声速不确定条件下的运动水下航行器自定位  

Moving underwater vehicle localization with uncertain sound speed

作　　者：贾天一 高婧洁 申晓红[2] 刘宏伟[1] JIA Tianyi;GAO Jingjie;SHEN Xiaohong;LIU Hongwei(National Lab of Radar Signal Processing,Xidian University,Xi’an 710071,China;School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China;School of Information Engineering,Chang’an University,Xi’an 710064,China)

机构地区：[1]西安电子科技大学雷达信号处理国家重点实验室,陕西西安710071 [2]西北工业大学航海学院,陕西西安710072 [3]长安大学信息工程学院,陕西西安710064

出　　处：《系统工程与电子技术》2022年第9期2699-2706,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(62192714,62031021,61901057);雷达信号处理国家级重点实验室支持计划(JKW202107)资助课题。

摘　　要：传统利用水下声学定位系统的航行器自定位存在两方面问题,一方面没有考虑测量周期内航行器的运动,另一方面没有考虑水声声速的不确定。为解决上述问题,构建了航行器运动状态下的时间测量定位模型,并对声速不确定性进行建模。分别推导了基于加权最小二乘的运动航行器定位方法和基于最大似然估计的声速更新方法。利用所提模型和时间测量,不仅可以估计航行器位置,还可以更新声速。仿真结果验证了本文所提方法在各种参数设置下均优于现有方法,并且在时间测量噪声不大时可以达到克拉美罗下界(Cramer-Rao lower bound, CRLB),在时间误差不大时,声速更新结果显著提高。The traditional localization of vehicle using an underwater acoustic positioning system has two problems.One is the motion of the vehicle during observation period is ignored,and the other is that the uncertainty of underwater sound speed is not taken into account.A time measurement model for localization is constructed for the vehicle in motion,and the uncertainty of sound velocity is modeled to solve the above problems.A localization method for the moving vehicle is derived based on weighted least squares estimator,and a sound speed update method based on maximum likelihood estimator is proposed as well.Apart from estimating the vehicle position,the proposed model and the time mesurement are able to update the sound speed.The simulation results verify that the proposed methods outperform the existing methods for various parameter settings and achieve Cramer-Rao lower bound(CRLB)when the time measurement noise is not large.Moreover,the performance of the sound speed update is significantly improved when the time error is not large.

关 键 词：水下航行器自定位 水声定位 声速估计 最大似然估计 加权最小二乘 

分 类 号：TN911.7[电子电信—通信与信息系统]