Source localization based on two underwater acoustic gliders in deep water
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摘要:
为了验证多台滑翔机用于声源位置估计的可行性, 提出了一种基于声学滑翔机的联合水下声源定位方法。首先利用水下滑翔机在东印度洋北部海域获取的声传播数据, 分析了宽带脉冲信号的多途传播特性, 然后提出了利用单水听器基于脉冲波形结构匹配的声源距离估计方法, 在此基础上通过两台水下声学滑翔机联合定位的方式, 实现了水下声源距离和方位的同步估计。结果表明: 在印度洋深海非完全声道条件下, 在100 km范围内, 使用单台滑翔机估计的声源距离整体较为准确, 但仍有估计误差较大点; 联合两台滑翔机进行水下声源定位可进一步提高精度, 对于200 m深度的声源, 距离估计均方根误差为2.5 km, 相对误差小于4%, 方位估计均方根误差为2.4°。
Abstract:A joint underwater acoustic localization method based on acoustic glider is proposed to verify the feasibility of multiple gliders for range and orientation estimation of underwater sources. Using the hydrologic and acoustic data acquired by gliders in the eastern Indian Ocean, the broadband pulse multiple-path propagation characteristic along the distance is analyzed. A range estimation method for sound sources based on pulse waveform matching using a single hydrophone is proposed. For a source with an unknown location, the structure of the pulse waveform can be obtained from the experiment. According to the environmental information acquired, the copy field for the structure of pulse waveform at the different ranges is numerically calculated. After the process of correlating the experimental and simulation signals, the range estimation is realized corresponding to the maximum value of the correlation coefficient. Based on this, range and orientation estimation of underwater sources are achieved through the collaboration of two underwater gliders. The results show that within 100 km, the range estimation can be achieved by the single acoustic glider and there are still some points of large estimation error. The collaboration of two underwater gliders is used to improve the accuracy of range estimation. For the source depth of 200 m, the root mean square error (RMSE) of range and orientation estimation is 2.5 km and 2.4° respectively.
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Key words:
- Deep water /
- Underwater glider /
- Transmission loss /
- Waveform matching /
- Source localization
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