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TOA positioning algorithm of LBL system for underwater target based on PSO

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Journal of Systems Engineering and Electronics 2023年第5期34卷 1319-1332页

作者： XING Yao WANG Jiongqi HE Zhangming zhou xuanying CHEN Yuyun PAN Xiaogang College of Liberal Arts and Sciences National University of Defense TechnologyChangsha 410073China School of Mathematics and Big Data Foshan UniversityFoshan 528000China College of Systems Engineering National University of Defense TechnologyChangsha 410073China

For the underwater long baseline(LBL)positioning systems,the traditional distance intersection algorithm simplifies the sound speed to a constant,and calculates the underwa-ter target position parameters with a nonlinear ***,due to the complex underwater environment,the sound speed changes with time and space,and then the acoustic propagation path is actually a curve,which inevitably causes some errors to the traditional distance intersection positioning *** reduce the position error caused by the uncertain underwater sound speed,a new time of arrival(TOA)intersection underwater positioning algorithm of LBL system is ***,combined with the vertical layered model of the underwater sound speed,an implicit positioning model of TOA intersection is constructed through the constant gradient acoustic ray *** then an optimization function based on the overall TOA residual square sum is advanced to solve the position parameters for the underwater ***,the particle swarm optimization(PSO)algorithm is replaced with the tra-ditional nonlinear least square method to optimize the implicit positioning model of TOA *** with the traditional distance intersection positioning model,the TOA intersec-tion positioning model is more suitable for the engineering practice and the optimization algorithm is more *** results show that the proposed methods in this paper can effectively improve the positioning accuracy for the underwater target.

关键词： long baseline(LBL)positioning system sound speed profile constant gradient acoustic ray tracing time of arrival(TOA)intersection model particle swarm optimization(PSO)

System error iterative identification for underwater positioning based on spectral clustering

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Journal of Systems Engineering and Electronics 2024年第4期35卷 1028-1041页

作者： LU Yu WANG Jiongqi HE Zhangming zhou Haiyin XING Yao zhou xuanying College of Sciences National University of Defense TechnologyChangsha 410073China

The observation error model of the underwater acous-tic positioning system is an important factor to influence the positioning accuracy of the underwater *** the position inconsistency error caused by considering the underwater tar-get as a mass point,as well as the observation system error,the traditional error model best estimation trajectory(EMBET)with little observed data and too many parameters can lead to the ill-condition of the parameter *** this paper,a multi-station fusion system error model based on the optimal polynomial con-straint is constructed,and the corresponding observation sys-tem error identification based on improved spectral clustering is ***,the reduced parameter unified modeling for the underwater target position parameters and the system error is achieved through the polynomial *** a multi-sta-tion non-oriented graph network is established,which can address the problem of the inaccurate identification for the sys-tem ***,the similarity matrix of the spectral cluster-ing is improved,and the iterative identification for the system errors based on the improved spectral clustering is ***,the comprehensive measured data of long baseline lake test and sea test show that the proposed method can accu-rately identify the system errors,and moreover can improve the positioning accuracy for the underwater target positioning.

关键词： acoustic positioning reduced parameter system error identification improved spectral clustering accuracy analy-sis

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初始误差和制导工具误差估计的非线性方法

国防科技大学学报 2018年第6期40卷 61-67页

作者：李冬魏超周萱影中国人民解放军91550部队国防科技大学文理学院

准确估计初始误差和制导工具误差是机动发射飞行器精度鉴定必须解决的重要问题之一,提出了一种基于非线性模型的误差估计新方法。给出了平台初始失准角向定向误差的转换方法,采用不动点迭代法实现真实视加速度的精确计算,将真实发射系... 详细信息

准确估计初始误差和制导工具误差是机动发射飞行器精度鉴定必须解决的重要问题之一,提出了一种基于非线性模型的误差估计新方法。给出了平台初始失准角向定向误差的转换方法,采用不动点迭代法实现真实视加速度的精确计算,将真实发射系的轨道参数表示为初始误差和工具误差的非线性函数,结合外测数据建立了同时估计初始误差、工具误差、外测系统误差、遥外测时间零点偏差的非线性模型,避免了初始误差的线性化近似。给出了Bayes极大后验估计方法,利用非线性模型和先验信息获得误差的最优估计,证明了估计方法的收敛性。仿真结果表明,所提方法提高了初始误差和工具误差的估计精度,并实现了测量数据的自校准。

关键词：初始误差制导工具误差非线性模型 Bayes极大后验估计

Precision Boundary Analysis of TOA and TDOA

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Precision Boundary Analysis of TOA and TDOA

Guidance Systematic Error Separation Method Based on Nonlinear Combinatorial Model

第43届中国控制会议

作者： Liping Lai Zhangmin He Jiongqi Wang xuanying zhou Haiyin zhou College of Sciences National University of Defense Technology

TOA and TDOA are two commonly used time-based external positioning *** paper focuses on the precision boundary between ***,the initial linear analytic values of the two positioning methods are obtained according to the measurement geometry principle,and the iterative exact values are further solved according to the nonlinear least squares ***,the accuracy of the two positioning algorithms is analyzed by combining the station error and the clock error of the target and the stations,and we found the precision boundaries of two algorithms based on the the geometric location between the stations and the ***,based on the four-station "Y" and "T" layout configuration,the accuracy relations and precision boundary values of the two positioning algorithms are *** results show that when the variance ratio of three kinds of clock error is greater than the boundary value,the accuracy of TDOA is *** the range task planning,the precision boundary has important guiding significance for equipment selection and station layout optimization.

关键词： TOA TDOA Precision Boundary

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Guidance Systematic Error Separation Method Based on Nonline...

线性模型的海基制导系统误差分离方法性能分析

第37届中国控制会议

作者： xuanying zhou Zhengming Wang Dong Li Haiyin zhou Jiongqi Wang Department of Mathematics Nation University of Defense and Technology College of Systems Engineering Nation University of Defense and Technology Unit 94 PLA 91550

In order to improve the attack accuracy about sea-based missiles, an accurate separation of the guidance systematic errors including the instrumentation errors and the initial errors, is the key problem. However, the environmental matrix in traditional linear model is ill-conditioning as some systematic errors are coupling. Here we provide a nonlinear combinatorial model by making use of trajectory tracking data, and give a parameter estimation method to separate the guidance systematic errors under launch coordinate. In this study, we give the Bayesian Maximum a posterior（MAP） estimation, and apply this method to separate the guidance instrumentation errors and the initial errors simultaneously combining with trajectory tracking data fusion model. The simulation result shows that the precision of nonlinear combinatorial guidance systematic errors separation is higher than that of the traditional linear model.

关键词： Guidance system error separation nonlinear combinatorial model Bayesian Estimation sea-based missile

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国防科技大学学报 2019年第3期41卷 179-186页

作者：周萱影王正明李冬王炯琦国防科技大学文理学院湖南长沙410073 国防科技大学前沿交叉学科学院湖南长沙410073 中国人民解放军91550部队辽宁大连116023

利用传统制导工具系统误差线性回归模型,对Bayes估计、主成分分析以及正则化分析三种改进的分离方法进行比较,分析它们在工程应用上的优缺点,给出了实际应用时的限制因素;结合海基导弹特有的初始状态误差,设计整体估计、分段估计以及迭... 详细信息

利用传统制导工具系统误差线性回归模型,对Bayes估计、主成分分析以及正则化分析三种改进的分离方法进行比较,分析它们在工程应用上的优缺点,给出了实际应用时的限制因素;结合海基导弹特有的初始状态误差,设计整体估计、分段估计以及迭代估计三种估计策略,给出了相应的分离步骤。仿真结果表明,文中给出的三种误差分离方法在不同的评价标准下具有不同的实际应用意义;而在弹道差评价标准以及方差评价标准下,分段估计和迭代估计策略下的误差分离结果要明显好于传统整体估计结果。

关键词：海基惯性导弹误差分离 Bayes分析参数估计估计策略

基于遥测姿态变换的外测数据跟踪部位修正方法

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空间控制技术与应用 2024年第2期50卷 59-69页

作者：李冬赵书圆张鑫勇周萱影中国人民解放军91550部队大连116023 国防科技大学长沙410073

外测数据跟踪部位修正对于飞行器飞行试验的高精度轨迹参数获取有着重要意义.提出一种基于飞行器遥测姿态数据和粗略轨迹参数的跟踪部位修正新方法,利用遥测姿态数据确定惯导平台中心与跟踪部位轨迹参数的变换关系,进而由粗略轨迹参数... 详细信息

外测数据跟踪部位修正对于飞行器飞行试验的高精度轨迹参数获取有着重要意义.提出一种基于飞行器遥测姿态数据和粗略轨迹参数的跟踪部位修正新方法,利用遥测姿态数据确定惯导平台中心与跟踪部位轨迹参数的变换关系,进而由粗略轨迹参数推算惯导平台中心与跟踪部位测距、径向速度、方位角和俯仰角的差异值,实现跟踪部位修正量的准确计算.采用误差传播法对粗略轨迹误差影响下的跟踪部位修正精度进行理论分析,验证了该修正方法在实际应用中的有效性.进一步通过仿真实验和实装实验检验了修正精度.结果表明跟踪部位修正量的计算误差远小于外测系统的精度指标要求,有重要的实际应用价值.

关键词：外测跟踪部位遥测轨迹参数误差传播法修正精度

基于序列图像的深空小天体探测自主相对导航误差补偿方法研究

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中国科学：物理学、力学、天文学 2022年第1期52卷 54-63页

作者：侯博文王炯琦周海银周萱影何章鸣国防科技大学文理学院长沙410073

深空小天体是典型的空间非合作目标.基于序列图像的空间非合作目标自主相对导航是实现小天体探测的重要技术手段.由于在轨环境复杂,相机不可避免地会出现测量偏差,进而影响相对导航状态估计精度.本文在充分利用相机视场内恒星序列图像... 详细信息

深空小天体是典型的空间非合作目标.基于序列图像的空间非合作目标自主相对导航是实现小天体探测的重要技术手段.由于在轨环境复杂,相机不可避免地会出现测量偏差,进而影响相对导航状态估计精度.本文在充分利用相机视场内恒星序列图像的基础上,通过最小二乘法计算相机在轨标定初值,结合测量偏差状态转移模型和"恒星对"之间的星光角距测量方程,将测量偏差扩维成状态估计参数,构建了基于相机在轨误差补偿的相对导航状态估计模型.结合无迹卡尔曼滤波算法,通过序列图像的帧间信息对比进行迭代估计,获得相机测量偏差和相对导航系统状态,提高状态估计精度.仿真分析中采用2016HO3小天体作为相对导航目标,仿真结果说明了该方法的有效性,能够有效地补偿相机测量偏差,实现相对导航系统状态高精度估计,为后续开展相关任务提供了一定的技术支撑.

关键词：小天体探测序列图像误差补偿恒星角距相对导航

Improved Pseudorange Smoothing Method for Standing Multipath Mitigation

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Improved Pseudorange Smoothing Method for Standing Multipath...