传感器位置误差下TDOA-DOA水下目标被动定位算法

doi:10.12305/j.issn.1001-506X.2024.08.05

摘要/Abstract

摘要：

针对水下目标被动定位中传感器位置误差带来的定位精度不高的问题, 提出了一种基于两步最小二乘的到达时间差-波达方向(time difference of arrival-direction of arrival, TDOA-DOA)目标定位算法。首先, 构建TDOA-DOA理想化无误差模型, 并利用最小二乘算法对目标位置进行粗估计。其次, 考虑测量误差和传感器位置误差, 构建目标定位误差和传感器位置的联合方程，并利用加权最小二乘求解。最后, 利用目标定位误差对目标位置粗估计值进行修正, 得到更精确的定位结果。仿真实验表明, 所提算法可对目标位置和传感器位置进行联合估计, 相较于已有算法具有更高的定位精度, 更适用于传感器位置存在误差情况下的水下目标定位。

关键词: 水下目标被动定位, 传感器位置误差, 到达时间差, 波达方向

Abstract:

To address the problem of poor localization accuracy due to sensor position error in passive localization of underwater target, a two-step least squares (LS) based time difference of arrival-direction of arrival (TDOA-DOA) target localization algorithm is proposed. Firstly, an idealized error-free model of TDOA-DOA is constructed, and the target position is coarsely estimated through the LS algorithm. Secondly, the joint equation of target positioning error and sensor position is constructed with the measurement error and the sensor position error, and weighted LS algorithm is employed to solve the equations. Finally, the coarse estimation of the target position is corrected to obtain a more accurate localization result using target positioning error. Simulation results show that the proposed algorithm can jointly estimate both of the target position and the sensor position. Compared with the existing algorithms, the proposed algorithm has higher localization accuracy, and is more suitable for underwater target localization in the presence of sensor position errors.

Key words: passive localization of underwater target, sensor position error, time difference of arrival (TDOA), direction of arrival (DOA)

中图分类号:

TN911.7

唐强, 邵高平, 孙明磊, 邵帅. 传感器位置误差下TDOA-DOA水下目标被动定位算法[J]. 系统工程与电子技术, 2024, 46(8): 2572-2580.

Qiang TANG, Gaoping SHAO, Minglei SUN, Shuai SHAO. tdoa-doa underwater target passive localization algorithm with sensor position errors[J]. Systems Engineering and Electronics, 2024, 46(8): 2572-2580.

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坐标轴	传感器
坐标轴	1	2	3	4	5	6
x	1 000	2 000	-3 000	2 500	-1 000	2 000
y	1 500	1 200	-800	2 000	-1 200	-3 000
z	67	51	61	55	50	60

算法	平均运行时间
TSWLS	0.870
WLS	1.006
本文算法	14.786

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