Research On The Localization Algorithm Of Subaqueous Floating Array Units

In complex and changeable ocean environment, the position variation of floating sensor array units is affected by the environmental factors in the seawater. Tentative data which sensor array units gain whether have the significance is correlated by the relative position of array units. Therefore relative position localization between the array units becomes the key technology in gaining the subaqueous test data, to research the localization algorithm of subaqueous floating array units is proposed officially under this background.This paper takes the localization method of the subaqueous floating sensor array units as the object of study. The transmission characteristic of underwater sound signal and the primary factor influences of floating array unit localization accuracy have been studied. The specific localization coordinate system and the error correction model have been established, and the localization technology and algorithm of floating array units has been studied. At first, the performance of several kind of commonly used localization algorithms was discussed and analyzed in the paper, then one kind of Newton iteration localization algorithm based on least squares method was proposed. During guaranteeing calculation accuracy and convergence rate, the setting problem of initial value was better solved in Newton iteration method. The acoustic signal transmission rule and model in the sea had been studied, the basic principle of floating sensor array unit localization was introduced, and the primary factors which influence hydrolocation accuracy were analyzed. Union the factors affecting localization error, the error correction model was established, and one kind sensor array unit localization algorithm based on the error correction was proposed. The algorithm validity was confirmed through the value simulation, which established the foundation for information reconstruction of the data gaining by the sensor array units. In addition, the acoustic localization signal which the array unit positioning system sends out can be neglected by the shock-wave signal in underwater blast experiment. Moreover, the blast produces the high temperature and high pressure which make many effects on temperature change in this water area, which causes the sonic speed change to create the very big localization error and the localization system to be at abnormal work condition. In order to solve this problem, the shock-wave transmission rule and the model have been studied, and each station has carried on the reasonable sensor arrangement. Union similar theory, Uses the data which the limited acceleration instrument and many pressure sensors gain to carry on the forecast the array unit position, this method may save the experimental cost, but also need to obtain the further confirmation in later experiment.