基于概率图模型的单信标定位算法研究  

Research on single beacon localization algorithm based on probability graph model

作　　者：孙大军 欧阳雨洁 张居成 韩云峰[1,2] 张爱国 崔金花 SUN Dajun;OUYANG Yujie;ZHANG Jucheng;HAN Yunfeng;ZHANG Aiguo;CUI Jinhua(Harbin Engineering University,Harbin 150000,Heilongjiang,China;Harbin Engineering University Qingdao Ship Technology Co.,Ltd.,Qingdao 266000,Shandong,China)

机构地区：[1]哈尔滨工程大学,黑龙江哈尔滨150000 [2]哈尔滨工程大学青岛船舶科技有限公司,山东青岛266000

出　　处：《声学技术》2023年第1期12-18,共7页Technical Acoustics

基　　金：青岛市创业创新领军人才计划资助项目。

摘　　要：随着人类对海洋认识的逐步深入,水下目标的位置信息成为了一种不可或缺的水下信息源,传统的水下定位方法已经不能满足不同场景的应用需求。无论是在测量信息多元化时的多元信息融合定位,还是测量信息不足时的时域信息联合定位时均存在局限性。为此文章提出了基于概率图模型的单信标定位算法,在信标稀疏或者信标通信信息缺失的情况下,通过联合目标时域上其他位置时刻的所有量测信息,从而实现目标定位。此外文章还分析了模型分辨率和测距误差对定位结果的影响,并通过湖试验证概率图方法的有效性,证明其能够在传统定位方法无法使用的单信标的定位跟踪过程中,估计出每一时刻目标的位置,描述目标的运动轨迹。平均定位精度达到1.203 5 m。With the gradual deepening of human understanding of the ocean, location information of underwater targets is an indispensable source of underwater information, and traditional underwater localization methods can no longer meet the application requirements of different scenarios. There are limitations in the fusion localization of diversified multiple information or in the joint localization of insufficient time-domain information. In this regard, a single beacon localization algorithm based on a probability graph model is proposed. In the cases where beacons are sparse or beacon communication information is missing, the localization can be achieved by combining all the measured information at other location moments. In addition, the impacts of model resolution and ranging error on localization results are analyzed, and the effectiveness of the probability graph method is verified through lake trials.It is proved that the proposed method can estimate the position of the target at each moment and describe the trajectory of the target in the single beacon localization and tracking process, which is impossible to do so for traditional localization methods. And the average location accuracy reaches 1.203 5 m.

关 键 词：概率图模型 和积算法 单信标定位 信息融合 

分 类 号：TB568[交通运输工程—水声工程]