声呐位置误差情况下的运动目标多基地定位方法

摘要

In a multi-static sonar localization system,the sonar positions often include random errors that can seriously affect the target's localization accuracy.To tackle this problem,a moving target location algorithm based on time sum and Doppler frequency measurements is proposed.Firstly,the proposed algorithm reorganizes the nonlinear equations based on time sum and Doppler frequency localization mechanism into pseudo linear equations about target position,velocity and intermediate variables,and the initial moving target position and velocity are obtained by using weighted least-squares estimates.Secondly,the correlation between the position,velocity and the intermediate variables is used to estimate the estimation biases of target position and velocity.Finally,an error correction technique is used to correct the initial target position and velocity estimates.The effectiveness of the proposed algorithm is theoretically analyzed under small measurement noise postulation and the numerical verification is performed by using Monte Carlo simulation.%在多基地声呐定位系统中,声呐的位置信息往往含有随机误差,这些误差会严重影响目标的定位精度.针对这一问题,提出了一种基于时间和多普勒频率的运动目标定位方法.首先,将基于时间和多普勒频率定位机制的非线性量测方程组转化为关于目标位置、速度及中间变量的伪线性方程组,利用加权最小二乘估计法对运动目标的位置、速度进行初始求解;然后,利用位置、速度及中间变量之间的相关性对位置和速度的估计偏差进行求解;最后,对位置和速度的初始解进行误差修正.分析了所提算法在量测误差较小情况下的统计有效性,并通过蒙特卡洛模拟进行了数值验证.