系數(shù)矩陣正定的單信標(biāo)測(cè)距定位算法

曹俊; 鄭翠娥; 孫大軍; 張殿倫

doi:10.11999/JEIT160604

系數(shù)矩陣正定的單信標(biāo)測(cè)距定位算法

doi: 10.11999/JEIT160604 cstr: 32379.14.JEIT160604

基金項(xiàng)目:

國(guó)家自然科學(xué)基金(61531012)，國(guó)防基礎(chǔ)科學(xué)研究計(jì)劃(B2420133002)

計(jì)量
- 文章訪問數(shù): 1812
- HTML全文瀏覽量: 160
- PDF下載量: 398
- 被引次數(shù): 0
出版歷程
- 收稿日期: 2016-06-06
- 修回日期: 2016-11-07
- 刊出日期: 2017-04-19

A Single Beacon Location Algorithm with Positive Definite Coefficient Matrix

Funds:

The National Natural Science Foundation of China (61531012), The National Defense Basic Scientific Research program of China (B2420133002)

摘要

摘要: 基于單信標(biāo)測(cè)距的定位方法是水聲定位技術(shù)的進(jìn)一步發(fā)展，該文對(duì)直線航跡下的單信標(biāo)測(cè)距定位進(jìn)行研究。一方面，對(duì)于直線航跡，常規(guī)的直接降階求解的算法已不適用。另一方面，水下載體的直線航跡或者直線航跡的延長(zhǎng)線經(jīng)過信標(biāo)時(shí)，線性化迭代求解的算法不能夠?qū)d體進(jìn)行定位。系數(shù)矩陣幾乎奇異或者壞條件時(shí)，方程的解算結(jié)果誤差會(huì)明顯增大。該文針對(duì)前述解算方法存在的問題，提出一種改進(jìn)的單信標(biāo)測(cè)距定位解算方法，適當(dāng)增加對(duì)角元使得系數(shù)矩陣正定，克服系數(shù)矩陣奇異或者壞條件時(shí)所帶來的影響。仿真結(jié)果表明：該文算法大部分的情況下定位精度和高斯牛頓法一樣；水下載體的直線航跡或者直線航跡的延長(zhǎng)線經(jīng)過信標(biāo)時(shí)，該文算法同樣能夠?qū)崿F(xiàn)定位解算；在線性化迭代的低精度區(qū)，該文算法能非常明顯地提高定位精度。通過海上試驗(yàn)，進(jìn)一步驗(yàn)證了該文算法的有效性。
- 單信標(biāo)測(cè)距 /
- 直線航跡 /
- 虛擬信標(biāo) /
- 對(duì)角元
Abstract: The positioning method based on single beacon ranging is the further development of the underwater acoustic positioning technology. In this paper, the location of single beacon ranging based on the straight path is studied. On one hand, the conventional direct reduction method is not applicable to the straight path. On the other hand, when the beacon is in the straight line or the extension of the straight line, the linear iterative algorithm can not locate the carrier. When the coefficient matrix is almost singular or bad condition, the error of the solution will obviously increase. In this paper, an improved algorithm is proposed to solve the problems existing in the solving method, which can overcome the influence of singular or bad condition of coefficient matrix. Simulation results show that the localization accuracy of the proposed algorithm is similar to that of the Gauss Newton method in most cases. This algorithm can also realize the positioning calculation when the beacon is in the straight line or the extension of the straight line. This algorithm can obviously improve the positioning accuracy where the positioning accuracy is not high when using the linear iterative algorithm. The effectiveness of the proposed algorithm is verified by experiments on the sea.
- Single beacon ranging /
- Straight line track /
- Virtual beacon /
- Diagonal element

HTML全文

參考文獻(xiàn)(32)

VALLICROSA G, RIDAO P, and RIBAS D. AUV single beacon range-only SLAM with a SOG filter[C]. IFAC Symposium on Information Control in Manufacturing, Sozopol, Bulgaria, 2015: 26-31.

GAURAV C, ARPITA S, TWINKLE T, et al. Conditions for target tracking with range-only information[J]. Robotics and Autonomous Systems, 2016, 75: 176-186.

郭雅靜, 李春雨, 張東升, 等. 基于航位推算/水聲定位系統(tǒng)的水下拖體組合導(dǎo)航方法[J]. 海洋地質(zhì)前沿, 2015, 31(6): 63-67. doi: 10.16028/j.1009-2722.2015.06010.

GUO Yajing, LI Chunyu, ZHANG Dongsheng, et al. The integrated navigation method by underwater towing body based on dead reckoning/hydroacoustic positioning system[J]. Marine Geology Frontiers, 2015, 31(6): 63-67. doi: 10.16028/j.1009-2722.2015.06010.

孫大軍, 鄭翠娥. 水聲導(dǎo)航、定位技術(shù)發(fā)展趨勢(shì)探討[J]. 海洋技術(shù)學(xué)報(bào), 2015, 34(3): 64-65.

SUN Dajun and ZHENG Cuie. Discussion on development trend of underwater acoustic navigation and positioning technology[J]. Journal of Ocean Technology, 2015, 34(3): 64-65.

ALEXANDER P S. The AUV positioning using ranges from one transponder LBL [C]. Proceedings of the 1995 MTS/IEEE Oceans Conference, San Diego, CA, USA, 1995: 1620-1623.

VAGANAY J, BACCOU P, and JOUVENCEL B. Homing by acoustic ranging to a single beacon [C]. Proceedings of the 2000 MTS/IEEE Oceans Conference, Providence, RI, USA, 2000: 1457-1462.

LARSEN M B. Synthetic long baseline navigation of underwater vehicles [C]. Proceedings of the 2000 MTS/IEEE Oceans Conference, Providence, RI, USA, 2000: 2043-2050.

CARE E. Virtual long baseline (VLBL) autonomous underwater vehicle navigation using a single transponder [D]. [Master dissertation], Massachusetts Institute of Technology, 2006: 29-38.

劉明雍, 李聞白, 劉富檣, 等. 基于單信標(biāo)測(cè)距的水下導(dǎo)航系統(tǒng)可觀測(cè)性分析[J]. 西北工業(yè)大學(xué)學(xué)報(bào), 2011, 29(1): 87-92. doi: 10.3969/j.issn.1000-2758.2011.01.016.

LIU Mingyong, LI Wenbai, LIU Fuqiang , et al. Observability analysis of underwater navigation system based on single beacon ranging[J]. Journal of Northwestern Polytechnical University, 2011, 29(1): 87-92. doi: 10.3969/j.issn.1000-2758. 2011.01.016.

嚴(yán)衛(wèi)生, 房新鵬, 崔榮鑫. 單信標(biāo)測(cè)距AUV水下定位系統(tǒng)觀測(cè)性分析[J]. 中南大學(xué)學(xué)報(bào)(自然科學(xué)版), 2012, 43(8): 3085-3090.

YAN Weisheng, FANG Xinpeng , and CUI Rongxin. Observability analysis of single-beacon underwater localization of autonomous underwater vehicle[J]. Journal of Central South University (Science and Technology), 2012, 43(8): 3085-3090.

王久光. 基于UTP的UUV遠(yuǎn)程航海水下位置校準(zhǔn)及控制方法研究[D]. [碩士論文]. 哈爾濱工程大學(xué), 2012: 38-52.

WANG Jiuguang. Underwater position calibration and control for UUV long-distance navigation based on UTP [D]. [Master dissertation]. Harbin Engineering University, 2012: 38-52.

嚴(yán)浙平, 鄧超, 李本銀, 等. UTP/DR組合導(dǎo)航算法研究[J]. 計(jì)算機(jī)工程與應(yīng)用, 2014, 50(19): 7-10. doi: 10.3778/j.issn. 1002-8331.13120345.

YAN Zheping, DENG Chao, LI Benyin, et al. Research on UTP/DR integrated navigation system [J]. Computer Engineering and Application, 2014, 50(19): 7-10. doi: 10.3778 /j.issn.1002-8331.13120345.

BJERM J, KENNETH G, and OVE K. A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system[C]. Proceedings of the 2003 MTS/IEEE Oceans Conference, San Diego, CA, USA, 2003: 1146-1153.

HEGRENAS O, GADE K, and HAGEN O K. Underwater transponder positioning and navigation of autonomous underwater vehicles[C]. MTS/IEEE Biloxi-Marine Technology for Our Future: Global and Local Challenges, OCEANS 2009, Biloxi, MS, USA, 2009: 1-7.

劉山洪, 鄧彩群. 坐標(biāo)轉(zhuǎn)換與坐標(biāo)變換研究[J]. 吉林建筑大學(xué)學(xué)報(bào), 2016, 33(1): 43-47.

LIU Shanhong and DENG Caiqun. Transformation of coordinate system[J]. Journal of Jilin Jianzhu University, 2016, 33(1): 43-47.

潘國(guó)榮, 汪大超, 周躍寅. 兩種大轉(zhuǎn)角空間坐標(biāo)轉(zhuǎn)換模型研究[J]. 山東科技大學(xué)學(xué)報(bào), 2015, 34(1): 61-67. doi: 10.16452/ j.cnki.sdkjzk.20150317.010.

PAN Guorong, WANG Dachao, and ZHOU Yueyin. Two spatial coordinate transformation model of large angle[J]. Journal of Shandong University of Science and Technology, 2015, 34(1): 61-67. doi: 10.16452/j.cnki.sdkjzk.20150317.010.

王彪, 支志福, 戴躍偉. 移動(dòng)水聲通信多徑傳輸非一致多普勒估計(jì)方法研究[J]. 電子與信息學(xué)報(bào), 2015, 37(3): 733-738. doi: 10.11999/JEIT140665.

WANG Biao, ZHI Zhifu, and DAI Yuewei. Study on non-uniform doppler estimation for underwater acoustic mobile communication with multilath tansmission[J]. Journal of Electronics Information Technology, 2015, 37(3): 733-738. doi: 10.11999/JEIT140665.

袁兆凱, 隋天宇, 李宇, 等. 水聲擴(kuò)頻通信中多普勒估計(jì)與補(bǔ)償算法研究[J]. 電子與信息學(xué)報(bào), 2012, 34(1): 51-56. doi: 10.3724/SP.J.1146.2011.00528

YUAN Zhaokai, SUI Tianyu, LI Yu, et al. The estimation and compensation of Doppler effect on underwater acoustic spread spectrum communication[J]. Journal of Electronics Information Technology, 2012, 34(1): 51-56. doi: 10.3724/SP. J.1146.2011.00528.

嚴(yán)浙平, 陳燁, 朱慧龍, 等. UUV導(dǎo)航測(cè)速信息的灰色自適應(yīng)濾波方法研究[J].傳感技術(shù)學(xué)報(bào), 2016, 29(2): 237-241. doi: 10.3969/j.issn.1004-1699.2016.02.015.

YAN Zheping, CHEN Ye, ZHU Huilong, et al. Research on grey adaptive filtering method of velocity information for UUV navigation[J]. Chinese Journal of Sensors and Actuators, 2016, 29(2): 237-241. doi: 10.3969/j.issn.1004- 1699.2016.02.015.

鄭為, 鄒啟明, 倪文璽. 水下無人潛航器避障與導(dǎo)航仿真系統(tǒng)設(shè)計(jì)與應(yīng)用[J]. 系統(tǒng)仿真學(xué)報(bào), 2016, 28(1): 91-98. doi: 10.16182/j.cnki.joss.2016.01.013.

ZHENG Wei, ZOU Qiming, and NI Wenxi. Design and application of underwater unmanned vehicle simulation system for navigation and obstacle avoidance[J]. Journal of System Simulation, 2016, 28(1): 91-98. doi: 10.16182/j.cnki. joss.2016.01.013.

相關(guān)文章

施引文獻(xiàn)

資源附件(0)

訪問統(tǒng)計(jì)