基于随机分布式声阵的装甲目标协同定位方法研究  

Cooperative localization method for armored targets based on random distributed acoustic arrays

作　　者：唐坤 丁锦鸿 丁凯 郭唐仪[1] 邵飞 Tang Kun;Ding Jinhong;Ding Kai;Guo Tangyi;Shao Fei(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China;Science and Technology on Near-Surface Detection Laboratory,Wuxi 214035,China;College of Field Engineering,Army Engineering University of PLA,Nanjing 210023,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094 [2]近地面探测技术重点实验室,江苏无锡214035 [3]陆军工程大学野战工程学院,江苏南京210023

出　　处：《南京理工大学学报》2024年第5期607-614,共8页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(52002184);中国博士后科学基金(2021M693935);近地面探测技术重点实验室基金(6142414211404);江苏省高层次创新创业人才引进计划(JSSCBS20210223);中央高校基本科研业务费专项资金(30923011003)。

摘　　要：对目标的精确定位是地面值守武器系统的重要任务。针对单个声传感阵列对目标准确定位难、作用距离有限的问题,提出一种基于随机分布式声阵的装甲目标协同定位方法。该方法是一种无源的被动探测方法,通过无线组网技术将随机散布的声传感节点组成探测网络,测量目标的方位角和信号的到达时间差(TDOA),使用扩展卡尔曼滤波算法实现声目标定位,分析单节点定位误差、自组网误差和节点规模对定位精度的影响。仿真结果表明,方位角误差和TDOA误差对协同定位精度影响较大。在同等条件下,协同定位误差比单节点定位误差平均减少了10 m,协同定位精度明显提升,验证了算法的有效性。Accurate localization of targets is an important task of ground on-duty weapon systems.Aiming at the problem that it is difficult to accurately locate targets and the range of action is limited for a single acoustic sensor array,a method based on a random distributed acoustic array for cooperative localization of armored targets is proposed.This method is a passive detection method.Through wireless networking technology,randomly scattered acoustic sensor nodes are formed into a detection network to measure the azimuth of the target and the time difference of arrival(TDOA)of the signal.Extended Kalman filter algorithm is used to locate the acoustic target.The influence of single node positioning error,self-organizing network error and node scale on positioning accuracy is analyzed.The simulation results show that the azimuth error and TDOA error have great influence on the precision of cooperative localization.Under the same conditions,the cooperative localization error is reduced by an average of 10 meters compared with the single node positioning error,and the cooperative localization accuracy is significantly improved,which verifies the effectiveness of the algorithm.

关 键 词：声探测 装甲目标 卡尔曼滤波 分布式节点 协同定位 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]