被动声传感器网时延概率定位算法

声传感器测量目标发出的声波信号存在纯方位量测、时延较大的特点,通过对多个声传感器组网,可以实现对目标的定位和时延校准处理.提出了一种被动声传感器网时延概率定位的综合处理算法.首先,对多个传感器量测数据进行动态选择,选出测向线交角更接近90°的两个传感器量测数据进行交叉定位,获得目标初始位置;其次,进行时延校准处理,并重新确定测向线交角更接近90°的两个传感器量测数据进行交叉定位.获得新的目标初始位置估计;最后,利用概率定位对新的初始位置进行概率修正,进而获得目标较为准确的位置估计,形成航迹.仿真结果表明,此算法具有计算量小,实时性强,定位精度高的特点.

Passive Acoustic Sensor Network Time-Delay Probabilistic Localization Algorithm

Target signal is measured by acoustic sensor with the character of time-delay and bearing-only. The problem of target locating and time-delay registration can be solved by composing sensor network. A passive acoustic sensor network time-delay probabilistic localization algorithm is present in this paper. Firstly, two sensor measures can be chosen that intersection angle is closed to 90° to get initial position of the target. Depend on the initial position, time-delay registration is processed, and then the measure data is refreshed which intersection angle is closed to 90° to get new initial position estimation of the target. Finally, the new initial position is utilized to get more accurate estimation by probabilistic localization algorithm. The simulation results show that the algorithm has the performance of low calculation, real-time and high precision.