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一种改进的水下声学定位算法
孟庆波, 王振杰, 王柏杨, 刘杨范
中国石油大学(华东)
摘要:
传统水下声学定位进行位置解算时常采用泰勒级数展开法求解非线性定位方程,但该法依赖初始参考值的设定且可能迭代发散。本文通过分析讨论泰勒级数展开法和Chan算法的优缺点,提出了一种先由Chan算法解算求得初始参考值,再由泰勒级数展开法在该初始值处展开进行迭代求解的协同定位算法。通过实验,将本文方法与传统定位算法(泰勒法)、Chan算法进行对比。结果表明:该方法无需额外提供初始值,解算出较好的结果的同时且能保持良好的时间效率。
关键词:  水下声学定位  Chan算法  泰勒级数展开法
DOI:10.11759/hykx20190109004
分类号:P229.2
基金项目:国家重点研发计划项目(2016YFB0501700,2016YFB0501705);国家自然科学基金项目(41374008);青岛海洋科学与技术国家实验室开放基金(QNLM2016ORP0401)
An improved underwater acoustic localization algorithm
Meng Qingbo, Wang Zhenjie, Wang Boyang, Liu Yangfan
China University of Petroleum
Abstract:
In the traditional underwater acoustic positioning, the Taylor series expansion method is often used to solve the nonlinear equations, but the method has the strong dependence on the initial reference value and may not converge. By analyzing and discussing the advantages and disadvantages of Taylor series expansion method and Chan algorithm, this paper proposes a coordination method which first solves the initial reference value by Chan algorithm and then expands it by the Taylor series expansion method.Through experiments, the method is compared with the traditional positioning algorithm (Taylor method) and Chan algorithm. The results show that the method does not need to provide additional initial values, and can maintain the time consumption efficiency without losing positioning accuracy.
Key words:  Underwater acoustics positioning  Chan algorithm  Taylor series expansion algorithm
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