CN-121978627-A - Underwater positioning system based on multi-parameter fusion and sound channel multi-path inhibition

CN121978627ACN 121978627 ACN121978627 ACN 121978627ACN-121978627-A

Abstract

The invention provides an underwater positioning system based on multi-parameter fusion and sound channel multi-path inhibition, which comprises a multi-source parameter acquisition module, an environment perception modeling module, a sound channel multi-path recognition inhibition module, a multi-parameter fusion observation construction module and a cooperative positioning resolving module, wherein the multi-source parameter acquisition module is used for acquiring multi-dimensional parameters required by underwater target positioning, the environment perception modeling module is used for acquiring underwater environment parameters and constructing a sound velocity propagation model, the sound channel multi-path recognition inhibition module is used for carrying out filtering processing on acoustic echo signals in the multi-dimensional parameters and inhibiting multi-path components, the multi-parameter fusion observation construction module is used for carrying out modeling fusion on acoustic measurement parameters after inhibition to construct comprehensive observables, and the cooperative positioning resolving module is used for resolving and positioning the underwater target in combination with the comprehensive observables.

Inventors

DU DU
YUAN SIMING
LI LEI
HAN ENQUAN
LI TIANCHEN

Assignees

中国人民解放军92578部队

Dates

Publication Date: 20260505
Application Date: 20260213

Claims (6)

1. The underwater positioning system based on multi-parameter fusion and channel multi-path inhibition is characterized by comprising a multi-source parameter acquisition module, an environment perception modeling module, a channel multi-path recognition and inhibition module, a multi-parameter fusion observation construction module and a cooperative positioning resolving module, wherein the multi-source parameter acquisition module is used for acquiring multi-dimensional parameters required by underwater target positioning, the environment perception modeling module is used for acquiring underwater environment parameters and constructing a sound velocity propagation model, the channel multi-path recognition and inhibition module is used for carrying out filtering processing on acoustic echo signals in the multi-dimensional parameters and inhibiting multi-path components, the multi-parameter fusion observation construction module is used for carrying out modeling fusion on acoustic measurement parameters after inhibition to construct comprehensive observables, and the cooperative positioning resolving module is used for resolving and positioning the underwater targets by combining the comprehensive observables; The multi-source parameter acquisition module comprises a plurality of hydrophone nodes which are distributed in an underwater space to realize collaborative acquisition of multi-dimensional parameter, each hydrophone node comprises an acoustic signal receiving and transmitting unit, a time synchronization unit and a gesture depth acquisition unit, the acoustic signal receiving and transmitting unit is used for transmitting positioning acoustic signals and receiving acoustic echo signals from underwater targets or other hydrophone nodes, the time synchronization unit is used for synchronizing and calibrating internal clocks of the hydrophone nodes, and the gesture depth acquisition unit is used for acquiring gesture and depth information of the hydrophone nodes.
2. The underwater positioning system based on multi-parameter fusion and sound channel multi-path suppression according to claim 1, wherein the environment perception modeling module comprises an environment parameter acquisition unit and a sound velocity profile construction unit, wherein the environment parameter acquisition unit is used for acquiring environment parameters of an underwater environment, the environment parameters comprise temperature, salinity and depth, and the sound velocity profile construction unit is used for constructing an underwater sound velocity propagation model based on the underwater environment parameters.
3. The underwater positioning system based on multi-parameter fusion and channel multi-path suppression according to claim 1, wherein the channel multi-path recognition suppression module comprises a feature extraction unit, a candidate propagation path modeling unit, a multi-path consistency discrimination unit and a confidence evaluation unit, wherein the feature extraction unit is used for performing filtering demodulation processing on acoustic echo signals acquired by the acoustic signal transceiving unit and converting the continuous acoustic echo signals into signal vector representations in discrete forms, the candidate propagation path modeling unit is used for constructing a candidate propagation path set for describing possible propagation modes of the acoustic signals based on an priori spatial relation between a hydrophone node and an underwater target and an underwater sound velocity propagation model and representing the propagation path set as a computable path dictionary structure, the multi-path consistency discrimination unit is used for expressing the signal vectors acquired by the feature extraction unit as superposition forms of a plurality of propagation paths under the constraint of the candidate propagation path set and solving an optimal propagation structure estimation result conforming to a direct propagation characteristic, and the confidence evaluation unit is used for performing reliability evaluation on the propagation paths conforming to the direct propagation characteristic in the optimal propagation structure estimation result and outputting the direct propagation degree.
4. The underwater positioning system based on multi-parameter fusion and channel multi-path inhibition according to claim 1, wherein the multi-parameter fusion observation construction module comprises an observation quantity modeling unit and a confidence coefficient driving weight construction unit, the observation quantity modeling unit is used for converting direct propagation delay parameters into observation quantity expression forms required by positioning calculation and carrying out unified modeling with other observation quantities acquired in the system, and the confidence coefficient driving weight construction unit is used for carrying out self-adaptive adjustment on weights of corresponding observations in comprehensive observation quantities based on propagation confidence coefficients output by the channel multi-path recognition inhibition module so that the observation weights dynamically change along with propagation reliability.
5. The underwater positioning system based on multi-parameter fusion and sound channel multi-path inhibition, which is disclosed in claim 1, is characterized in that the co-positioning resolving module comprises a state prediction unit and a positioning resolving unit, wherein the state prediction unit is used for predicting the position state of an underwater target at the current moment based on a historical positioning result and a motion model and is used as a priori constraint of positioning resolving, and the positioning resolving unit is used for carrying out weighted resolving on the position state of the underwater target by combining the observed quantity and weight information thereof output by the multi-parameter fusion observation building module under the prior constraint.
6. An underwater positioning system based on multi-parameter fusion and channel multi-path suppression as claimed in claim 3, wherein the multi-path consistency discrimination unit solves the propagation structure by the following optimized objective function: ; Wherein, the For solving the obtained optimal propagation structure estimation result, the method is used for representing the contribution amplitude of each candidate propagation path in the received signal; For the signal vector acquired by the feature extraction unit, Dictionary matrices for candidate propagation paths; The complex amplitude coefficient set corresponding to the candidate propagation paths is used for representing the contribution degree of each candidate propagation path in the received signal; is a sparse regular coefficient and is used for limiting the number of effective propagation paths; is the number of candidate propagation paths; the direct propagation prior is used for enhancing the guiding effect of the direct propagation prior on the solving process; the direct propagation delay predicted value is obtained in advance; Is the first Amplitude coefficients corresponding to the candidate propagation paths; Is the first Gating weight functions of the candidate propagation paths satisfy: ; Wherein, the Is the first Propagation delay parameters corresponding to the candidate propagation paths, Is a gating width parameter used to reflect uncertainty in propagation delay predictions.

Description

Underwater positioning system based on multi-parameter fusion and sound channel multi-path inhibition Technical Field The invention relates to the technical field of underwater positioning navigation, in particular to an underwater positioning system based on multi-parameter fusion and sound channel multi-path inhibition. Background Along with the development of ocean exploration, underwater operation and intelligent equipment, the accurate positioning of an underwater target becomes one of key technologies in underwater communication, navigation and collaborative operation, underwater acoustic signals become main technical means for realizing underwater information perception and positioning under the condition of serious attenuation of electromagnetic waves in an underwater environment, however, the underwater acoustic propagation process is easily influenced by the structural changes of sea surfaces, seabed and water bodies, so that a plurality of propagation paths are generated in the acoustic signals in the propagation process, and the received signals show obvious time extension and structural complexity. In practical application, the underwater sound positioning system often needs to rely on information such as propagation time, space geometric relation and the like to calculate the target position, but the complex propagation environment can obviously reduce the reliability of observation information so as to influence the positioning accuracy and stability, and especially in application scenes with shallow sea, multiple obstacles or frequent environmental change, the traditional positioning method based on single observation or fixed weight is difficult to consider the positioning accuracy and the system robustness, and is easy to be interfered by abnormal observation or unstable propagation conditions. Therefore, how to effectively distinguish different propagation characteristics under the complex underwater sound propagation condition and reasonably utilize the reliability of the observation information in the positioning calculation process becomes a technical problem to be solved in order to improve the performance of the underwater positioning system. Referring to the related published technical scheme, the technology with the publication number of CN110703206A provides an underwater UUV communication positioning integrated system, which comprises one or more beacons and a positioning module arranged on the underwater UUV, wherein each beacon comprises a case, a first depth sensor, an underwater acoustic communication transducer A and an underwater acoustic communication transducer hanging and recovering device, and each positioning module arranged on the underwater UUV comprises an underwater acoustic communication transducer B and a communication and positioning module. The underwater UUV integrated positioning method based on the direct-expansion signal has the advantages that underwater acoustic communication and positioning integration is realized through software processing on the premise that the hardware scale of the underwater UUV is not increased, and through the communication positioning integration design of adopting the direct-expansion signal as a signal form of an underwater acoustic positioning ranging process and adopting a high-speed OFDM communication signal as a signal form of video recording data (compressed) transmission, the usability of the video recording data is improved on the premise that the video recording data transmission is guaranteed, but the scheme mainly focuses on the integration of communication and positioning functions, does not conduct targeted modeling and suppression on multi-path interference in a complex underwater acoustic propagation environment, and does not introduce a positioning calculation mechanism based on observation reliability or propagation consistency, so that the positioning stability and precision are limited in scenes with obvious multi-path effect or large observation quality fluctuation. Disclosure of Invention The invention aims to provide an underwater positioning system based on multi-parameter fusion and multi-path inhibition of sound channels, aiming at the defects existing at present. The invention adopts the following technical scheme: The underwater positioning system based on multi-parameter fusion and channel multi-path inhibition comprises a multi-source parameter acquisition module, an environment perception modeling module, a channel multi-path recognition inhibition module, a multi-parameter fusion observation construction module and a cooperative positioning resolving module, wherein the multi-source parameter acquisition module is used for acquiring multi-dimensional parameters required by underwater target positioning, the environment perception modeling module is used for acquiring underwater environment parameters and constructing a sound velocity propagation model, the channel multi-path recognition inhibition