一种二分迭代实时声线修正算法

为提高对水下目标的定位精度,提出并实现了一种二分迭代实时声线修正算法。首先通过二分迭代法快速搜索出水下声源所发出的定位声信号传播声线的初始掠射角,然后以该初始掠射角对应的唯一声线为基础,根据斯涅耳(Snell)声线折射定理计算得到声源与水下接收阵元的距离值,最终利用与声线相符的三路测距值进行交汇解算,完成实时声线修正定位。湖上试验结果表明,该算法简单易行、运算速度快,能够满足实时修正处理的要求,在复杂水文条件下提高了水声定位系统的定位精度。该算法具有良好的工程实用性和通用性,可推广应用于同类水声跟踪定位系统。

A dichotomy iteration method of real-time sound ray correction

In order to improve the accuracy of underwater acoustic positioning,this paper proposes a real-time algorithm based on dichotomy iterative method for the sound ray correction. First, the initial grazing angle of transmission sound ray is searched out quickly by using the dichotomy iterative method, along the ray, the localization acoustic signal emitted by underwater sound source spreads. And then, the distance between underwater receiving array element and sound source can be calculated through the unique sound ray associated with this angle, this calculation process is based on Snell theorem. Finally, the positioning calculation can be completed for the underwater target by using the intersection solution of three-channel ranging values consistent with the sound ray. The testing results at the lake demonstrate that this algorithm has advantages in simple implementation and high operation speed; it is able to realize the real-time correction and improve the position accuracy of the underwater acoustic positioning system effectively under complex hydrographic conditions. This algorithm has good practicality and generality in engineering; it can also be applied to the similar underwater acoustic positioning and tracking system.