基于凸优化的水下载体定位研究

发布时间：2018-04-22 09:40

本文选题：信息处理技术 + 单信标测距　；参考：《兵工学报》2017年03期

【摘要】：基于单信标测距的定位方法,是水声定位技术一个新的研究方向,具有重要应用价值。针对单信标测距定位问题最小二乘结构,对高度非凸的测距定位方程首次提出了基于凸优化的解算方法。对带有误差的测距量测方程添加不等式约束条件,将其改写为有约束的解算方程;对目标函数和约束条件进行放射近似,将其进行凸化处理;引入松弛变量和罚函数,降低对迭代初值的敏感度。仿真结果表明:对于不同量级的初值误差,定位结果的差别在厘米量级,所提算法不需要可靠的初值即能迭代收敛得到高精度的定位结果;信标与圆形航迹的圆心距离越近,定位精度越高。通过湖上试验,进一步验证了所提算法的有效性。
[Abstract]:The localization method based on single beacon ranging is a new research direction of underwater acoustic localization technology and has important application value. Aiming at the least-square structure of single beacon location problem, a new method based on convex optimization is proposed for the highly non-convex range location equation for the first time. Inequality constraint condition is added to the ranging measurement equation with errors, which is rewritten into a constrained solution equation; the objective function and constraint condition are approximated by radiation and convexed, and the relaxation variable and penalty function are introduced. Reduce sensitivity to initial iteration values. The simulation results show that for the initial error of different magnitude, the difference of the localization results is in the centimeter order, the proposed algorithm can iteratively converge to obtain the high precision localization result without the reliable initial value, the closer the distance between the beacon and the circular track is, the closer the distance between the beacons and the circular track is. The higher the positioning accuracy. The validity of the proposed algorithm is further verified by experiments on the lake.
【作者单位】：哈尔滨工程大学水声工程学院;哈尔滨工程大学水声技术重点实验室;
【基金】：国家自然科学基金项目(61531012) 国家国防科技工业局技术基础科研项目(B2420133002)
【分类号】：TB56

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