Research on Location Characteristics and Algorithms based on Frequency Domain for a 2D Underwater Active Electrolocation Positioning System  

作　　者：Jiegang Peng Yue Zhu Tao Yong 

机构地区：[1]School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu 611731, China

出　　处：《Journal of Bionic Engineering》2017年第4期759-769,共11页仿生工程学报（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China （Grant No. 61573083）.

摘　　要：Weakly electric fish has an ability to generate a low-frequency electric field actively to locate the surrounding object in complete darkness by sensing the change of the electric field. This ability is called active electrolocation. In this paper, we designed a two-dimensional （2D） experimental platform of underwater active electrolocation system by simulating weakly electric fish. On the platform, location characteristics based on frequency domain were investigated. Results indicated that surface shape of 3D location characteristic curves for the 2D underwater active electrolocation positioning system was convex upwards or concave down which was influenced by the material of probed objects and the frequency of the electric field exci- tation signal. Experiments also confirmed that the amplitude of the electric field excitation signal and the size of the probed object will only influence the amplitude corresponding to 3D location characteristic curves. Based on above location charac- teristics, we present three location algorithms including Cross Location Algorithm （CLA）, Stochastic Location Algorithm （SLA） and Particle Swarm Optimization （PSO） location algorithm in frequency domain and achieved the task of the underwater positioning system. Our work may have reference value for underwater detection study.Weakly electric fish has an ability to generate a low-frequency electric field actively to locate the surrounding object in complete darkness by sensing the change of the electric field. This ability is called active electrolocation. In this paper, we designed a two-dimensional （2D） experimental platform of underwater active electrolocation system by simulating weakly electric fish. On the platform, location characteristics based on frequency domain were investigated. Results indicated that surface shape of 3D location characteristic curves for the 2D underwater active electrolocation positioning system was convex upwards or concave down which was influenced by the material of probed objects and the frequency of the electric field exci- tation signal. Experiments also confirmed that the amplitude of the electric field excitation signal and the size of the probed object will only influence the amplitude corresponding to 3D location characteristic curves. Based on above location charac- teristics, we present three location algorithms including Cross Location Algorithm （CLA）, Stochastic Location Algorithm （SLA） and Particle Swarm Optimization （PSO） location algorithm in frequency domain and achieved the task of the underwater positioning system. Our work may have reference value for underwater detection study.

关 键 词：underwater active electrolocation location characteristics location algorithms frequency domain BIONICS 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TB565.2[自动化与计算机技术—计算机科学与技术]