阅读说明：本技术 一种基于测量点优化布局的水声应答器位置高精度校准方法 (A kind of acoustic responder position high accuracy calibration method based on measurement point optimization layout ) 是由 付进 王燕 梁国龙 熊逸文 向宇 邹男 孙思博 张光普 邱龙皓 王晋晋 李娜 于 2019-08-26 设计创作，主要内容包括：本发明公开了一种基于测量点优化布局的水声应答器位置高精度校准方法,包括以下步骤：首先建立基于波达方向的应答器位置校准模型；其次构建应答器位置校准测量点优化布局目标函数；接着采用遗传算法求解测量点优化布局方位角；然后对测量点进行迭代优化布局；最后获得应答器位置最终精测结果。相对于传统的方法,本发明的优势在于：1)针对基于波达方向的应答器位置校准模型,综合考虑了角度测量误差和测量点位置误差的影响,构建了测量点优化布局目标函数,通过求解目标函数可获得相对于待测应答器位置的最优测量点布局,为获得高精度的校准结果提供了基本保障；2)通过测量点优化布局和循环迭代运算,可有效提高水声应答器位置的校准精度。(The invention discloses a kind of acoustic responder position high accuracy calibration methods based on measurement point optimization layout, comprising the following steps: initially sets up the transponder location calibrating patterns based on direction of arrival；Secondly building transponder location calibration measurement point optimizes packing objective function；Then measurement point is solved using genetic algorithm and optimizes layout orientation angle；Then optimization layout is iterated to measurement point；Finally obtain the final accurate measurement result of transponder location.Relative to traditional method, present invention has an advantage that 1) be directed to the transponder location calibrating patterns based on direction of arrival, the influence of angle measurement error and measurement point location error is comprehensively considered, construct measurement point optimization packing objective function, it is laid out by solving the available optimal measurement point relative to transponder location to be measured of objective function, provides basic guarantee to obtain high-precision calibration result；2) by measurement point optimization layout and loop iteration operation, the calibration accuracy of acoustic responder position can be effectively improved.)

1. a kind of acoustic responder position high accuracy calibration method based on measurement point optimization layout, which is characterized in that the water Acoustic transponder position high accuracy calibration method the following steps are included:

S1 establishes the acoustic responder position correction model based on direction of arrival；

S2 learns by the acoustic responder position correction model based on direction of arrival, calibrating patterns needed for constructing objective function F Error σ_XAnd σ_YFrom angle measurement error σ_θWith measurement point location error σ_r, according to minimize mean square error calculation method, It constructs transponder location calibration measurement point and optimizes packing objective function F；

S3 optimizes packing objective function according to measurement point constructed in step S2, solves measurement point using genetic algorithm and optimizes cloth Office azimuth；

S4 is laid out according to measurement point optimization two measurement point position optimizations of layout orientation angle progress and estimates that transponder location is sat Mark；

S5 circulation executes step S4, when meeting iteration termination condition, stops iteration and obtains the final accurate measurement result of transponder location.

2. a kind of acoustic responder position high-precision calibration side based on measurement point optimization layout according to claim 1 Method, which is characterized in that in step S1, specifically, the acoustic responder position correction model based on direction of arrival are as follows:

Wherein, (X, Y) is transponder horizontal position coordinate to be measured, and i is measurement point serial number, (x_i,y_i) it is measurement point position coordinates, θ_iFor the azimuth of transponder to be measured.

3. a kind of acoustic responder position high-precision calibration side based on measurement point optimization layout according to claim 1 Method, which is characterized in that in step S2, specifically, according to the calculation method for minimizing mean square error, construction measurement point optimization layout Objective function F is as follows:

WhereinFor baseline length,

Wherein, θ₁And θ₂For the direction of arrival actual measured value of two measurement points.

4. a kind of acoustic responder position high-precision calibration side based on measurement point optimization layout according to claim 1 Method, which is characterized in that in step S4, specifically, using transponder release position to be measured position as the first basic point, extremely according to step S2 The top optimization direction angle that step S3 is calculated carries out first time measurement point layout, and it is as follows that measurement point is laid out formula:

Wherein (X₀,Y₀) be the first basic point coordinate, (x₁,y₁) be the first measurement point coordinate, (x₂,y₂) it is the second measurement point Coordinate, a₁、a₂The corresponding top optimization direction angle of the first measurement point, the second measurement point resolved for step S3, L is baseline Length,

Then it utilizes in two measurement points direction of arrival actual measured value θ obtained₁、θ₂, calculate and obtain the of transponder location An iteration calculation result, formula are as follows:

Technical field

The invention belongs to underwater sound navigation fields, more particularly to a kind of underwater sound response based on measurement point optimization layout Device position high accuracy calibration method.

Background technique

Ocean area accounts for 70% or more of the earth gross area, is the cradle of human life and the resource treasure-house of the earth.With The increase of population, the deterioration of environment, land resource peter out, today, ocean has become human survival and development Important space.Sound wave is the currently the only information carrier that can effectively propagate in ocean medium and long distance, is widely used in leading Boat positioning, hydrospace detection, Marine Natural Disaster forecast, subsurface communication and remote control, marine organisms protection and ocean military affairs etc.. With the development and utilization of marine resources and to the further investigation of marine environment, acoustic responder is in hydrolocation and the various underwater sounds It is widely used in equipment.Underwater response node of the transponder as underwater sound equipment, it is necessary before underwater sound equipment work It first corresponds to answer device position and be calibrated, the accurate calibration of transponder location is the premise of underwater sound equipment work, its calibration essence Degree will directly affect the working performance of underwater sound equipment.

Under normal conditions, transponder depth to be measured is measured by the sounding system that subsurface buoy carries.Transponder horizontal position is general It is calibrated using the method based on arrival time (Time of Arrival, TOA).However it is wanted when based on arrival time calibration Ask transponder clock that must be consistent with surveying vessel clock time, when transponder internal clocking unstability leads to not obtain more When accurate oblique distance information, the result error obtained using this calibration method is very big to be even unable to complete calibration.In this feelings Under condition, the calibration method based on direction of arrival (Direction of Arrival, DOA) can solve this problem.This school Quasi- method mainly uses surveying vessel to carry boat-carrying sonar battle array and is measured to transponder to be measured, and surveying vessel is equipped with satellite positioning system It unites and determines the location information of measurement point, then believed by measurement point to the azimuth transponder to be measured by measurement acoustical signal Breath, thus radial line of the composition one from transponder to be measured to sonar battle array, i.e. rhumb line.Finally surveyed using surveying vessel at two The azimuth determination value that amount point position provides, the intersection point of two rhumb line is determined by azimuth method, transponder as to be measured Horizontal position.After transponder enters water, since subsurface water current environment is sufficiently complex, the operating position distance of transponder is caused to launch position It is equipped with certain deviation.At this point, if still measuring a layout according to transponder placement position for basic point does not meet practical feelings Condition, if transponder physical location and placement position deviation are excessive, this measurement point layout for not meeting actual conditions will be serious Influence the calibration accuracy of transponder location.Measurement point layout must be optimized to improve calibration accuracy.In view of the above problems, The present invention proposes a kind of acoustic responder position high accuracy calibration method based on measurement point optimization layout.This method can by pair The optimization of measurement point layout effectively improves the calibration accuracy of acoustic responder position.

Summary of the invention

The invention discloses a kind of acoustic responder position high accuracy calibration method based on measurement point optimization layout, the party Method be able to solve it is existing tally with the actual situation, the advantages that calibration accuracy is high.

The invention is realized by the following technical scheme: a kind of acoustic responder position based on measurement point optimization layout is high-precision Spend calibration method, acoustic responder position high accuracy calibration method the following steps are included:

S1 establishes the acoustic responder position correction model based on direction of arrival；

S2 learns by the acoustic responder position correction model based on direction of arrival, calibration needed for constructing objective function F Model error σ_XAnd σ_YFrom angle measurement error σ_θWith measurement point location error σ_r, according to the calculating for minimizing mean square error Method, building transponder location calibration measurement point optimize packing objective function F；

S3 optimizes packing objective function according to measurement point constructed in step S2, and it is excellent to solve measurement point using genetic algorithm Change layout orientation angle；

S4 is laid out according to measurement point optimization two measurement point position optimizations of layout orientation angle progress and estimates transponder position Set coordinate；

S5 circulation executes step S4, when meeting iteration termination condition, stops iteration and obtains the final accurate measurement of transponder location As a result.

Further, in step S1, specifically, the acoustic responder position correction model based on direction of arrival are as follows:

Wherein, (X, Y) is transponder horizontal position coordinate to be measured, and i is measurement point serial number, (x_i,y_i) it is that measurement point position is sat Mark, θ_iFor the azimuth of transponder to be measured.

Further, in step S2, specifically, according to the calculation method for minimizing mean square error, construction measurement point optimization Packing objective function F is as follows:

WhereinFor baseline length,

Wherein, θ₁And θ₂For the direction of arrival actual measured value of two measurement points.

Further, in step S4, specifically, using transponder release position to be measured position as the first basic point, according to step The top optimization direction angle that S2 to step S3 is calculated carries out first time measurement point layout, and it is as follows that measurement point is laid out formula:

Wherein (X₀,Y₀) be the first basic point coordinate, (x₁,y₁) be the first measurement point coordinate, (x₂,y₂) it is the second measurement The coordinate of point, a₁、a₂The corresponding top optimization direction angle of the first measurement point, the second measurement point resolved for step S3, L are Baseline length,

Then it utilizes in two measurement points direction of arrival actual measured value θ obtained₁、θ₂, calculate and obtain transponder location First time Iterative as a result, formula is as follows:

The beneficial effects of the present invention are: the invention proposes a kind of acoustic responder positions based on measurement point optimization layout High accuracy calibration method is set, this method is essentially consisted in relative to the advantage of conventional method:

1) the transponder location calibrating patterns based on direction of arrival are directed to, angle measurement error and measurement point have been comprehensively considered The influence of location error constructs measurement point optimization packing objective function, can get by solving objective function relative to be measured The optimal measurement point of transponder location is laid out, and provides basic guarantee to obtain high-precision calibration result.

2) by measurement point optimization layout and loop iteration operation, the calibration essence of acoustic responder position can be effectively improved Degree.

Detailed description of the invention

Fig. 1 is a kind of side of acoustic responder position high accuracy calibration method based on measurement point optimization layout of the invention Method flow chart；

Fig. 2 is the measurement point layout orientation angle schematic diagram of acoustic responder position correction；

Fig. 3 calibration accuracy is with the number of iterations change curve.

Specific embodiment

Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

Referring to Fig.1 shown in, the invention is realized by the following technical scheme: it is a kind of based on measurement point optimization layout the underwater sound answer Answer device position high accuracy calibration method, which is characterized in that acoustic responder position high accuracy calibration method includes following step It is rapid:

S1 establishes the acoustic responder position correction model based on direction of arrival；

S2 constructs transponder location calibration measurement point, optimizes packing objective function；

S3 optimizes packing objective function according to measurement point constructed in step S2, and it is excellent to solve measurement point using genetic algorithm Change layout orientation angle；

S4 is laid out according to measurement point optimization two measurement point position optimizations of layout orientation angle progress and estimates transponder position Set coordinate；

S5 circulation executes step S4, when meeting iteration termination condition, stops iteration and obtains the final accurate measurement of transponder location As a result.

In the preferred embodiment of this part, in step S1, specifically, the acoustic responder position correction based on direction of arrival Model are as follows:

Wherein, (X, Y) is transponder horizontal position coordinate to be measured, and i is measurement point serial number, (x_i,y_i) it is that measurement point position is sat Mark, θ_iFor the azimuth of transponder to be measured.

In the preferred embodiment of this part, in step S2, specifically, according to step 1, calibrating patterns error σ_X、σ_Y From angle measurement error σ_θWith measurement point location error σ_r, according to the calculation method for minimizing mean square error, construct target letter Number F is as follows:

WhereinFor baseline length,

When objective function F obtains minimum value, the calibration accuracy highest of acoustic responder, θ at this time₁、θ₂I.e. measurement point is excellent Change the corresponding azimuth optimal value of layout.

In the preferred embodiment of this part, in step S3, specifically, optimizing cloth according to measurement point constructed in step S2 Office objective function F, is solved using genetic algorithm, obtains azimuth optimum results.Since genetic algorithm has structure simple, The features such as versatile, calculation amount is small, and robustness is strong, and global optimization ability is strong, so being selected as calculation method.

In the preferred embodiment of this part, in step S4, specifically, using transponder release position to be measured position as the first base Point carries out first time measurement point layout according to the top optimization direction angle that step S2 to step S3 is calculated, and measurement point is laid out formula It is as follows:

Wherein (X₀,Y₀) be the first basic point coordinate, (x₁,y₁) be the first measurement point coordinate, (x₂,y₂) it is the second measurement The coordinate of point, a₁、a₂The corresponding top optimization direction angle of the first measurement point, the second measurement point resolved for step S3, L are Baseline length,

Then it utilizes in two measurement points direction of arrival information θ obtained₁、θ₂, calculate and obtain transponder location for the first time Iterative is as a result, formula is as follows:

In the preferred embodiment of this part, specifically, in step S5, specifically, circulation executes step S4, when meeting iteration When termination condition, stops iteration and obtain the final accurate measurement result of transponder location.

Second of measurement point layout is carried out using first time transponder location calculation result as the second basic point, and obtains second Secondary calculation result, and so on.When meeting iteration termination condition, stops iteration and obtain the final accurate measurement result of transponder location. According to the difference of n-th calculation result and the N-1 times calculation result, iteration threshold is set.Iteration threshold is set as required by step S3 The optimal accurate precision F of theory out, is shown below:

Wherein, (X_N,Y_N) it is that n-th settles accounts structure, (X_N-1,Y_N-1) it is the N-1 times checkout result, when meeting above formula, i.e., Stop iteration and using n-th calculation result as the final accurate measurement result of transponder location.

A specific implementation example is given below:

Using emulation data to the acoustic responder position high-precision based on measurement point optimization layout designed by the present invention Calibration method is verified, and is illustrated to processes result.

It is as follows that each parameter is provided first: angle measurement error σ_θIt is 1 °, measurement point location error difference σ_rFor 1m, baseline length L For 100m.Transponder placement position is (0,0), and transponder physical location is (200, -300).Acoustic responder position is imitative at this The top optimization direction angle schematic diagram calibrated under the conditions of true is as shown in Figure 2.Theoretic optimal calibration accuracy F=2.174m.It is computed, It can reach iteration threshold setting requirements after 5 iteration, calibration accuracy is 2.178m at this time, and if made with placement position A calibration error for layout, which is measured, for basic point is up to 41.57m.Calibration accuracy with the number of iterations change curve such as Fig. 3 institute Show.