基于多节点到达时间差的相对位姿测量系统

Relative position and attitude measurement system based on multiple TDOA

在AUV对接逼近阶段,光学成像敏感器位姿测量性能受水下杂散光干扰和姿态角增加而降低。针对这个问题,提出一种新的基于多节点信号到达时间差的相对位姿测量方法。对接平台配置多个声发射换能器,同步发射具有多址能力的声信号;AUV配置多接收换能器,利用测量的到达时间差结合换能器节点的几何位置关系,通过线性迭代直接解算AUV与对接平台之间的相对位姿,保证定位精度,节省运算开销。仿真结果表明,所提出测量算法精度高,能够满足水下对接逼近阶段的相对位姿测量需求。

In approaching phase of AUV underwater docking, the measurement performance of relative position and attitude, which is obtained by optical image sensor, decreases with the increase of miscellaneous light interference and atti- tude angle. To solve this problem, a novel system is proposed, which is based on TDOA （time differences of arrival） meas- urement of multi-node. Multiple transmitting transducers are deployed on the docking, which will transmit acoustic sig- nals with multiple access ability synchronously. AUV is configured with multiple receiving transducers which measures the TDOAs of the acoustic signals. The relative position and attitude is achieved based on the TDOAs and geometrical distribution of the transducers, through linear iteration, to guarantee the precision and decrease the calculation burden. The simulation indicates that the proposed method has higher accuracy, and can satisfy the requirement of the position and attitude in approaching phase of underwater docking.