Research On Non Cooperative Acoustic Beacon Location Method Based On Generalized Second Order Time Difference Of Arrival

Non cooperative acoustic beacon positioning is a new topic in the field of underwater positioning technology in recent years.It is widely used in crash aircraft search and rescue,ship positioning,navigation buoy,submarine buoy and so on.Aiming at the positioning solution of non cooperative acoustic beacons,this paper studies the non cooperative positioning of unknown periodic acoustic beacons under the condition of a single moving observation platform,in order to improve the limitation of the existing second-order delay difference positioning algorithm on the selection of positioning observation points and improve the positioning accuracy under the condition of platform maneuvering,A positioning algorithm based on generalized second-order delay difference is proposed.Different acoustic beacon positioning methods are suitable for different underwater positioning scenes.Therefore,this paper first introduces the acoustic beacon underwater positioning scene under a single observation platform,and then introduces several traditional underwater acoustic beacon positioning methods suitable for this kind of positioning scene.In this paper,two kinds of five traditional underwater acoustic beacon positioning methods are selected: positioning methods based on direction of arrival(DOA),including plane angle positioning method and space angle positioning method;The positioning method based on time delay information includes the positioning method based on time of arrival(TOA),the positioning method based on time difference of arrival(TDOA),and the positioning method based on second order time difference of arrival(STDOA).Then,the positioning accuracy of these positioning methods is simulated and analyzed by using partial differential statistics method.This paper also focuses on the performance analysis of several positioning methods in the non cooperative acoustic beacon positioning scenario.Through the analysis,it is concluded that the second order delay difference method is more suitable for non cooperative acoustic beacon positioning.The positioning method based on second order delay difference has special requirements for the selection of observation point array,and the positioning accuracy can not reach the best,which still has some limitations.For the complex positioning scene of non cooperative acoustic beacon,this paper proposes a positioning method based on generalized second order time difference of arrival(GSTDOA).This method can arbitrarily select the array of observation points,and achieve high positioning accuracy by selecting the best observation points.Through robustness analysis,GSTDOA method still shows better positioning accuracy and better robustness than stdoa under the influence of the same measurement error source.In order to improve the convergence probability of positioning results,this paper also introduces the improved Newton iterative method to improve the solution process of GSTDOA method.After completing the theoretical research and algorithm implementation of GSTDOA method,this paper introduces the design and implementation of non cooperative acoustic beacon positioning solution software.The positioning solution software adopts modular design and is developed on QT creator platform,which is convenient for real-time interaction with users.The software includes parameter setting interface,positioning solution interface and other modules,which can be applied to practical engineering projects to realize the functions of high-precision and real-time positioning solution and result display.Finally,this paper verifies the correctness and effectiveness of GSTDOA method through simulation positioning test and lake positioning test in real scene.The results of the two positioning experiments can draw a common conclusion: in the complex positioning scenario of a single observation platform,GSTDOA method can realize the accurate positioning of non cooperative acoustic beacons when the signal period information is unknown,and achieve higher positioning accuracy compared with other underwater acoustic positioning methods.