摘要
针对浅水环境中声波在传播时速度变化不大的特性,提出了一种基于泰勒级数展开的总体最小二乘水下短基线定位算法。构造定位方程中误差向量的增广矩阵,利用奇异值分解得到水下AUV的坐标,将其作为初始值进行泰勒级数展开迭代。仿真结果与最小二乘算法进行比较,所提算法受环境影响较小,稳定性强,实时性较好,且精度有明显提高。
Aiming at the characteristics that the speed of sound waves in the shallow water environment does not change much during propagation,this paper proposes a total least square underwater short baseline positioning algorithm based on Taylor series expansion.Construct the augmented matrix of error vectors in the positioning equation,and use the singular value decomposition to obtain the coordinates of the underwater AUV,and use it as the initial value to perform the Taylor series expansion iteration.Compared with the least-squares algorithm,the simulation results are less affected by the environment,have stronger stability,better real-time performance and significantly improved accuracy.
作者
侯华
黄鼎盛
郭胜杰
程萌
HOU Hua;HUANG Dingsheng;GUO Shengjie;CHENG Meng(School of Information and Electrical Engineering,Hebei University of Engineering,Handan 056038,China)
出处
《电声技术》
2020年第6期24-27,共4页
Audio Engineering
基金
河北省教育厅重点项目“基于信息融合的‘水空协同’移动定位系统关键技术研究”(ZD2019019)。
关键词
AUV
短基线定位
总体最小二乘
泰勒级数展开
AUV
short baseline positioning
overall least squares
Taylor series expansion
