水下集群多目标实时定位方法研究  

Research on real time multi target localization method for underwater vehicles

作　　者：王浩 黄煜 刘文帅 卢峰 富琦晋 李利 WANG Hao;HUANG Yu;LIU Wenshuai;LU Feng;FU Qijin;LI Li(Dalian Test and Control Institute,Dalian 116000,China)

机构地区：[1]大连测控技术研究所,辽宁大连116000

出　　处：《舰船科学技术》2024年第23期122-126,共5页Ship Science and Technology

摘　　要：为解决水下集群多目标定位问题,提出一种基于多频率信标时延估计的多元阵定位方法,文中首先对多目标定位系统进行总体设计,随后开展了基于4元阵的定位原理研究,并且进行了系统的误差分析、目标测速方法研究;开展了基于Notch数字滤波器的多目标水声信号处理方法,该方法在FPGA嵌入式系统上运行,适合多通道的并行处理。最后通过水布垭湖上试验验证了系统的功能、性能指标。试验数据表明该系统可在4 km范围内对水下多目标进行实时定位跟踪。In order to solve the problem of multi-target positioning in underwater vehicles, A multi array positioning method based on multi frequency beacon time delay estimation was proposed. The overall design of the multi-target positioning system was first introduced in the article, followed by the research on the positioning principle based on a 4-element array, and the systematic error analysis and target velocity measurement method research are carried out;This paper introduces a multi-target underwater acoustic signal processing method based on Notch digital filters, which runs on FPGA embedded systems and was suitable for multi-channel parallel processing. Finally, the functionality and performance indicators of the system were verified through experiments on Shuibuya Lake. The experimental data shows that the system can perform real-time positioning and tracking of multiple underwater targets within a certain water area.

关 键 词：多目标 数字陷波滤波器 并行处理 实时定位跟踪 

分 类 号：TB565[交通运输工程—水声工程]