本文選題：淺海水聲定位　切入點：有窮狀態(tài)自動機　出處：《中國海洋大學(xué)》2007年博士論文

【摘要】： 水聲定位技術(shù)在軍事和海洋科學(xué)領(lǐng)域都有廣泛的應(yīng)用,它在保障國家的國防安全和國民經(jīng)濟建設(shè)的順利進行中起著重要作用�；跍y時的長基線水聲定位系統(tǒng)由于定位精度高、范圍廣的特點是常用的定位方法之一。根據(jù)不同的工作方式可以選取不同的定位數(shù)學(xué)模型,包括球定位數(shù)學(xué)模型、雙曲線定位數(shù)學(xué)模型等。無論選用哪種定位數(shù)學(xué)模型,目標(biāo)與水聽器之間的斜距都是通過傳播時間與聲速的乘積獲得,通過求解非線性方程組進行目標(biāo)位置估計。目前普遍采用經(jīng)驗聲速的方法獲得聲速值,它適用于聲速剖面變化不大、海底與海平面對聲傳播的作用可以忽略的深海海域或者短距離定位的情況。淺海海域由于自身的特點對聲傳播影響很大,淺海兩點的聲速值由于不同的到達結(jié)構(gòu)而不同。為了提高測距和水聲定位精度,本文選取淺海海域兩點間的聲速,研究了淺海水聲定位技術(shù)及應(yīng)用問題。 眾所周知,淺海水聲定位主要包括兩個方面:一是聲場建模,二是定位算法研究。聲場建模是水聲定位的基礎(chǔ),而射線理論是常用的一種模型。淺海海域由于復(fù)雜性、多途性等特點使得聲線傳播非常復(fù)雜,目前基于聲線跨度的射線理論聲場模型具有精度低并且本征聲線搜索不全的缺點。本文在研究淺海聲線傳播的基礎(chǔ)上應(yīng)用有窮狀態(tài)自動機理論對淺海聲場進行建模,聲線傳播嚴(yán)格遵循Snell定律�；谟懈F狀態(tài)自動機的淺海聲場模型克服了其他模型難以處理反轉(zhuǎn)點處和反射點處聲線傳播誤差大的缺點,具有更高的計算精度。數(shù)值仿真驗證了該模型的有效性和正確性。 有效聲速法根據(jù)不同的聲線到達結(jié)構(gòu)區(qū)分聲速值,數(shù)值模擬和實驗驗證表明:深海有效聲速法比經(jīng)驗聲速法極大地提高了水聲定位精度。本文在深海有效聲速法概念的基礎(chǔ)上發(fā)展并提出了淺海有效聲速法,淺海有效聲速可以根據(jù)有窮狀態(tài)自動機的聲場模型計算得出。為了滿足水聲定位實時性的要求,本文提出了淺海有效聲速建表法和查表法,并通過數(shù)值模擬驗證了方法的正確性。 作為本文的另一個研究內(nèi)容,本文對深度已知的準(zhǔn)三維定位數(shù)學(xué)模型、傳感器網(wǎng)絡(luò)導(dǎo)致冗余信息存在等不同情況下的基于有效聲速法的水聲定位算法進行研究,模擬仿真得出以下結(jié)論:準(zhǔn)三維的定位數(shù)學(xué)模型受控于深度信息,在實際應(yīng)用中盡量采用三維定位數(shù)學(xué)模型;冗余信息可以提高水聲定位精度。通過對定位解的模糊性、無解性及水聲定位精度的幾何精度因子分析,得出一些有益的結(jié)論。數(shù)值模擬結(jié)果和理論相吻合,為水聲定位技術(shù)的應(yīng)用提供理論依據(jù)和技術(shù)支持。 淺海水聲定位技術(shù)的研究旨在解決國家安全和國民經(jīng)濟建設(shè)問題,本文對此開展了深入的理論及數(shù)值研究。所做的工作能夠?qū)Ｑ筇綔y與開發(fā)、海洋工程建設(shè)、海洋環(huán)境監(jiān)測和水下潛艇定位提供理論和技術(shù)支持。
[Abstract]:Acoustic positioning technology has been widely applied in military and marine science, it is the protection of national security and national economic construction plays an important role. The long baseline acoustic positioning system based on time measurement because of high precision, wide range of positioning is one of the commonly used method according to the different. Working mode can be selected positioning different mathematical models, including ball positioning mathematical model, hyperbolic positioning mathematical model. No matter which kind of positioning mathematical model, distance between target and hydrophone is obtained by multiplying the propagation time and velocity of the target position is estimated by solving the nonlinear equations. The commonly used method of sound experience the velocity, which is applicable to the sound velocity profile changes little, effect of seabed and sea level on sound propagation can be ignored in the deep waters or short distance The positioning of the shallow sea. Because of their own characteristics have great effects on the sound propagation velocity in shallow water two value due to the different structure and different arrival. In order to improve the precision of ranging and acoustic positioning, this paper selects the velocity of shallow sea between two points, the shallow water acoustic positioning technique and application problems.
As everyone knows, the shallow water acoustic localization mainly includes two aspects: one is the sound field modeling, two is the positioning algorithm. Acoustic modeling is the base of acoustic positioning, and ray theory is a model commonly used in shallow waters. Due to the complexity of the multipath characteristics of sound ray propagation is very complex, the acoustic ray theory model based on the acoustic line span have low accuracy and eigenray search not all shortcomings. Based on the research of the shallow water acoustic line communication on Application of finite state automaton theory to model the shallow water acoustic communication line, strictly follow the Snell law. The shallow water acoustic model based on finite state automaton model is difficult to overcome the other treatment at the inversion point and the reflection point error sound line big shortcomings, has higher accuracy. Numerical simulation results verify the validity and correctness of the model.
The effective sound velocity method according to the different acoustic ray arrival structure distinguish velocity, numerical simulation and experimental results show that the effective sound velocity method than the deep experience has greatly improved the accuracy of acoustic positioning. In this paper, based on the deep development of the concept of effective sound velocity method and puts forward the effective method of ultrasonic velocity in shallow water, shallow water according to the acoustic model with effective velocity the finite state automaton is calculated. In order to meet the requirements of real-time acoustic positioning, is proposed in this paper. The shallow water effective sound velocity table building method and look-up table method, and numerical simulations verify the correctness of the method.
As another research content of this paper, the quasi three-dimensional positioning mathematical model on the depth of the known sensor network leads to redundant information under different acoustic positioning algorithm based on the method of ultrasonic velocity is studied, simulation draws the following conclusions: accurate positioning mathematical model for controlled 3D depth information, in the practical application as far as possible the three-dimensional mathematical model; the redundant information can improve the accuracy of acoustic positioning. Based on location ambiguity, no analysis of GDOP solution and acoustic positioning accuracy, some useful conclusions are obtained. The results of numerical simulation and theory consistent, provide theoretical basis and technical support for the application of acoustic positioning technology.
Study on underwater acoustic positioning technology to solve the problem of national security and national economy construction, this paper carried out theoretical and numerical study. The work done to the exploration and development of ocean engineering, marine construction, marine environmental monitoring and positioning of the submarine underwater to provide theoretical and technical support.

【學(xué)位授予單位】：中國海洋大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2007
【分類號】：U666.7

【引證文獻】

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本文編號：1714068