Research On Predicting The Location And Distance Of The Target Based On Underwater Active Electrolocation

As one of the important tools for exploring the ocean,Autoomous Underwater Vehicle(AUV)can perform multiple operations in the ocean,and the positioning and detection of underwater targets is the key technology for underwater machines to complete underwater operations.Based on the research of traditional underwater positioning system in the past,this paper proposes a new positioning method based on the active electrolocation mechanism of weak electric fish.On the bionic active electrolocation experimental platform which is established before,the paper explores the influence of the target on the underwater electric field environment and finds the correlation between the detected signal and the object.After the related research on the underwater response characteristics of the target,this paper studies the underwater target positioning and the distance prediction of the underwater target.On the one hand,the active electrolocation mechanism of weak electric fish is applied to the positioning system of this project,and an improved underwater positioning algorithm which is suitable for this system is designed.Then the effectiveness of the improved algorithm is verified from the simulation and physical experiment respectively.On the other hand,taking the characteristic response value of the target as the breakthrough point,this paper applies the response feature to the distance prediction of the underwater target,analyzing the nonlinear relationship between the response value and the target distance,and establishing a distance prediction model based on active electrolocation mechanism according to sample data.The main contents of this paper are as follows:(1)The disadvantages of the current traditional positioning systems are analyzed after several mainstream underwater target positioning systems are studied.And a new positioning method based on the active electrolocation mechanism of weak electric fish is proposed to overcome the difficulties of working in the dark and turbid underwater environment.(2)Starting from the electric field theory,this paper studies the basic electric field principle existing in the active electrolocation system of weak electric fish,exploring the influence of the target on the underwater electric field environment,which provides a theoretical basis for the later research on target positioning and distance prediction.(3)The optimization algorithm for underwater active electrolocation is explored,and the traditional optimization algorithms are compared by simulation experiments.According to the simulation results,the problems existing in the traditional optimization algorithm when applied to underwater active electric field positioning experiments are analyzed.(4)The improved positioning algorithm for active electrolocation system is designed.And the effectiveness of the improved algorithm when applied to active electrolocation system is proved by simulation and verification experiment.(5)The method of distance prediction based on underwater active electric field is explored.And the distance prediction model based on underwater active electric field is established by using the classification regression tree(CART)model.Finally,the test sample data is used to test the model to prove the validity and feasibility of the prediction model.