Research On Positioning Technology Of Multi Station Sonar System Based On Spatial Direct Wave Suppression

With the increasingly complex technical means against underwater vehicles,the traditional monostatic sonar positioning system can not ensure good concealment and meet the needs of high-precision positioning of underwater targets.Therefore,the research on underwater target positioning at this stage gradually turns to the multi station sonar system with strong concealment and flexible configuration.When using multi station sonar system for positioning,strong direct wave interference may lead to errors in some positioning parameters and affect the final positioning results.Therefore,this paper first studies the suppression of strong direct arrival wave interference from the perspective of airspace,and then studies the positioning principle and three positioning technologies of bistatic sonar system.On this basis,three positioning methods of multi station sonar system are studied,and their positioning accuracy is compared.Finally,the evolution and elimination mechanism is added to the gray wolf optimization algorithm,and it is tried to be applied to the location of multi station sonar system.This paper mainly includes the following four parts:First,this paper performs direct wave interference suppression from the perspective of airspace.The receiving station in the dual-base sonar system is susceptible to strong direct wave interference,which affects the positioning effect.When the direct wave falls outside the echo main lobe,the zero-point constraint algorithm is used to suppress the direct wave interference,and the suppression effect is better.Aiming at the disadvantage of target peak offset when the angle between direct wave and echo is small,the blocking matrix algorithm is used to cancel the interference in the main lobe,which can correctly estimate the orientation of the target echo.Secondly,the positioning system model of dual-base sonar is established,the positioning method and positioning accuracy measurement standard of dual-base sonar system are discussed,the positioning principle of three positioning algorithms based on angle information(BOL),distance information(TOL)and data fusion is studied,and the positioning performance of the three algorithms is simulated and compared.Then,the three commonly used positioning methods of multi-station sonar systems,TOL,data fusion,and linear least squares are studied,and their positioning performance under different geometric layouts is derived and simulated.Then,under the same geometric layout configuration,the positioning performance of the three algorithms under the multi-station sonar system is simulated and compared.Finally,the traditional solution of the localization equation relies too much on the initial value selection problem,and attempts to introduce the improved gray wolf optimization algorithm into the nonlinear programming problem of multi-station sonar system localization.Simulation studies have found that the improved gray wolf optimization algorithm can converge to the global optimal solution,and its positioning accuracy is significantly improved compared with the previous three algorithms.