基于Chan算法的水下測(cè)控設(shè)備組網(wǎng)數(shù)據(jù)融合技術(shù)研究

梁國(guó)龍; 趙天白; 鄒男; 張博軒

doi:10.11999/JEIT170727

基于Chan算法的水下測(cè)控設(shè)備組網(wǎng)數(shù)據(jù)融合技術(shù)研究

doi: 10.11999/JEIT170727

1.
(哈爾濱工程大學(xué)水聲技術(shù)重點(diǎn)實(shí)驗(yàn)室哈爾濱 150001)
2.
(中國(guó)電子科技集團(tuán)公司第54研究所石家莊 050081)

基金項(xiàng)目:

國(guó)家自然科學(xué)基金(11504064)，技術(shù)基礎(chǔ)科研項(xiàng)目(JSJL2016604B003)，青島海洋科學(xué)與技術(shù)國(guó)家實(shí)驗(yàn)室開(kāi)放基金(QNLM2016ORP0102)

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出版歷程
- 收稿日期: 2017-07-19
- 修回日期: 2017-12-27
- 刊出日期: 2018-05-19

An Underwater Measurement and Control Network Centralized Data Fusion Localization Algorithm Based on Chan-algorithm

1.
(Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China)
2.
(The 54th Research Institute of CETC, Shijiazhuang 050081, China)
3.
(Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China)

Funds:

The National Natural Science Foundation of China (11504064), The Technical Basic Research Projects (JSJL 2016604B003), The Qingdao Marine Science and Technology National Laboratory Open Foundation (QNLM2016ORP0102)

摘要

摘要: 依據(jù)水下測(cè)控設(shè)備組網(wǎng)系統(tǒng)的工作特點(diǎn)，為了有效挖掘現(xiàn)有測(cè)控設(shè)備的使用效能，構(gòu)建高精度的綜合性水下測(cè)控網(wǎng)絡(luò)，該文提出基于Chan算法的水下測(cè)控設(shè)備組網(wǎng)集中式數(shù)據(jù)融合定位算法。該算法首先利用基于波達(dá)時(shí)間的加權(quán)最小二乘算法粗測(cè)目標(biāo)位置，然后依據(jù)該目標(biāo)位置和測(cè)量時(shí)延信息的關(guān)系，構(gòu)造新的誤差矢量，利用該誤差矢量再次加權(quán)最小二乘估計(jì)解算目標(biāo)位置。研究結(jié)果表明，該算法可實(shí)現(xiàn)多套水下測(cè)控設(shè)備的數(shù)據(jù)融合，可有效提高全域范圍的定位精度，且精度高于純基于波達(dá)時(shí)間的融合定位算法。
- 水下定位 /
- Chan算法 /
- 數(shù)據(jù)融合 /
- 定位精度
Abstract: In order to exploit the development potential of current measurement and control equipment and to build an omnibus underwater measurement and control network with higher precision, according to the working characteristics of the system itself, an underwater measurement and control network centralized data fusion localization algorithm based on Chan-algorithm method is proposed. It is an algorithm that coarsely calculates the target position according to the time of arrival by using the Weighted Least Squares (WLS) estimation method at first; secondly, it constructs new error vectors on the basis of the relationship between the position and the time delay information; last, the target position is resolved from the vectors by using WLS method again. The result of research demonstrates that the algorithm realizes the data fusion of multiple sets of underwater measurement and control equipment, which could improve the precision of localization globally. And the precision of the proposed method is much better than the data fusion localization algorithm purely based on the time of arrival.
- Underwater localization /
- Chan-algorithm /
- Data fusion /
- Localization precision

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