信号传播速度未知下水下多基地声纳定位算法

doi:10.12382/bgxb.2021.0134

兵工学报 ›› 2022, Vol. 43 ›› Issue (3): 637-652.doi: 10.12382/bgxb.2021.0134

信号传播速度未知下水下多基地声纳定位算法

范超^1，2，王鼎^2，3，杨宾^2，3，尹洁昕^2，3

（1.郑州大学网络空间安全学院，河南郑州 450001； 2.战略支援部队信息工程大学信息系统工程学院，河南郑州 450001；3.国家数字交换系统工程技术研究中心，河南郑州 450002）

上线日期:2022-04-07
通讯作者: 王鼎（1982—），男，副教授，博士生导师 E-mail:wang_ding814@aliyun.com
作者简介:范超（1995—），男，硕士研究生。E-mail: fc1756668486@yeah.net
基金资助:
国家自然科学基金项目(62071029、61772548、61901526、62171469)；河南省科技攻关项目(192102210092)；战略支援部队信息工程大学科研发展基金项目(F4108、F4109)

An Algorithm for Underwater Target Localization of Multistatic Sonar System with Unknown Signal Propagation Speed

FAN Chao^1，2， WANG Ding^2，3， YANG Bin^2，3， YIN Jiexin^2，3

（1.School of Cyber Science and Engineering， Zhengzhou University， Zhengzhou 450001，Henan，China；2.School of Information Systems Engineering，PLA Strategic Support Force Information Engineering University，Zhengzhou 450001，Henan，China；3.National Digital Switching System Engineering and Technology Research Center，Zhengzhou 450002，Henan，China）

Online:2022-04-07

摘要/Abstract

摘要： 针对水下多基地声纳定位系统中声波信号传播速度未知的情况，以到达时间差为系统观测量，提出一种基于误差约束等式的联合估计声波信号传播速度和目标源位置的闭式解定位算法。算法需要分两步进行。第1步通过引入辅助变量，将非线性观测方程转化为伪线性方程进行处理，求得目标源位置以及信号传播速度的初始估计解；第2步根据初始估计解的估计误差所服从的等式约束，构造新的优化模型，再用拉格朗日乘子法进行求解。推导了算法的联合估计均方误差，从理论上证明了其可以达到相应的克拉美罗界。通过数值仿真验证了估计均方误差的理论分析，并与现有算法进行仿真比较，证明了所提算法与现有算法相比具有优越性。

关键词: 多基地声纳定位, 信号传播速度, 到达时间差, 拉格朗日乘子法

Abstract: For the unknown propagation speed of acoustic signal under water，a closed-form localization algorithm based on error constraint equation is proposed to estimate the acoustic signal propagation speed and target location for underwater multistatic sonar system，in which the time difference of arrival is taken as an observable quantity.The proposed algorithm falls into two steps. In the first step，the nonlinear observation equations are transformed into the pseudo-linear equations by introducing auxiliary variables，and the initial estimation solutions of target location and signal propagation speed are obtained. In the second step，a new optimization model is obtained according to the equality constraint of estimated error of the initial estimation solutions，and the Lagrange multiplier method is used to solve the problem.Then the jointly estimated mean square error of the proposed algorithm is derived. It is theoretically proven that the estimated mean square error can reach the corresponding Cramér-Rao bound. Finally，the theoretical analysis of the estimated mean square error is verified by numerical simulation，and the comparison shows that the proposed algorithm is superior to the existing algorithms.

Key words: multistaticsonarlocalization, signalpropagationspeed, timedifferenceofarrival, Lagrangemultipliermethod

中图分类号:

TN929.3

范超, 王鼎, 杨宾, 尹洁昕. 信号传播速度未知下水下多基地声纳定位算法[J]. 兵工学报, 2022, 43(3): 637-652.

FAN Chao, WANG Ding, YANG Bin, YIN Jiexin. An Algorithm for Underwater Target Localization of Multistatic Sonar System with Unknown Signal Propagation Speed[J]. Acta Armamentarii, 2022, 43(3): 637-652.

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[2]	王强，贾希胜，程中华，冉悄然，孙正. 随机共因失效条件下战时合成部队携行备件配置优化研究[J]. 兵工学报, 2019, 40(5): 1083-1092.

信号传播速度未知下水下多基地声纳定位算法

An Algorithm for Underwater Target Localization of Multistatic Sonar System with Unknown Signal Propagation Speed

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