Passive localization by applying the generalized Radon transform to bottom reflection time delays
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摘要:
针对无源声呐目标定位问题, 提出了一种基于广义Radon变换的目标参数估计方法。首先, 基于深海直达声区推导了直达声与海底第一次反射声的到达时间差与目标运动参数的数学模型; 其次, 通过求解自相关函数得到目标的多途时延历程(MTDTR); 在此基础上引入广义Radon变换的思想, 联合两个水听器实现了水面匀速直航目标的航向角、速度、目标相对于水听器的初距和初始方位角估计。利用仿真数据和实验数据验证了该方法具有良好的参数估计性能。三亚东南部海域实验结果表明, 通过两个锚系在深海海底附近的声压水听器对水面目标进行定位, 可以实现在12.71 km范围内, 测距误差小于0.29 km, 相对误差小于3%的定位精度。
Abstract:To solve the problem of target location by passive sonar, a target parameter estimation method based on generalized Radon transform is proposed in this paper. Firstly, the mathematical model for the time delays between the direct and surface-reflected path in the deep ocean direct area and the target motion parameters is derived. Secondly, the multipath-time-delay-time records (MTDTR) are obtained by solving the autocorrelation functions. Finally, the heading angle, the velocity, the initial azimuth of the target, and the initial range of the target to the hydrophone are obtained by simultaneously applying the generalized Radon transform to MTDTR of two hydrophones. The parameter estimation performance of the proposed method is verified by computer simulations and sea trials. The results of the southeastern Sanya sea trials suggest that the proposed method can be used to locate the surface target by using two acoustic pressure hydrophones deployed near the seabed. More specifically, under the conditions of the sea trial test, the range measurement error is less than 0.29 km over a distance of 12.71 km, which equates to a relative error of less than 3%.
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图 5 Radon变换二维切片结果 (a)
$ \left( {{r_0},v} \right) $ 二维切片; (b)$ \left( {{r_0},{{{\varTheta }}_0}} \right) $ 二维切片; (c)$ \left( {v,{{{\varTheta }}_0}} \right) $ 二维切片
图 7 目标运动参数与
$ h/H $ 关系 (a)$ {r_0} $ 标准差; (b)$ v $ 标准差; (c)$ {\varTheta _0} $ 标准差; (d)$ {\theta _0} $ 标准差
图 8 目标运动参数与深度误差关系 (a)
$ {r_0} $ 标准差; (b)$ v $ 标准差; (c)$ {\varTheta _0} $ 标准差; (d)$ {\theta _0} $ 标准差
图 9 目标运动参数与声速误差关系 (a)
$ {r_0} $ 标准差; (b)$ v $ 标准差; (c)$ {\varTheta _0} $ 标准差; (d)$ {\theta _0} $ 标准差
图 10 目标运动参数与信噪比关系 (a)
$ {r_0} $ 标准差; (b)$ v $ 标准差; (c)$ {\varTheta _0} $ 标准差; (d)$ {\theta _0} $ 标准差
图 14 Radon变换二维切片结果 (a)
$ \left( {{r_0},v} \right) $ 二维切片; (b)$\left( {{r_0}, {{{\varTheta }}_0}} \right)$ 二维切片; (c)$\left( {v,{{{\varTheta }}_0}} \right)$ 二维切片 -
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