Research On 3D Underwater Moving Target Localization And Path Planning

In recent years,the continuous development of Marine science has attracted the attention of all countries for Marine scientific research,and also set off a wave of upsurge for underwater research,including Marine resources exploration,seabed exploration,Marine biological research and so on.For this reason,underwater acoustic sensor network is applied to underwater research.This paper takes underwater acoustic wireless sensor network as the background and takes mobile node localization and path planning as the main research content.First of all,mobile nodes need to use the position information as a reference for navigation and movement when working underwater,but the traditional positioning method has the problem of large positioning error.Aiming at the low accuracy of underwater positioning,an improved 3D underwater acoustic positioning method based on Gaussian filter and quasi-Newton method was proposed based on the underwater acoustic transmission loss model.In this method,the transmission loss data collected are processed by Gaussian filter to distance to reduce the distance error,and then the initial location results are optimized by using the quasi-Newton method to reduce the location error.Secondly,in many applications,mobile nodes need to move along a planned route and locate the mobile nodes in real time.A 3D path planning algorithm based on improved quantum particle swarm optimization(QPSO)is proposed based on the proposed algorithm to locate mobile nodes.Aiming at the problems of local optimization and slow convergence of the traditional quantum particle swarm optimization algorithm,the quantum particle swarm optimization algorithm was improved.Then,based on the three goals of path safety,path length and path smoothness,a fitness function is designed to obtain a short and smooth safe path for mobile nodes and realize multi-objective path planning.Finally,the multi-group simulation results prove that the proposed location algorithm reduces the error of node ranging and improves the positioning accuracy.The path planning algorithm proposed is shorter and smoother,and the algorithm has better robustness.A simulation platform was built by combining the proposed location and path planning algorithms,and the underwater hardware nodes were designed.