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清华大学学报(自然科学版)  2018, Vol. 58 Issue (6): 553-557    DOI: 10.16511/j.cnki.qhdxxb.2018.21.009
  机械工程 本期目录 | 过刊浏览 | 高级检索 |
误差均衡立体五基元超短基线水声定位
王虹入1, 王中秋1, 漆随平1, 胡桐1, 邹靖1, 曹自力2
1. 齐鲁工业大学(山东省科学院), 山东省科学院海洋仪器仪表研究所, 山东省海洋环境监测技术重点实验室, 国家海洋监测设备工程技术研究中心, 青岛 266100;
2. 青岛地区装备修理监修室, 青岛 266001
Ultra-short baseline positioning basing on error equalization in a five-element stereo array
WANG Hongru1, WANG Zhongqiu1, QI Suiping1, HU Tong1, ZOU Jing1, CAO Zili2
1. National Engineering and Technological Research Center of Marine Monitoring Equipment, Shandong Provincial Key Laboratory of Ocean Environmental Monitoring Technology, Institute of Oceanographic Instrumentation, Qilu University of Technology(Shandong Academy of Sciences), Qingdao 266100, China;
2. Navy equipment repair and maintenance room in Qingdao area, Qingdao 266001, China
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摘要 采用单平面基阵进行超短基线水声定位,当声源俯仰角接近基阵平面,会导致定位误差增加。为解决该问题,提出了基于空间五基元立体基阵子阵误差均衡的定位方法。该方法将空间立体基阵划分为正交的三基元子阵,在各子阵局部坐标系中分别解算定位结果,通过坐标变换将子阵局部坐标系转化为立体阵全局坐标;最终定位数据时,根据原局部坐标系下解算结果与理论结果的误差大小进行加权,对全局坐标系下的数据加权平均。MATLAB的仿真表明:该方法可实现空间立体基阵全空间方位目标声源的定位解算,定位精度比单一基阵面提高4倍以上;并解决了声源目标俯仰角接近单基阵平面时,定位精度误差急剧增大的问题,使整个定位空间内的定位结果误差变化均衡。
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王虹入
王中秋
漆随平
胡桐
邹靖
曹自力
关键词 超短基线水声定位五基元立体基阵误差均衡    
Abstract:Ultra-short baseline positioning using a single-plane base array will lead to increased positioning errors when the acoustic source is close to the plane of the base array. This paper presents a method to reduce the error using different array planes which can be localized in one stereo five-element array. The stereo array can be divided into several sub-arrays having three basic elements in different orthogonal directions. The positioning data in the local coordinate system of the sub-array is first translated into the global coordinate system of the entire stereo array by a transformation matrix with a weighted average then calculated with the weighting based on the positioning error which is related to the change in the elevation angle in the local coordinate system of the sub-array. Simulations in MATLAB showed that this method can realize positioning localization of a spatially azimuthal target sound source. The positioning accuracy is more than 4 times higher than for a single array because the relative positioning error from all directions of the stereo array is smoothed due to the different elevation angles. Thus, this method significantly reduces the positioning error when the pitch angle of the sound source is close to the single base array plane.
Key wordsultra-short baseline positioning    five-element stereo array    error equalization
收稿日期: 2017-11-10      出版日期: 2018-06-21
基金资助:山东省重点研发计划项目(2015GSF115018);国家自然科学基金资助项目(41606112)
通讯作者: 王中秋,副研究员,E-mail:wzqybs@163.com     E-mail: wzqybs@163.com
引用本文:   
王虹入, 王中秋, 漆随平, 胡桐, 邹靖, 曹自力. 误差均衡立体五基元超短基线水声定位[J]. 清华大学学报(自然科学版), 2018, 58(6): 553-557.
WANG Hongru, WANG Zhongqiu, QI Suiping, HU Tong, ZOU Jing, CAO Zili. Ultra-short baseline positioning basing on error equalization in a five-element stereo array. Journal of Tsinghua University(Science and Technology), 2018, 58(6): 553-557.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2018.21.009  或          http://jst.tsinghuajournals.com/CN/Y2018/V58/I6/553
  图1 五基元空间阵定位示意图
  图2 理论计算与仿真分析坐标解算相对误差
  图3 目标的运动轨迹图
  图4 线性调频信号
  图5 MATLAB仿真流程
  图6 俯仰角为85°,SNR=10dB时的定位结果
  表1 SNR=10dB时 USBL123的定位误差
  表2 SNR=10dB时五基元空间阵的定位误差
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