水下运动目标长基线定位解算研究

A solution of locating a moving object using long-base line acoustic system

水下运动目标长基线应答器导航定位方程是非线性的，其非线性解法是成熟的。本文所讨论的解算方法的优点是算法简便。本文讨论了该定位方程组的近似解法及对近似解法的理解，利用近似解将非线性定位方程组转化为易于求解的圆方程组求精确解。仿真研究和海上试验证明本文所介绍的解法是高精度的、简便的。

Dealing with the problem of positioning a moving object by a long-base line acoustic trackingsystem, it is needed to solve the nonlinear equations, whose solution has already been known in theliterature. In this article, an approximate solution of the positioning equations is put forwards and itshows the benefits of simpler computation and fewer transponders needed. In stead of the complexnonlinear equations, the presented method only needs to deal with the familiar circular equations, whichare simpler than the original ones. Both the computer simulations and marine experiments show that the method presented not only is simple enough, but also meets with the attractive precission.