摘要
水下传感节点静默定位算法是一种免时钟同步且易拓展节点的水声定位算法,待定位节点只需接收声信号即可计算出自身位置。受其独特的定位协议影响,其定位周期一般较长,定位精度受待定位节点自身运动影响较大。本文研究了待定位节点运动对已有算法精度的影响,并提出了一种结合移动补偿的动态水下待定位节点静默定位方法,补偿了待定位节点运动对自身定位精度的影响。待定位节点首先估计来自各信标节点信号到达时刻的变化状态,掌握其变化规律,并据此以同一接收位置为基准补偿得到的观测信息。随后结合已有静默定位算法获得自身位置。仿真结果表明,本文所提算法可以有效地抑制待定位节点运动产生的定位误差。
The silent location algorithm for underwater sensor nodes is a time-synchronization free location algorithm where nodes could join expediently.Nodes to be located can calculate themselves’positions just with monitoring sound signal.Due to the particular location protocol,the location period of the silent location algorithm is generally longer.So that the location accuracy is greatly affected by the motion of the nodes to be located.In this paper,how the motion effect the accuracy of existing silent location algorithm is investigated,and a silent location algorithm for dynamic underwater sensor nodes combined with mobility compensation is proposed to eliminate the motion of the node to be located.In order to learn the change regular of measurements,the nodes to be located estimated the change state of the arrival time of signals from each beacon node firstly.Furthermore,the arrival time measured at the same positon could be predicted according to the estimated change regular.The motion-compensated positon could be calculated using the existing silent location algorithm with the predicted measurements.The effectiveness of the proposed algorithm in this paper is verified by simulation analysis.
作者
李浩铭
鄢社锋
徐立军
吴永清
LI Haoming;YAN Shefeng;XU Lijun;WU Yongqing(Institute of Acoustics,Chinese Academy of Sciences,Beijing 100190,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《信号处理》
CSCD
北大核心
2021年第6期912-921,共10页
Journal of Signal Processing
基金
国家自然科学基金(61725106,62071460)。
关键词
水下传感网络
动态节点
移动补偿
卡尔曼滤波
underwater sensor network
dynamic node
mobility compensation
Kalman filter
