets.
The transmitting station is a transmitting transducer, and the receiving station is a receiving hydrophone.
Further, the step S1 of arranging a plurality of transmitting stations and receiving stations under ice, acquiring the space positions of the transmitting stations and the receiving stations under ice, and determining the real-time environmental parameters of the marine environment specifically includes:
the real-time environmental parameters of the marine environment at least comprise:
ocean depth, ocean bottom density, ocean bottom attenuation coefficient, temperature, salinity;
and self-calibrating by using a GPS through a buoy to obtain the space positions under ice of the transmitting station and the receiving station.
Wherein in this embodiment marine environmental parameters are determined, sound velocity gradients of the test sea area are measured using a thermal salt depth meter (CTD), and in the laboratory we can use acoustic software BELLHOP to generate sound velocity gradient curves while using a buoy Global Positioning System (GPS) to determine the underwater spatial position of the transmitting transducer and receiving hydrophone.
The sound velocity profile is shown in figure 2, a horizontal seabed is adopted, the ocean depth is 600m, the seabed parameters are 1550m/s of seabed sound velocity, 1.13g/cm3 of seabed density and 0.65 dB/lambda of seabed attenuation coefficient respectively, and the sound velocity is input into sound field modeling software BELLHOP; the detection positioning area is in a horizontal distance range of-1.5 km-1.5km, a depth range of 0-0.6km, a coordinate unit of km, a transmitting station andthe positions of the receiving stations can be randomly placed in the positioning area. />The target locations to be located are on a candidate grid.
Further, the step S2 of determining input measurement based on the target detection delay information for the positioning target under ice received by the receiving station specifically includes:
under the condition of a preset sound velocity gradient, according to a ray tracing theory, simulating and calculating the propagation delay and the horizontal propagation distance of the marine environment between two points at a first depth;
and calculating to obtain target detection time delay information of the transmitting station-the positioning target under ice-the receiving station based on the propagation time delay and the horizontal propagation distance and combining the constant sound line parameter.
In this embodiment, the target detection delay information received by each receiving hydrophone is used as input measurement, and in a multi-target scene, the measurement information belongs to a non-label state, that is, the accurate corresponding relation between the multi-measurement and the multi-target cannot be determined.
When a single target is detected and positioned, a plurality of receiving hydrophones can output the single target space position by utilizing the union of the multi-receiving measurement to realize the single target positioning, but in a multi-target scene, the multi-receiving hydrophones can have a plurality of groups of receiving measurement on different targets, at the moment, the corresponding relation between the plurality of groups of measurement and the plurality of targets cannot be effectively established, and if the plurality of groups of measurement cannot be effectively clustered, the multi-target positioning is caused by extremely large errors.
Under the condition of given sound velocity gradient, according to the ray tracing theory, the simulation calculation space two-point propagation time delay and the horizontal propagation distance are respectively,
wherein,represents the horizontal propagation distance at depth z, +.>Representing propagation delay at depth z +.>Is at depth +.>Sound speed at time,/->Is a constant sound ray parameter,/->Expressed in depth +.>Time glancing angle.
When it is assumed thatThe target depth is->Transmitting station and->The depth of the individual receiving stations is known as +.>And->And the gradient of the sound velocity of the whole sea depth is known as +.>It is known that the observation delay of the transmitting station-target-receiving station can be calculated analogically according to formulas (1) - (3)>；
Where K represents the number of objects to be solved and R represents the number of known receiving stations.
Wherein the method comprises the steps of，/>. To simplify the symbols, let->Wherein->。
Further, the step S3 of dividing the target search range into a plurality of grids, traversing the grids to obtain candidate grid point delay information, and obtaining a transportation cost function according to the candidate grid point delay information and the target detection delay information specifically includes:
dividing the target search range into a plurality of candidate grids, wherein each candidate grid is a candidate target position, and the candidate target position set is obtained;
constructing a plurality of groups of time delay measurement and multi-objective optimal transportation models by adopting a transportation cost function matrix and a transportation plan matrix;
obtaining a transportation cost function by adopting a Euclidean distance according to the candidate target position set and the sub-ice positioning target corresponding to the target detection time delay information;
and calculating to obtain candidate target point sets closest to two sides of the observation time delay according to the transportation cost function, and obtaining the positioning estimated value of the positioning target under ice.
In this embodiment, the input measurement is the delay information obtained by target detection, the euclidean distance between the measured delay information and the delay information of the candidate grid points obtained subsequently is the transportation cost function, and the optimal transportation scheme is finally determined according to the transportation cost function.
Aiming at the problem that the multi-target positioning information coupling and the multi-group measurement coupling are caused by label-free measurement, so that the multi-target space position cannot be effectively output, the problem is converted into a combined transportation optimization problem by utilizing an optimal transportation theory, meanwhile, grids are divided and traversed in a target search range, and Euclidean distances measured by candidate grid point time delays and observation time delays are obtained to serve as transportation cost functions.
Dividing the target search range into a plurality of candidate grids, wherein each candidate grid is a candidate target position, and the candidate grids/candidate target positions are collected asWherein->Where N represents the number of multi-moving objects to be solved.
Constructing a plurality of groups of time delay measurement and multi-objective optimal transportation models, wherein the optimal transportation models are expressed as follows:
wherein 1 represents a vector, all elements in the vector are 1, t represents a transpose, q=k×r represents the total number of transport schemes,representing a transport cost function matrix, < >>Representing a transport plan matrix, wherein->Representation->And->Costs of association. If the object is->Assigned to observation time delay->Then->On the contrary->，/>Corresponding to the set of candidate target positions and the unknown distribution of candidates, the present patent uses euclidean distances to define a cost function based thereon,
wherein the method comprises the steps ofIndicating the target position corresponding to the observation time delay, +.>Representing candidate target locations, by this selection, equation (5) obtains a set of candidate target points closest to the observed time delay measurement, i.e., target location estimates.
Further, referring to fig. 3, the step S4 of calculating and analyzing an optimal transportation scheme according to the transportation cost function to obtain the correspondence between the input measurement and the plurality of sub-ice positioning targets, and positioning and clustering the plurality of sub-ice positioning targets specifically includes:
solving the optimal transportation model by using a CVX tool box built in matlab to obtain a transportation schemeAnd the d position coordinate of the positioning object under ice +.>And obtaining target positioning estimated values of the plurality of sub-ice positioning targets.
In this embodiment, the optimal transportation scheme is a transportation plan matrix, and the position closest to the target to be solved in the candidate grid points can be obtained through the optimal transportation scheme, so as to obtain the estimated target position.
According to a second embodiment of the present invention, the present invention claims a convex cluster-based under-ice multi-target positioning device, comprising:
a memory for storing non-transitory computer readable instructions; and
a processor for executing the computer readable instructions to enable the processor to implement the convex cluster-based sub-ice multi-target positioning method when executing
Those skilled in the art will appreciate that various modifications and improvements can be made to the disclosure. For example, the various devices or components described above may be implemented in hardware, or may be implemented in software, firmware, or a combination of some or all of the three.
A flowchart is used in this disclosure to describe the steps of a method according to an embodiment of the present disclosure. It should be understood that the steps that follow or before do not have to be performed in exact order. Rather, the various steps may be processed in reverse order or simultaneously. Also, other operations may be added to these processes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a computer program to instruct related hardware, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic disk, or an optical disk. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiment may be implemented in the form of hardware, or may be implemented in the form of a software functional module. The present disclosure is not limited to any specific form of combination of hardware and software.
Unless defined otherwise, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The foregoing is illustrative of the present disclosure and is not to be construed as limiting thereof. Although a few exemplary embodiments of this disclosure have been described, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this disclosure. Accordingly, all such modifications are intended to be included within the scope of this disclosure as defined in the claims. It is to be understood that the foregoing is illustrative of the present disclosure and is not to be construed as limited to the specific embodiments disclosed, and that modifications to the disclosed embodiments, as well as other embodiments, are intended to be included within the scope of the appended claims. The disclosure is defined by the claims and their equivalents.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. The method for positioning the multiple targets under the ice based on the convex clustering is characterized by being applied to a marine environment and aiming at a plurality of targets under the ice in a target searching range, and comprises the following steps:
s1, arranging a plurality of transmitting stations and receiving stations under ice, acquiring the space positions of the transmitting stations and the receiving stations under ice, and determining real-time environmental parameters of the marine environment;
s2, determining input measurement based on target detection time delay information for the positioning target under ice received by the receiving station;
s3, dividing the target search range into a plurality of grids, traversing the grids to obtain candidate grid point time delay information, and obtaining a transportation cost function according to the candidate grid point time delay information and the target detection time delay information;
s4, calculating and analyzing an optimal transportation scheme according to the transportation cost function, obtaining the corresponding relation between the input measurement and the plurality of the sub-ice positioning targets, and positioning and clustering the plurality of the sub-ice positioning targets;
s2, determining input measurement based on target detection time delay information for the positioning target under ice received by the receiving station, wherein the method specifically comprises the following steps:
under the condition of a preset sound velocity gradient, according to a ray tracing theory, simulating and calculating the propagation delay and the horizontal propagation distance of the marine environment between two points at a first depth;
calculating to obtain target detection time delay information of the transmitting station-the positioning target under ice-the receiving station based on the propagation time delay and the horizontal propagation distance by combining with constant sound line parameters;
and S3, dividing the target search range into a plurality of grids, traversing the grids to obtain candidate grid point time delay information, and obtaining a transportation cost function according to the candidate grid point time delay information and the target detection time delay information, wherein the method specifically comprises the following steps of:
dividing the target search range into a plurality of candidate grids, wherein each candidate grid is a candidate target position, and the candidate target position set is obtained;
constructing a plurality of groups of time delay measurement and multi-objective optimal transportation models by adopting a transportation cost function matrix and a transportation plan matrix;
obtaining a transportation cost function by adopting a Euclidean distance according to the candidate target position set and the sub-ice positioning target corresponding to the target detection time delay information;
and calculating to obtain candidate target point sets closest to two sides of the observation time delay according to the transportation cost function, and obtaining the positioning estimated value of the positioning target under ice.
2. The method for positioning multiple targets under ice based on convex clustering according to claim 1, wherein the step S1 of arranging a plurality of transmitting stations and receiving stations under ice, obtaining the space positions under ice of the transmitting stations and the receiving stations, and determining the real-time environmental parameters of the marine environment comprises the following steps:
the real-time environmental parameters of the marine environment at least comprise:
ocean depth, ocean bottom density, ocean bottom attenuation coefficient, temperature, salinity;
and self-calibrating by using a GPS through a buoy to obtain the space positions under ice of the transmitting station and the receiving station.
3. The method for positioning multiple targets under ice based on convex clustering according to claim 2, wherein the step S4 is to calculate and analyze an optimal transportation scheme according to the transportation cost function, obtain the correspondence between the input measurement and the multiple targets under ice positioning, and position and cluster the multiple targets under ice positioning, and specifically comprises:
and solving the optimal transportation model by using a CVX tool box built in matlab to obtain a transportation scheme M and a d position coordinate v of the ice positioning target, and obtaining target positioning estimated values of the ice positioning targets.
4. An under-ice multi-target positioning device based on convex clustering, comprising:
a memory for storing non-transitory computer readable instructions; and
a processor for executing the computer readable instructions such that the processor, when executed, implements a convex cluster based sub-ice multi-target positioning method as claimed in any one of claims 1-3.
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| 任意阵型被动声纳***性能分析及优化方法研究;杨超然;中国优秀硕士学位论文全文数据库;20210415;全文 * |
| 深远海水下多目标定位跟踪技术研究;张庆国;黄其培;要庆生;连莉;;电子测量技术;20191123(第22期);全文 * |
| 运动目标被动声呐信号频域分析关键技术研究;郭微;中国博士学位论文全文数据库;20200515;全文 * |
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