一种声速-位置联合估计的水声导航定位方法

长基线水声导航定位方法利用各信标到水下航行器的信号传播时间和等效声速来估计水下航行器的位置,但各信标到水下航行器的等效声速估计存在误差,导致定位误差较大,且随着导航距离的增加,定位误差呈增长趋势。针对这一问题,提出了一种基于粒子滤波的水声导航定位方法,将等效声速和水下航行器的位置作为估计状态参量,通过测量信标信号到水下航行器的传播时间,建立粒子滤波模型对其位置进行估计,准确地估计并跟踪等效声速变化,从而提高定位精度,减小估计误差。仿真结果表明,在水下航行器初始位置未知的情况下,与常规方法相比,文中所提方法的定位精度提高了4倍左右。

A positioning method for underwater acoustic navigation based on joint estimation of sound velocity and position

In long baseline underwater acoustic navigation, the position of the underwater vehicle is estimated by using the signal travel time and the equivalent sound velocity from each beacon to the underwater vehicle. However, the estimating error of the equivalent sound velocity from each beacon to the underwater vehicle will lead to large position error, and the location error increases with the increase of navigation distance. In order to solve this problem, a positioning method of underwater acoustic navigation based on particle filter is proposed. In this method, the equivalent sound velocity and the position of underwater vehicle are taken as the estimated state parameters. By measuring the travel time of beacon signal to underwater vehicle, particle filter model is established to estimate the position of underwater vehicle and to accurately estimate and track the change of equivalent sound velocity so as to improve positioning accuracy and reduce estimating error. The simulation results show that compared with conventional method, the positioning accuracy of the proposed method is improved about 4 times when the initial position of the underwater vehicle is unknown.