数字海洋与水下攻防2023，Vol.6Issue(6)：656-663,8.DOI:10.19838/j.issn.2096-5753.2023.06.002
单机动平台时差定位航路规划方法
Path Planning For Single Motive Station Using TDOA Localization
摘要
Abstract
When conducting underwater targets positioning by a single platform using Time Difference of Arrival(TDOA),the path of the platform has a significant impact on positioning accuracy.To address the problem of how to plan the path and improve localization precision,a single-platform path planning method based on an improved dynamic window approach(DWA)is proposed.In the evaluation function of the conventional DWA algorithm,a localization precision evaluation sub-function is introduced,which is designed to minimize the horizontal dilution of precision(HDOP).Considering that the weights of the heading angle and localization precision evaluation sub-functions are related to the distance from the observation platform to the target,the weight coefficients of the heading angle and localization precision evaluation sub-functions are also optimized to allow for dynamic adjustments.Simulation results show that the path planned by the improved DWA algorithm can avoid obstacles while improving localization precision.关键词
航路规划/动态窗口法/水声定位/时差定位/水平精度因子Key words
path planning/dynamic window approach/underwater acoustic localization/TDOA/HDOP引用本文复制引用
郭惠功,曲龙,庞佳蕙,商志刚,周锋..单机动平台时差定位航路规划方法[J].数字海洋与水下攻防,2023,6(6):656-663,8.基金项目
声呐技术重点实验室基金(6142109KF2203) （6142109KF2203）
自然资源部海洋环境探测技术与应用重点实验室基金(MESTA-2021-A001) （MESTA-2021-A001）
水声对抗技术重点实验室基金(JCKY2022207CH09) （JCKY2022207CH09）
海底沉管高精度声呐测控系统研发(JSGG20220831103800001) （JSGG20220831103800001）
三亚市科技创新专项项目(2022KJCX33). （2022KJCX33）
