双平行线阵的水下二维DOA估计算法

利用集群自主式水下航行器（Autonomous Underwater Vehicles，AUV）进行的水下协同作业的需求越来越多。对于水下集群作业来说，AUV的水下定位非常重要。目前，AUV通常采用声学定位的工作模式，利用长、短基线阵对水下目标的二维波达方向（Direction of Arrival，DOA）进行估计，但在小型AUV上，基阵的阵列尺寸等受载体体积和换能器尺寸的共同限制，多信源条件下DOA估计的精度不高。设计低功耗平台，采用双平行线阵及传播算子算法来对多源目标进行二维DOA估计，结合通信与声学定位一体化方法，利用高频通信信号作为定位信号源，实现多信源环境中估计角度自动配对，在阵列尺寸受限的小型AUV上布放时，有较好的DOA估计效果。仿真结果验证了该方法的有效性。

An underwater two-dimensional DOA estimation algorithm based on double parallel linear arrays

There is an increasing demand for underwater collaborative operations using a cluster of autonomous underwater vehicles (AUV). For underwater cluster operations, the underwater positioning of AUV is very important. At present, the working mode of acoustic positioning is usually adopted for AUV, and the long and short baseline arrays are used to estimate the two-dimensional DOA of underwater targets. However, for small-sized AUVs, the array size is limited by carrier volume and transducer size. The accuracy of DOA estimation under multi-source conditions is not high. In this paper, a low-power platform is designed, and the double parallel linear arrays and propagator method are used to perform two-dimensional DOA estimation for multi-source targets. Moreover, by combining signal communication and acoustic positioning, the high-frequency communication signals are used as signal sources for positioning to achieve automatic pairing of estimated angles in the multi-source environment, and so, a better DOA estimation effect can be obtained when an array with limited size is deployed on a small-sized AUV. The simulation results verify the effectiveness of the method.