浅海水声定位技术及应用研究

发布时间：2018-04-05 08:58

本文选题：浅海水声定位　切入点：有穷状态自动机　出处：《中国海洋大学》2007年博士论文

【摘要】： 水声定位技术在军事和海洋科学领域都有广泛的应用,它在保障国家的国防安全和国民经济建设的顺利进行中起着重要作用。基于测时的长基线水声定位系统由于定位精度高、范围广的特点是常用的定位方法之一。根据不同的工作方式可以选取不同的定位数学模型,包括球定位数学模型、双曲线定位数学模型等。无论选用哪种定位数学模型,目标与水听器之间的斜距都是通过传播时间与声速的乘积获得,通过求解非线性方程组进行目标位置估计。目前普遍采用经验声速的方法获得声速值,它适用于声速剖面变化不大、海底与海平面对声传播的作用可以忽略的深海海域或者短距离定位的情况。浅海海域由于自身的特点对声传播影响很大,浅海两点的声速值由于不同的到达结构而不同。为了提高测距和水声定位精度,本文选取浅海海域两点间的声速,研究了浅海水声定位技术及应用问题。众所周知,浅海水声定位主要包括两个方面:一是声场建模,二是定位算法研究。声场建模是水声定位的基础,而射线理论是常用的一种模型。浅海海域由于复杂性、多途性等特点使得声线传播非常复杂,目前基于声线跨度的射线理论声场模型具有精度低并且本征声线搜索不全的缺点。本文在研究浅海声线传播的基础上应用有穷状态自动机理论对浅海声场进行建模,声线传播严格遵循Snell定律。基于有穷状态自动机的浅海声场模型克服了其他模型难以处理反转点处和反射点处声线传播误差大的缺点,具有更高的计算精度。数值仿真验证了该模型的有效性和正确性。有效声速法根据不同的声线到达结构区分声速值,数值模拟和实验验证表明:深海有效声速法比经验声速法极大地提高了水声定位精度。本文在深海有效声速法概念的基础上发展并提出了浅海有效声速法,浅海有效声速可以根据有穷状态自动机的声场模型计算得出。为了满足水声定位实时性的要求,本文提出了浅海有效声速建表法和查表法,并通过数值模拟验证了方法的正确性。作为本文的另一个研究内容,本文对深度已知的准三维定位数学模型、传感器网络导致冗余信息存在等不同情况下的基于有效声速法的水声定位算法进行研究,模拟仿真得出以下结论:准三维的定位数学模型受控于深度信息,在实际应用中尽量采用三维定位数学模型;冗余信息可以提高水声定位精度。通过对定位解的模糊性、无解性及水声定位精度的几何精度因子分析,得出一些有益的结论。数值模拟结果和理论相吻合,为水声定位技术的应用提供理论依据和技术支持。浅海水声定位技术的研究旨在解决国家安全和国民经济建设问题,本文对此开展了深入的理论及数值研究。所做的工作能够对海洋探测与开发、海洋工程建设、海洋环境监测和水下潜艇定位提供理论和技术支持。
[Abstract]:Acoustic positioning technology has been widely applied in military and marine science, it is the protection of national security and national economic construction plays an important role. The long baseline acoustic positioning system based on time measurement because of high precision, wide range of positioning is one of the commonly used method according to the different. Working mode can be selected positioning different mathematical models, including ball positioning mathematical model, hyperbolic positioning mathematical model. No matter which kind of positioning mathematical model, distance between target and hydrophone is obtained by multiplying the propagation time and velocity of the target position is estimated by solving the nonlinear equations. The commonly used method of sound experience the velocity, which is applicable to the sound velocity profile changes little, effect of seabed and sea level on sound propagation can be ignored in the deep waters or short distance The positioning of the shallow sea. Because of their own characteristics have great effects on the sound propagation velocity in shallow water two value due to the different structure and different arrival. In order to improve the precision of ranging and acoustic positioning, this paper selects the velocity of shallow sea between two points, the shallow water acoustic positioning technique and application problems.
As everyone knows, the shallow water acoustic localization mainly includes two aspects: one is the sound field modeling, two is the positioning algorithm. Acoustic modeling is the base of acoustic positioning, and ray theory is a model commonly used in shallow waters. Due to the complexity of the multipath characteristics of sound ray propagation is very complex, the acoustic ray theory model based on the acoustic line span have low accuracy and eigenray search not all shortcomings. Based on the research of the shallow water acoustic line communication on Application of finite state automaton theory to model the shallow water acoustic communication line, strictly follow the Snell law. The shallow water acoustic model based on finite state automaton model is difficult to overcome the other treatment at the inversion point and the reflection point error sound line big shortcomings, has higher accuracy. Numerical simulation results verify the validity and correctness of the model.
The effective sound velocity method according to the different acoustic ray arrival structure distinguish velocity, numerical simulation and experimental results show that the effective sound velocity method than the deep experience has greatly improved the accuracy of acoustic positioning. In this paper, based on the deep development of the concept of effective sound velocity method and puts forward the effective method of ultrasonic velocity in shallow water, shallow water according to the acoustic model with effective velocity the finite state automaton is calculated. In order to meet the requirements of real-time acoustic positioning, is proposed in this paper. The shallow water effective sound velocity table building method and look-up table method, and numerical simulations verify the correctness of the method.
As another research content of this paper, the quasi three-dimensional positioning mathematical model on the depth of the known sensor network leads to redundant information under different acoustic positioning algorithm based on the method of ultrasonic velocity is studied, simulation draws the following conclusions: accurate positioning mathematical model for controlled 3D depth information, in the practical application as far as possible the three-dimensional mathematical model; the redundant information can improve the accuracy of acoustic positioning. Based on location ambiguity, no analysis of GDOP solution and acoustic positioning accuracy, some useful conclusions are obtained. The results of numerical simulation and theory consistent, provide theoretical basis and technical support for the application of acoustic positioning technology.
Study on underwater acoustic positioning technology to solve the problem of national security and national economy construction, this paper carried out theoretical and numerical study. The work done to the exploration and development of ocean engineering, marine construction, marine environmental monitoring and positioning of the submarine underwater to provide theoretical and technical support.

【学位授予单位】：中国海洋大学
【学位级别】：博士
【学位授予年份】：2007
【分类号】：U666.7

【引证文献】