基于贝叶斯估计的浅海声源被动定位方法

doi:10.12382/bgxb.2022.0028

摘要/Abstract

摘要：

针对浅海环境干涉复杂和非稳定特性,建立概率密度函数形式的声场模型,有效克服定位时的模型失配问题;设计以声源状态矢量为后验概率的贝叶斯定位模型,用迭代形式达到时间换空间的目的,实现单个水听器对运动目标的定位;提出网格划分直方图滤波法,将解析积分转化成数值求和,提高算法效率。SWellEx-96实测数据验证结果表明,深度200m、距离10km的范围内,深度定位相对误差可控制在12.04%,距离定位相对误差可控制在6.47%。新方法可用于浅海隐蔽低耗武器平台对移动目标的探测。

关键词: 水下武器平台, 浅海, 贝叶斯估计, 水声定位, 概率密度

Abstract:

An acoustic field model in the form of probability density function is established to solve the problem of model mismatch in shallow water. The Bayesian localization model with the state vector of an acoustic source as a posteriori probability is designed to achieve the purpose of exchanging time for space by iteration and realize the localization of a moving target by a single hydrophone. The grid histogram filtering algorithm is proposed to convert analytical integral into numerical summation and improve efficiency of the algorithm. The SWellex-96 experimental results show that the relative error of depth localization can be controlled at 12.04% and the relative error of distance localization at 6.47% within a depth of 200m and a distance of 10km. The proosed method can be used to detect targets in shallow water with concealed low-energy consumption weapon platform.

Key words: underwater weapon platform, shallow water, Bayesian estimation, underwater acoustic location, probability density

石海杰, 李京华, 刘丽丽, 常虹. 基于贝叶斯估计的浅海声源被动定位方法[J]. 兵工学报, 2023, 44(5): 1394-1402.

SHI Haijie, LI Jinghua, LIU Lili, CHANG Hong. Passive Localization Method for Acoustic Sources in Shallow Water Based on Bayesian Estimation[J]. Acta Armamentarii, 2023, 44(5): 1394-1402.

图/表 12

图1 信号传输几何模型

Fig.1 Geometric model of signal transmission

图2 归一化声压场仿真结果

Fig.2 Simulation results of normalized sound pressure field

图3 概率密度函数估计结果

Fig.3 Estimation results of probability density function

图4 实测数据预处理

Fig.4 Pre-processing of measured data

图5 阵元01实测数据传输损失

Fig.5 Transmission loss of measured data from array element 01

表1 声源状态矢量参数

Table 1 Source state vector parameters

名称	最小值	最大值	量化值	网格数K
r[n]	0km	10km	0.02km	500
v[n]	0m/s	5m/s	0.5m/s	10
z[n]	0m	200m	4m	50
A_s[n]	0	5	0.25	20

表2 状态更新参数表

Table 2 Status update parameters

参数	σ_r	σ_v	σ_z	σ_a
数值	20m	0.5m/s	4m	0.25

图6 各阵元不同时刻定位结果

Fig.6 Localization results of each array element at different times

图7 定位结果随时间变化情况

Fig.7 Variation of localization results with time

图8 三维归一化声压传输损失

Fig.8 Three-dimensional normalized sound pressure transmission loss

图9 二维归一化声压传输损失

Fig.9 Two-dimensional normalized sound pressure transmission loss

表3 定位结果相对误差表

Table 3 Relative error of localization results

名称	阵元01	阵元17	阵元32	均值
距离r[n]	7.12%	4.37%	7.93%	6.47%
深度z[n]	11.96%	15.90%	8.26%	12.04%

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