AUV长基线定小位算法研究-软件工程专业毕业论文.docxVIP

AbstractRecent Abstract Recent years，underwater acoustic sensor networks(UASNs)have been increasingly gaining concems．As core technology of UASNs，localization approaches of energy conserving and high accuracy for autonomous underwater vehicle(AUV)are desideratum． Sea bed transponder based long baseline(LBL)localization system is a proper option．It meets the goal of intelligence，energy efficiency,independency and high accuracy． Analysis of advantages and disadvantages of classical localization algorithms for AUV are given．Further,with reviewing recent researches of LBL system，this paper figures out critical problems that need solving．That is：time—synchronization is hard to achieve in underwater environment；round-trip ranging(RTR)technology causes large ranging error； sound speed uncertainty adds inaccuracy to distance estimation but LBL methods sensitive to ranging precision．To address these，this work proposes time-synchronization free approach in shallow water(depth500m)：self-localization of autonomous underwater vehicles with accurate sound travel time solution(SL-STTS)．In SL-STTS，measurements of angle of arrival for acoustic signals and orientation for the AUV mainly analyzed to get the one-way travel time．A rational method of using the mathematical expectation to approximate the sound speed is presented．Then we use the Levenberg—Marquardt algorithm (LMA)to optimize the distance estimates and localize the AUV．Simulation results show that the performance of proposed algorithm meets the Cramdr-Rao bound well．Additionally, under the measurement noise of time and angles，the root mean square error of SL—STTS is decreased by about 8％～79％compared with the counterparts．And the average distance estimation error of SL-STTS is declined by 42％compared with the round trip ranging technology． In order to reduce the number of transponders used，a method called sequence-correlation localization algorithm based on signal screening(SCLSS)is proposed． SCLSS divides the location regio