| 基于单水声信标距离量测的匹配定位方法 |
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| 引用本文： | 邵祺,常帅,付晓梅.基于单水声信标距离量测的匹配定位方法[J].海洋通报,2019,38(1):53-62. |
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| 作者姓名： | 邵祺 常帅 付晓梅 |
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| 作者单位： | 天津大学 海洋科学与技术学院,天津,300072;天津大学 海洋科学与技术学院,天津,300072;天津大学 海洋科学与技术学院,天津,300072 |
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| 摘 要： | 水声通信和测距能力是实现水下航行器准确定位的重要技术手段。当前基于水声定位的方法主要有利用测距和测向功能的水声定位技术以及水声测距辅助导航技术，二者的系统物理复杂度都比较高。本文提出了一种基于单水声信标距离量测的匹配定位方法，航行器在水声信标测距覆盖范围内，利用航行过程中多次测距信息构建测距圆序列形成位置约束，基于航位推算导航信息，将航行器在连续测距时间段内的相对航迹在圆序列上进行最优匹配，从而获得位置估计，通过对测距误差进行补偿可进一步提升定位精度。本方法所需物理系统结构复杂度低、可操作性强，仿真实验表明，该方法可以独立实现较高精度的定位。
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| 关 键 词： | 单水声信标 距离量测 最优匹配 误差补偿 |
| 收稿时间： | 2018/7/11 0:00:00 |
| 修稿时间： | 2018/10/29 0:00:00 |
Matching localization method based on distance measurement of single acoustic beacon |
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| SHAO Qi,CHANG Shuai and FU Xiao-mei.Matching localization method based on distance measurement of single acoustic beacon[J].Marine Science Bulletin,2019,38(1):53-62. |
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| Authors: | SHAO Qi CHANG Shuai and FU Xiao-mei |
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| Institution: | School of Marine Science and Technology, Tianjin University, Tianjin 300072, China,School of Marine Science and Technology, Tianjin University, Tianjin 300072, China and School of Marine Science and Technology, Tianjin University, Tianjin 300072, China |
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| Abstract: | Underwater acoustic communication and ranging capabilities are important techniques for accurate positioning of underwater vehicles. Currently, the underwater acoustic localization methods mainly include underwater acoustic positioning technology using underwater ranging and direction, and underwater acoustic distance measurement assisted navigation technologies, which are of higher system physical complexity. This paper proposes a matching positioning method based on the distance measurement of single beacon. Putting the vehicle within the coverage range of underwater acoustic beacon, and using the multiple ranging information during navigation and a ranging circle sequence was constructed. The position constraint is formed, and the relative trajectory of the vehicle during this period of time is optimally matched on the circle sequence to obtain a position estimate. The physical system structure required by this method is of low complexity but strong operability. Simulation experiments show that this method can independently achieve higher precision positioning. |
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| Keywords: | single beacon distance measurement optimal matching error compensation |
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