单基阵三维纯方位水下信标声学定位方法

3D bearing-only acoustic positioning method for underwater beacon

针对水下静止信标的纯方位定位问题,提出一种基于单基阵平台纯方位信息的定位方法。通过水下无人运动平台两次量测的空间角度信息建立非线性方程,利用拟牛顿迭代方法实现稳定数值求解。同时,对量测信息进行预处理和定位后置处理,以进一步提高算法的稳定性和精度。利用计算机模拟水下声传播环境进行定位仿真,结果表明,基于常规波束形成的方位估计结果,在方位量测误差标准差为1°时,所提方法的定位结果相对误差可达3.5%以内。同时,研究了不同方位量测误差条件下、不同海深测量误差条件、观测平台和目标不同态势下定位算法的定位性能。结果表明,此方法可用于对水下静止信标的声学定位,且鲁棒性好。

To solve the pure-angle localization problem of an underwater stationary beacon,a positioning method based on the pure azimuth information of a single array moving platform is proposed.Firstly,a group of two non-linear equations are established through the space angle information measured by the underwater unmanned observation platform at two widely separated locations;and then,the quasi-Newton iteration algorithm is used to calculate the stable numerical solutions of the non-linear equations.At the same time,the measurements are pre-and post-processed to improve the stability and accuracy of the positioning result.The proposed method is tested via the numerical simulations,where the shallow water multi-path environment is assumed and the conventional beamforming is taken for the angle estimation.Furthermore,the non-idea conditions,including the azimuth measuring errors,the sea depth measuring errors,and the changing relative locations between the platform and the beacon,are considered.The numerical simulations that when the standard deviation of the azimuth measurement error is 1 degree,the positioning error of the proposed method is about 3.5%.These results show that the proposed method is precise and robust,and has a potential to be applied to the acoustic positioning of the underwater stationary beacon.