Design And Implementation Of Underwater Target Positioning Algorithms Based On Single Platform Observation

The underwater positioning technology is needed to support rescue when transoceanic vehicles such as airplanes and ships are wrecked at sea.Nowadays,the main method to locate underwater targets with high accuracy is acoustic positioning.The single platform observation system has the characteristics of strong maneuverability,and it has great advantages in the positioning of falling target.This paper has studied the method of underwater target positioning using single platform search system.An angle intersection model using azimuth information and a hyperboloid intersection model using delay information are established.The positioning method of angle intersection model is not affected by distance ambiguity,but it has a large error in long distance positioning.By comparing the performances of various time-delay positioning methods,considering the positioning performance and computational complexity of the algorithm,an asynchronous non-linear locating method suitable for engineering applications is determined.Distance ambiguity may occur when locating with time-delay information.Anti-range ambiguity method is the key technology to determine the real propagation period of signal and ensure the effective implementation of core positioning algorithm.In this paper,a method of anti-range ambiguity based on azimuth information is studied,which can meet the need of positioning.With the observation platform sailing underwater,the underwater positioning module will get a lot of redundant target parameters information.Geometric intersection method can not make full use of redundant information.Data fusion method is used to synthesize the information of multiple observation points.This paper focuses on four data fusion methods: optimization algorithm,Taylor algorithm,Chan algorithm and data support matrix method.By comparing and analyzing the positioning performance of the fusion algorithm,the positioning accuracy and anti-jamming ability of the fusion algorithm are better than the traditional intersection positioning method.In the design process of underwater positioning software and surface display and control software,the functions of the two software are analyzed and the overall framework of the software is determined.Using cross-platform class library Qt,the software function module is compiled.In order to reduce the coupling degree between software functions and facilitate step-by-step testing and modification,modular design is adopted.Finally,the laboratory debugging is carried out,and the software solution module and each functional module are tested.In this paper,the test results are analyzed,and the effectiveness of the algorithm is proved.All functions can meet the design requirements.