声速不确定条件下的运动水下航行器自定位

doi:10.12305/j.issn.1001-506X.2022.09.01

Abstract

Abstract:

The traditional localization of vehicle using an underwater acoustic positioning system has two problems. One is the motion of the vehicle during observation period is ignored, and the other is that the uncertainty of underwater sound speed is not taken into account. A time measurement model for localization is constructed for the vehicle in motion, and the uncertainty of sound velocity is modeled to solve the above problems. A localization method for the moving vehicle is derived based on weighted least squares estimator, and a sound speed update method based on maximum likelihood estimator is proposed as well. Apart from estimating the vehicle position, the proposed model and the time mesurement are able to update the sound speed. The simulation results verify that the proposed methods outperform the existing methods for various parameter settings and achieve Cramer-Rao lower bound (CRLB) when the time measurement noise is not large. Moreover, the performance of the sound speed update is significantly improved when the time error is not large.

Key words: localization of underwater vehicle, acoustic localization, speed estimation, maximum likelihood estimation, weighted least squares

CLC Number:

TN911.7

Tianyi JIA, Jingjie GAO, Xiaohong SHEN, Hongwei LIU. Moving underwater vehicle localization with uncertain sound speed[J]. Systems Engineering and Electronics, 2022, 44(9): 2699-2706.

Figures/Tables 9

Fig.1

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

References 30

1	JIA T Y , HO K C , WANG H Y , et al. Effect of sensor motion on time delay and Doppler shift localization: analysis and solution[J]. IEEE Trans.on Signal Processing, 2019, 67 (22): 5881- 5895. doi: 10.1109/TSP.2019.2946025
2	孙大军, 郑翠娥, 崔宏宇, 等. 水下传感器网络定位技术发展现状及若干前沿问题[J]. 中国科学: 信息科学, 2018, 48 (9): 1121- 1136.
	SUN D J , ZHENG C E , CUI H Y , et al. Developing status and some cutting-edge issues of underwater sensor network localization technology[J]. Scientia Sinica Informationis, 2018, 48 (9): 1121- 1136.
3	JIA T Y , WANG H Y , SHEN X H , et al. Target localization based on structured total least squares with hybrid TDOA-AOA measurements[J]. Signal Processing, 2018, 143, 211- 221. doi: 10.1016/j.sigpro.2017.09.011
4	YAN J , ZHAO H Y , WANG Y Y , et al. Asynchronous localization for UASNs: an unscented transform-based method[J]. IEEE Signal Processing Letters, 2019, 26 (4): 602- 606. doi: 10.1109/LSP.2019.2902273
5	YAN J , GONG Y D , CHEN C L , et al. AUV-aided localization for internet of underwater things: a reinforcement-learning-based method[J]. IEEE Internet of Things Journal, 2020, 7 (10): 9728- 9746. doi: 10.1109/JIOT.2020.2993012
6	YANG R , BAR-SHALOM Y , HUANG H A J , et al. UGHF for acoustic tracking with state-dependent propagation delay[J]. IEEE Trans.on Aerospace and Electronic Systems, 2015, 51 (3): 1747- 1761. doi: 10.1109/TAES.2015.140386
7	赵晨, 乔钢, 周锋. 基于正交移动双水下自主潜航器的水下合作目标定位方法[J]. 电子与信息学报, 2021, 43 (3): 834- 841.
	ZHAO C , QIAO G , ZHOU F . Underwater cooperative target localization method based on double orthogonal moving autonomous underwater vehicles[J]. Journal of Electronics & Information Technology, 2021, 43 (3): 834- 841.
8	PAULL L , SAEEDI S , SETO M , et al. AUV navigation and localization: a review[J]. IEEE Journal of Oceanic Engineering, 2014, 39 (1): 131- 149. doi: 10.1109/JOE.2013.2278891
9	ZOU Y B , LIU H P , WAN Q . Joint synchronization and localization in wireless sensor networks using semidefinite programming[J]. IEEE Internet of Things Journal, 2017, 5 (1): 199- 205.
10	HAO B J , HO K C , LI Z . Range-based rigid body localization with a calibration emitter for mitigating anchor position uncertainties[J]. IEEE Trans.on Wireless Communications, 2019, 18 (12): 5734- 5748. doi: 10.1109/TWC.2019.2938761
11	YANG L , HO K C . Alleviating sensor position error in source localization using calibration emitters at inaccurate locations[J]. IEEE Trans.on Signal Processing, 2009, 58 (1): 67- 83.
12	高婧洁, 申晓红, 王海燕. 单锚节点水声网络高精度低开销初始化方法[J]. 系统工程与电子技术, 2017, 39 (2): 425- 430.
	GAO J J , SHEN X H , WANG H Y . Initialization method for underwater acoustic networks with one anchor[J]. Systems Engineering and Electronics, 2017, 39 (2): 425- 430.
13	JIA T Y , HO K C , WANG H Y , et al. Localization of a moving object with sensors in motion by time delays and Doppler shifts[J]. IEEE Trans.on Signal Processing, 2020, 68, 5824- 5841. doi: 10.1109/TSP.2020.3023972
14	GAO S C , ZHANG S J , WANG G , et al. Robust second-order cone relaxation for TW-TOA-based localization with clock imperfection[J]. IEEE Signal Processing Letters, 2016, 23 (8): 1047- 1051. doi: 10.1109/LSP.2016.2580743
15	JIA T Y , SHEN X H , WANG H Y . Multistatic sonar localization with a transmitter[J]. IEEE Access, 2019, 7, 111192- 111203. doi: 10.1109/ACCESS.2019.2934737
16	TOMIC S , BEKO M . Exact robust solution to TW-ToA-based target localization problem with clock imperfections[J]. IEEE Signal Processing Letters, 2018, 25 (4): 531- 535. doi: 10.1109/LSP.2018.2810829
17	THOMSON D, DOSSO S. AUV localization in an underwater acoustic positioning system[C]//Proc. of the IEEE Oceans, 2013: 1-6.
18	ZHANG J C , HAN Y F , ZHENG C E , et al. Underwater target localization using long baseline positioning system[J]. Applied Acoustics, 2016, 111, 129- 134. doi: 10.1016/j.apacoust.2016.04.009
19	NEWMAN P, LEONARD J. Pure range-only sub-sea SLAM[C]//Proc. of the IEEE International Conference on Robotics and Automation, 2003: 1921-1926.
20	ZHANG J C , SHI C H , SUN D J , et al. High-precision, limited-beacon-aided AUV localization algorithm[J]. Ocean Engineering, 2018, 149, 106- 112. doi: 10.1016/j.oceaneng.2017.12.003
21	LI Z , DOSSO S E , SUN D J . Motion compensated acoustic localization for underwater vehicles[J]. IEEE Journal of Oceanic Engineering, 2016, 41 (4): 840- 851. doi: 10.1109/JOE.2015.2503518
22	JIA T Y, HO K C, WANG H Y, et al. Accurate localization of AUV in motion by explicit solution using time delays[C]//Proc. of the IEEE International Conference on Acoustics, Speech and Signal Processing, 2020: 4871-4875.
23	封金星, 丁士圻, 惠俊英. 水下运动目标长基线定位解算研究[J]. 声学学报, 1996, 21 (5): 832- 837.
	FENG J X , DING S Q , HUI J Y . A solution of locating a moving object using long-base line acoustic system[J]. Acta Acustica, 1996, 21 (5): 832- 837.
24	JIA T Y , WANG H Y , SHEN X X , et al. Accurate closed-form solution for moving underwater vehicle localization using two-way travel time[J]. Electronics, 2020, 9 (4): 565. doi: 10.3390/electronics9040565
25	ZHENG J , LUI K W , SO H C . Accurate three-step algorithm for joint source position and propagation speed estimation[J]. Signal Processing, 2007, 87 (12): 3096- 3100. doi: 10.1016/j.sigpro.2007.06.014
26	ZHANG B B , HU Y C , WANG H Y , et al. Underwater source localization using TDOA and FDOA measurements with unknown propagation speed and sensor parameter errors[J]. IEEE Access, 2018, 6, 36645- 36661. doi: 10.1109/ACCESS.2018.2852636
27	MAHAJAN A , WALWORTH M . 3D position sensing using the differences in the time-of-flights from a wave source to various receivers[J]. IEEE Trans.on Robotics and Automation, 2001, 17 (1): 91- 94. doi: 10.1109/70.917087
28	HE C F , WANG Y Y , CHEN C L , et al. Target localization for a distributed SIMO sonar with an isogradient sound speed profile[J]. IEEE Access, 2018, 6, 29770- 29783. doi: 10.1109/ACCESS.2018.2843438
29	RAMEZANI H , JAMALI R H , LEUS G . Target localization and tracking for an isogradient sound speed profile[J]. IEEE Trans.on Signal Processing, 2012, 61 (6): 1434- 1446.
30	YAN J , ZHAO H Y , WANG Y Y , et al. Asynchronous localization for UASNs: an unscented transform-based method[J]. IEEE Signal Processing Letters, 2019, 26 (4): 602- 606. doi: 10.1109/LSP.2019.2902273

应答器编号	应答器坐标
应答器编号	x	y	z
1	350	200	120
2	900	250	60
3	700	700	100
4	250	1 000	110
5	1 400	1 200	80
6	1 000	800	90
7	700	1 200	100
8	1 200	500	0
9	500	900	0

[1]	Hai LI, Weijie CHENG, Ruijie XIE. Wind speed estimation of low-altitude wind-shear based on homotopy sparse STAP [J]. Systems Engineering and Electronics, 2022, 44(4): 1174-1181.
[2]	Yi LIU, Xiaoxiong ZHOU, Guangjun CHENG. High dynamic carrier tracking technology in frequency hopping systems [J]. Systems Engineering and Electronics, 2022, 44(2): 677-683.
[3]	Fei YU, Yun YU, Lihui ZHOU, Chunguang PENG. Hyperparameter-free sparse signal direction-of-arrival estimation method with single-snapshot [J]. Systems Engineering and Electronics, 2021, 43(4): 894-900.
[4]	Zixuan LONG, Qi ZHOU, Xiafu PENG, Xiaoli ZHANG. Maximum correntropy Kalman filter used for hull deformation measurement in non-Gaussian environment [J]. Systems Engineering and Electronics, 2021, 43(11): 3278-3287.
[5]	Donghua HUANG, Yongsheng ZHAO, Yongjun ZHAO. Target localization algorithm from DOA-TDOA measurements in passive radar with transmitter and receiver position errors [J]. Systems Engineering and Electronics, 2020, 42(9): 1961-1968.
[6]	Hai LI, Di SONG, Ze HUYAN, Qing FENG, Zibo ZHUANG. Wind speed estimation of low-altitude wind-shear based on TDPC-JDL under LFMCW system [J]. Systems Engineering and Electronics, 2020, 42(7): 1504-1509.
[7]	Hai LI, Zhixin LIU, Weijie CHENG, Zibo ZHUANG, Yi FAN. Low-altitude wind shear wind speed estimation method based on MBMC under sea clutter [J]. Systems Engineering and Electronics, 2020, 42(11): 2481-2487.
[8]	Yan WANG, Yimin SHI. Statistical analysis of the dependent competing risks model under the double constant-stress accelerated life test [J]. Systems Engineering and Electronics, 2020, 42(11): 2644-2653.
[9]	JIANG Yilin, LIU Mengnan, GAO Lipeng, CHEN Tao. Joint passive location method of TDOA and FDOA for moving multi-station [J]. Systems Engineering and Electronics, 2019, 41(7): 1441-1449.
[10]	LI Hai, WANG Jie. Low-altitude wind-shear wind speed estimation based on CMCAP [J]. Systems Engineering and Electronics, 2019, 41(3): 529-533.
[11]	CHEN Xudan, SUN Xinli, JI Guoxun, LI Zhen. Mis-specification analysis of inverse Gaussian degradation processes model [J]. Systems Engineering and Electronics, 2019, 41(3): 693-700.
[12]	CAI Zhongyi, XIANG Huachun, WANG Pan, WANG Zezhou, LI Chao. Missile storage lifetime assessment of multivariate degradation modeling under competition failure [J]. Systems Engineering and Electronics, 2018, 40(5): 1183-1188.
[13]	XU Bo, LIU Dezheng, ZHANG Xun. Multiple AUV cooperative navigation algorithm of robust filter based on interacting model [J]. Systems Engineering and Electronics, 2017, 39(9): 2087-2093.
[14]	LIU Yanchao, SHI Yimin, SHI Xiaolin. Reliability analysis of four-unit hybrid systems with masked data [J]. Systems Engineering and Electronics, 2017, 39(5): 1183-1188.
[15]	JIN Yan, GAO Duo, JI Hongbing. Parameter estimation of LFM signal based on robust S transform in α stable distribution noise [J]. Systems Engineering and Electronics, 2017, 39(4): 693-699.

Moving underwater vehicle localization with uncertain sound speed

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 9

References 30

Related Articles 15

Recommended Articles

Metrics

Comments