A localization algorithm based on modified observations for underwater mobile nodes

被引：0
|
作者：
Feng G. [1 ]
Shan Z. [1 ,2 ]
Xiang W. [1 ]
机构：
[1] School of Computer Science, South China Normal University, Guangzhou
[2] School of Distance Education, South China Normal University, Guangzhou
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2020年 / 28卷 / 05期
关键词：
Mobile nodes; Modified observations; Particle filter; Sound ray bending; Sound velocity profile; Underwater acoustic localization;
D O I：
10.13695/j.cnki.12-1222/o3.2020.05.006
中图分类号：
学科分类号：
摘要：
In the underwater acoustic positioning system, the bending of the acoustic line and the mobility of the nodes are the main factors that cause the large positioning error. To solve this problem, a modified observations particle filter (MOPF) is proposed. First, according to the sound velocity profile, the observation distance is modified by iterative approach to compensate the ranging error caused by the bending of the sound line. Then, the observation distance is further modified by the product of the velocity of the mobile node in the direction of the beacon node and the arrival time difference of the positioning signal. Finally, the weight of the random particles generated by the particle filter is updated by the twice modified observation value, and the best position estimation is obtained. The simulation results show that the average positioning error of MOPF algorithm is 0.72 m, and the positioning accuracy is improved by 50% compared with the extended Kalman filter algorithm. The MOPF algorithm solves the influence of node motion characteristics and position on positioning accuracy, and improves the stability of positioning system. © 2020, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：603 / 607
页数：4
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