基于小型圆阵的AUV方向定位算法

AUV Directional Positioning Algorithm Based on Small Circular Array

针对传统的具有较高定位精度的水下航行器(AUV)定位装置不方便装载和布置、定位效率不高的问题,提出一种基于小型圆阵的AUV方向定位算法。被定位的AUV搭载声源,装载在船上的定位系统采用半径为0.125m的水听器圆阵列,阵元个数为4,通过多通道前端处理电路采集水听器阵列接收的信号,采用希尔伯特变换相位检测方法检测出各阵元接收到的信号的相位恢复无幅度和相位失真的信号,采用具有超指向性的反卷积波束形成算法实现对AUV方向的准确估计。水池试验结果表明:小型圆阵系统的相位反卷积波束形成定位算法的精度较高,定位平均误差为0.233°;主瓣宽度较窄,波束平均宽度为3.97°;便于装载,相比MUSIC算法能得到更好的定位效果。

For conventional AUV with higher positioning accuracy, aiming at the problems that the positioning device is inconvenient to be mounted and arranged and the efficiency is not high, the paper proposes a kind of AUV directional positioning algorithm based on small circular array. The positioned AUV is equipped with sound source. The positioning system deployed in the ship adopts a hydrophone circular array with a radius of 0.125 m and the number of array elements is 4. The signal received by the hydrophone array is processed by multi-channel front-end circuit. After that the signals received by each array element are detected their phase by hilbert transform and the signals are restored without phase and amplitude distortion. Then the deconvolution beam forming algorithm with super directivity achieves an accurate estimation of the ship’s direction. The pool experiment shows that the phase deconvolution beamforming positioning algorithm for small circular array systems has high positioning accuracy. The average positioning error is 0.233°, the main lobe width is narrow, with the beam width of 3.97°. It is easy to deploy and has better positioning effect than MUSIC algorithm.