Research on the Positioning of Underwater Vehicle Based on Convex Optimization

doi:10.3969/j.issn.1000-1093.2017.03.014

Abstract

Abstract: The localization method based on single beacon ranging is a new research direction of underwater acoustic positioning technology. A method based on convex optimization is proposed for the first time to solve the least square structure for the single beacon ranging and locating. An inequality constraint condition is added to the ranging equation with errors, and the ranging equation is reformulated as a constrained solution equation. The objective function and constraint condition are approximated by radiation, and the convex processing is carried out. The slack variable and penalty function are introduced to reduce the sensitivity of iteration initial value. Simulated results show that the difference of positioning results is in centimeter order of magnitude for different magnitudes of initial errors. The proposed algorithm can be iterated convergence to get high accuracy of the positioning results without reliable initial value. When the beacon is close the center distance of circular track, the positioning accuracy is higher. The effectiveness of the proposed algorithm is verified by experiments on the lake.Key

Key words: informationprocessingtechnology, singlebeaconranging, virtualbeacon, convexoptimization, constraintcondition, penaltyfunction

CLC Number:

TB568

CAO Jun， ZHENG Cui-e， SUN Da-jun， ZHANG Dian-lun. Research on the Positioning of Underwater Vehicle Based on Convex Optimization[J]. Acta Armamentarii, 2017, 38(3): 520-526.

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第38卷
第3期2017 年3月兵工学报ACTA
ARMAMENTARIIVol.38No.3Mar.2017

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