关键词: 到达时间定位, Lp范数, 相似度匹配, 误差传递, 最小二乘算法

Abstract: Underwater active acoustic positioning technology uses the geometric relationship between the target and the array to calculate the position of target. This method needs to measure the distance from the target to the receiving array elements accurately, which is indirect measurement. When some ranging error occurs, the positioning accuracy is affected with the error transmission law, and is lower. In order to improve the accuracy of active acoustic positioning, a similarity matched active location algorithm based on L-p norm is proposed (LPM). Firstly, the algorithm establishes the distance vector model including environmental parameters, then it constructs the similarity matched location algorithm, and completes the similarity analysis by calculating the L-p norm of the distance vector and the copy vector, so it realizes the three-dimensional location of the target in the observation area. This technology directly matches the distance vectors, the location accuracy is also affected by the ranging accuracy, but there is no coupling transmission between distance errors, which can improve the positioning accuracy. Finally, to verify the performance of the algorithm, the distribution law of positioning error for LMP in horizontal plane and in three-dimensional space are analyzed by Monte Carlo simulations, which is compared with that for the least squares algorithm(LS). The algorithm is also verified by pool tests. The mean value of positioning errors is increased from 0.0555m to 0.0256m, and the standard deviation of errors is increased from 0.0345m to 0.0072m. Simulation and experimental results show that the error distribution law of LPM is similar to that of conventional positioning technology, but it can avoid the influence of error transmission which affects conventional positioning technology, so it has higher positioning accuracy and is more robust. In addition, the technology considers the influence of environmental parameters on ranging, so it has the ability to deal with the spatial variation of sound velocity.

Key words: Time of arrival localization, Lp norm, similarity matched, error transmission law, least squares