摘要
针对由于水下声速变化及障碍物干扰引起的定位误差较大的问题,本文提出了一种抛物模型定位算法.首先基于到达角度提出了适用于弯曲声线的抛物模型测距法.然后基于到达时间提出了非理想路径测距识别方法和理想路径测距修正方法.最后利用投影法结合最小二乘法完成定位.仿真实验表明,该算法在弯曲声线、路径识别、测距优化三个方面均能有效地降低误差.
Aiming at the problem that the large error of underwater localization is caused by variable sound velocity and obstacles,a parabolic model ranging localization was proposed in this paper.Firstly,based on AoA(Angle of Arrival),a ranging method with parabolic models that is suitable for the curved sound ray was proposed.Then,based on ToA(Time of Arrival),the ranging recognition method of the non-ideal path and the ranging correction method of the ideal path were proposed respectively.Finally,the projection method and the least square method were used to complete the localization.The simulation results show that the algorithm can effectively reduce the localization error in three aspects,curved sound ray,path recognition,and ranging correction.
作者
陈嘉兴
程杰
董云玲
刘志华
CHEN Jia-xing;CHENG Jie;DONG Yun-ling;LIU Zhi-hua(College of Computer and Cyber Security,Hebei Normal University,Shijiazhuang,Hebei 050024,China;Key Laboratory of Network&Information Security,Hebei Normal University,Shijiazhuang,Hebei 050024,China;Hebei Provincial Engineering Research Center for Supply Chain Big Data Analytics&Data Security,Hebei Normal University,Shijia-zhuang,Hebei 050024,China;Zhengding Advanced Normal College of Hebei,Shijiazhuang,Hebei 050800,China)
出处
《电子学报》
EI
CAS
CSCD
北大核心
2022年第7期1567-1572,共6页
Acta Electronica Sinica
基金
国家自然科学基金(No.61771181,No.62171179,No.62071167)。
关键词
水下无线传感器网络
定位算法
距离修正
弯曲声线
路径识别
underwater wireless sensor networks
localization algorithm
ranging correction
curved sound ray
path recognition
