Research On Underwater Target Locating Technology Based On Poles Array

Underwater target electro-locating technology can be applied in complex cases such as lightless water,turbidity water,complicated geomorphology and high mechanical noise,with less affection of Doppler and multipath effect.Underwater target locating technology has important research significance in the fields of underwater robot positioning and navigation,underwater equipment positioning and abysmal ocean exploitation.And underwater electrolocating has the advantages of good concealing performance,simple hardware system and simple channel model.Compared with sonar and optical positioning sensors,the cost of underwater electro-locating equipment is much lower.Therefore,the underwater electrolocating technology has certain scientific significance and application value.The research of our work can be summarized as follows:1.Electric dipole underwater target locating forward model is set up by the theory of electromagnetic field propagation.Aiming at the localization of a single electric dipole,the underwater electro-locating in horizontal and non-horizontal states is studied.The selection of excitation signal waveform and frequency is analyzed and discussed.2.This paper proposed an underwater target locating and directing algorithm of horizontal dipole based on binary image boundary extraction,least squares line fitting and gauss-newton iteration method for.And the gauss-newton iteration initial is optimized by voltage matrix interpolation imaging.3.The underwater target locating and directing algorithm of non-horizontal dipole was realized by MP-MUSIC and PSO.This paper proposed an APSO optimization algorithm of individual evolution to solve the problem that the inertial weight coefficient reduces the performance of local search.The idea of this algorithm is to establish the evolution factor according to the relation between the particle position and the optimal solution.Evolutionary factors divide particles into four states.And each particle adjusts the inertia weight coefficient and learning factor according to its own evolution state to ensure the rapid convergence and improve the local search ability.4.The hardware platform of underwater target locating experiment is designed and built.The underwater target locating of horizontal and non-horizontal electric dipoles was experimentally tested in a laboratory environment.Experimental results verify the feasibility of the proposed algorithm.