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)
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)
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)
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: 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。
-
關(guān)鍵詞:
- 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.-
Key words:
- Underwater localization /
- Chan-algorithm /
- Data fusion /
- Localization precision
-
HE You, WANG Guohong, and GUAN Xin. Information Fusion Theory and Application[M]. BeiJing: Electronic Industry Press, 2010: 20-55. 何友, 王國(guó)宏, 關(guān)欣. 信息融合理論及應(yīng)用[M]. 北京: 電子工業(yè)出版社, 2010: 20-55. 黃漫國(guó), 樊尚春, 鄭德智, 等. 多傳感器數(shù)據(jù)融合技術(shù)研究進(jìn)展[J]. 傳感器與微系統(tǒng), 2010, 29(3): 5-8. HUANG Manguo, FAN Shangchun, ZHENG Dezhi, et al. Research progress of multi-sensor data fusion technology[J]. Transducer and Microsystem Technologies, 2010, 29(3): 5-8. 孟小峰, 杜治娟. 大數(shù)據(jù)融合研究: 問(wèn)題與挑戰(zhàn)[J]. 計(jì)算機(jī)研究與發(fā)展, 2016, 53(2): 231-246. doi: 10.7544/issn1000-1239. 2016.20150874. MENG Xiaofeng and DU Zhijuan. Research on the big data fusion: Issues and challenges[J]. Journal of Computer Research and Development, 2016, 53(2): 231-246. doi: 10.7544/issn1000-1239.2016.20150874. XU Chen, ZHU Yanqiao, LI Fuhai, et al. A novel geodesic distance based clustering approach to delineating boundaries of touching cells[C]. The Tenth International Symposium on Neural Networks, Dalian, 2013: 315-322. CHENG M M, MITRA N J, HUANG X L, et al. Global contrast based salient region detection[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2015, 37(3): 569-582. doi: 10.1109/TPAMI.2014.2345401. WU Wei, WANG Jian, CHENG Mingsong, et al. Convergence analysis of online gradient method for BP neural networks[J]. Neural Networks, 2011, 24(1): 91-98. 張小鳳, 張光斌. 雙/多基地聲吶系統(tǒng)[M]. 北京: 科學(xué)出版社, 2014: 67-79. ZHANG Xiaofeng and ZHANG Guangbin. Bimultistatic sonar system[M]. Beijing: Science Press, 2014: 67-79. LIU Yang, GUO Fucheng, YANG Le, et al. Source localization using a moving receiver and noisy TOA measurements[J]. Signal Processing, 2016, 119(1): 185-189. doi: 10.1016/j.sigpro.2015.07.029. 劉若辰, 王英民, 甘甜. 基于線性最小二乘方法的多基地聲吶定位算法[J]. 電聲技術(shù), 2011, 35(6): 56-60. LIU Ruochen, WANG Yingmin, and GAN Tian. Space location algorithm for multistatic sonar based on linear least squares method[J]. Audio Engineering, 2011, 35(6): 56-60. 李濤, 屈也頻, 梅風(fēng)華. 基于總體最小二乘的多基地聲納系統(tǒng)定位算法[J]. 探測(cè)與控制學(xué)報(bào), 2015, 37(3): 82-85. LI Tao, QU Yepin, and MEI Fenghua. Multistatic sonar space location algorithm based on total least squares method[J]. Journal of Detection Control, 2015, 37(3): 82-85. HAYKIN Simon著, 鄭寶玉譯. 自適應(yīng)濾波器原理[M]. 北京:電子工業(yè)出版社, 2016: 249-395. HAYKIN Simon. Principle of Adaptive Filter[M]. Beijing: Electronic Industry Press, 2016: 249-395. VAGHEFI R, GHOLAMI M, BUEHRER R, et al. Cooperative received signal strength-based sensor localization with unknown transmit powers[J]. IEEE Transactions on Signal Processing, 2013, 61(6): 1389-1403. CORALUPPI S. Multistatic sonar localization[J]. IEEE Journal of Oceanic Engineering, 2006, 31(4): 964-974. 王建剛, 王福豹, 段渭軍. 加權(quán)最小二乘估計(jì)在無(wú)線傳感器網(wǎng)絡(luò)定位中的應(yīng)用[J]. 計(jì)算機(jī)應(yīng)用研究, 2006(9): 41-43. WANG Jiangang, WANG Fubao, and DUAN weijun. application of weighted least square estimates on wireless sensor network node localization[J]. Application Research of Computers, 2006(9): 41-43. SERGEY S. Localization in airborne multistatic sonars[J]. IEEE Journal of Oceanic Engineering, 2008, 33(3): 278-288. 張杰, 蔣建中, 郭軍利. 基于約束加權(quán)最小二乘的多站無(wú)源定位[J]. 信號(hào)處理, 2015, 31(1): 119-126. ZHANG Jie, JIANG Jianzhong, and GUO Junli. Multi-station passive localization based on CWLS algorithm[J]. Journal of Signal Processing, 2015, 31(1): 119-126. 丁振良. 誤差理論與數(shù)據(jù)處理[M]. 哈爾濱: 哈爾濱工業(yè)大學(xué)出版社, 2015: 97-133. DING Zhenliang. Error Theory and Data Processing[M]. Harbin: Harbin Institute of Technology Press, 2015: 97-133. CHAN Y T and HO K C. A simple and efficient estimator for hyperbolic location[J]. IEEE Transactions on Signal Processing, 1994, 42(8): 1905-1915. 楊瑜婷. 浮標(biāo)基長(zhǎng)基線定位系統(tǒng)顯控軟件設(shè)計(jì)[D]. [碩士論文], 哈爾濱工程大學(xué), 2016. YANG Yuting. The design of acoustic buoy communication platform based on long base line[D]. [Master dissertation], Harbin Engineering University, 2016. 付進(jìn). 長(zhǎng)基線定位信號(hào)處理若干關(guān)鍵技術(shù)研究[D]. [博士論文], 哈爾濱工程大學(xué), 2007. FU Jin. Research on several key techniques of the signal processing for long baseline location[D]. [Ph.D. dissertation], Harbin Engineering University, 2007. -
計(jì)量
- 文章訪問(wèn)數(shù): 1161
- HTML全文瀏覽量: 190
- PDF下載量: 132
- 被引次數(shù): 0