Consensue-based Cooperation Localization Algorithm For Underwater Target

With people's increasing emphasis on the ocean,the acoustic sensing networks,which contain sensor technology,communication technology and information processing,have been widely used in related underwater research.As one of the key issues in applications of underwater target network,underwater localization aims to estimate the location of a target,which can provide some reference for the subsequent underwater research.However,the properties of complexed underwater environment and noise increase the difficulty for target location task.In order to achieve accurate location for the underwater target,this paper designs the consensus algorithms to fuse target information by using the advantages of sensor network,thus the influence of measurement error and noise can be reduced,and the accuracy of target location is improved.Firstly,by analyzing the influence of underwater environment,the architecture of acoustic sensor networks is obtained to realize target location task.Considering the measurement error inevitably exists,if using the conventional trilateration method to obtain the noncooperative target location,the case of no solution is easy to appear,which means that the target location task is failed.Therefore,based on the measurement information of target,a regional optimal solution is proposed,which can achieve the position estimation from the view of information optimization,in addition,the failure of target location task can be avoided.The simulation results illustrate the feasibility of the algorithm.Secondly,due to the measurement error and noise,the accuracy of noncooperative target location is limited,thus,a consensus estimation algorithm based acoustic sensor network is designed in this paper.Based on the regional optimal solution,fusing the location result among sensor nodes to reduce the influence of measurement error and noise,the consensus estimation algorithm can improve the accuracy of underwater noncooperative target.In addition,relative proof and simulation results verify the effectiveness.At last,for the underwater cooperative target location,considering the state estimation method,an underwater cooperative target location algorithm based dynamic sensor network is designed.With the cooperative of sensor nodes,the measurement information can be obtained from different way.Then using the different measurements in consensus unscented Kalman filtering algorithm to obtain the accurate target localization,in this way,the location function is not needed,and the case of the no solution would not appear.And simulations are given to show the location algorithm has a better performance.