传感器浮动状态下的TDOA/FDOA无源水声定位方法  

Acoustic localization method in floating state of sensors

作　　者：王杰[1] 张亚[1] 李世中[1] 李浪 刘洋[1] WANG Jie;ZHANG Ya;LI Shizhong;LI Lang;LIU Yang(College of Mechatronic Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机电工程学院,太原030051

出　　处：《兵器装备工程学报》2025年第2期188-195,243,共9页Journal of Ordnance Equipment Engineering

基　　金：武器装备预先研究项目(90903010102);山西省研究生创新项目(2023SJ187)。

摘　　要：针对在无源水声定位的研究中存在的传感器在水下的位置浮动导致的定位不精确的问题,基于两步加权最小二乘法,提出了一种联合到达时间差和到达频率差的无源水声目标定位改进方法。该方法首先通过泰勒级数展开的最小加权二乘法对目标的位置和速度进行初步估计,然后在第一步的基础上构建了新的定位误差方程,调整估计值,获得最优的运动目标参数估计。通过理论分析证明了传感器浮动状态下,该方法在小噪声时可以达到对应的克拉美罗下界,仿真结果表明,该方法具备更好的鲁棒性,优于已有方法,能够更好地实现对水下运动目标的位置和速度估计。In response to the problem of inaccurate positioning caused by the floating position of sensors underwater in passive underwater acoustic positioning research,this paper proposes an improved method for passive underwater acoustic target positioning based on two-step weighted least squares method,which combines Time Difference of Arrival(TDOA)and Frequency Difference of Arrival(FDOA).This method first estimates the position and velocity of the target through the minimum weighted multiplication of Taylor series expansion,and then constructs a new positioning error equation,adjusts the estimated values,and obtains the optimal motion target parameter estimation.Through theoretical analysis,it has been proven that under the floating state of the sensor,this method can achieve the corresponding Cramer Rao Lower Bound(CRLB)under low noise.Simulation results show that this method has better robustness and outperforms existing methods,and can better estimate the position and velocity of underwater moving targets.

关 键 词：无源水声定位 TDOA/FDOA 泰勒级数展开 传感器浮动 CRLB 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]