基于四元阵的超短基线便携式定位设备定向算法

Ultra Short Baseline Direction-Finding Algorithm Based on Quaternion Stereo Array for Portable Positioning Equipment

针对日益增长的潜水员水下协同作业应用需求,在传统超短基线定位技术基础上,设计适用于潜水员水下作业的、基于微型超短基线正四面体接收基阵的水下定位测向技术方案。针对其测向能力,特别是由于多径等复杂水声信道特性、接收基阵不同阵元之间存在的常规手段难以校准的相位差以及潜水员水下作业姿态变化不平稳等对水下作业便携应用带来影响的因素展开仿真分析。仿真结果表明,该定位测向技术方案具备实际可行性,可满足潜水员水下协同作业时获取相互位置信息的应用需求。

In view of the increasing application demand of underwater collaborative operation of divers, based on the traditional ultrashort baseline positioning technology, an underwater positioning and direction-finding technology scheme on the micro ultrashort baseline tetrahedral receiving array is designed for underwater operation of divers. In view of its directionfinding ability, the simulation analysis is conducted on the factors that affect the direction-finding accuracy caused by the complex underwater acoustic channel characteristics, especially multipath, the phase difference between different elements of the receiving array that is difficult to calibrate by conventional means, and the unsteadiness change of the divers’ underwater operation posture. The simulation results show that the positioning and direction-finding technology scheme is feasible and can meet the application needs of divers to obtain mutual position information during underwater collaborative operations.