声纳阵列网络基于移动信标到达角的渐进最优节点自定位算法

Asymptotically Optimum Bearing-Only Self-Localization for Sonar Array Network Nodes Based on Moving Beacon

针对水下声纳阵列网络节点自定位问题,提出一种基于移动信标到达角的三维总体最小二乘(TLS)节点自定位算法。首先给出了基于方位角和俯仰角的变量含误差模型,并根据该模型提出三维TLS算法,证明三维TLS算法随信标广播次数增加是渐进最优估计,仿真结果验证所提出算法的均方根误差渐进达到CRLB。

This paper presents a 3D total least-squares （TLS）algorithm to solve the self-localization problem using azimuth/elevation angles with regarding to a moving beacon in a sonar array network. First we linearize the azimuth and elevation measurement equations and show that the new model fits a class of error in variables （EIV） models. Then the 3D TLS algorithm is proposed based on the EIV model and it is proved to be asymptotically optimal. The simulations show that the mean squared error of the proposed estimator achieves the CRLB asymptotically.