超短基線定位系統(tǒng)顯控及算法實現(xiàn)技術(shù)研究的中期報告

超短基線定位系統(tǒng)顯控及算法實現(xiàn)技術(shù)研究的中期報告AbstractInthismid-termreport,weintroduceourresearchprogressandachievementsonthedisplayandalgorithmimplementationoftheUltra-ShortBaselinePositioningSystem(USBL).First,webrieflysummarizetheUSBLsystem'sprinciples,advantages,andapplications.Then,wedescribethedesignandimplementationoftheUSBLdisplaysoftware,includingthesoftwareframework,interfacedesign,anddatavisualization.Next,wediscussthealgorithmoptimizationandsimulationresultsoftheUSBLsystem,includingtheLeast-Squares(LS)andExtendedKalmanFilter(EKF)algorithms.Finally,weconcludethereportwithadiscussionofthefutureresearchdirectionsandchallenges.IntroductionTheUltra-ShortBaselinePositioningSystem(USBL)isawidelyusedtechnologyforunderwaterpositioningandtracking.Itisbasedontheprinciplesofacousticdistancemeasurementandtriangulation,utilizingoneormoreacoustictransducersinstalledonasurfacevesselorunderwatervehicletoobtaintherangesandanglesofunderwatertargets.USBLhasdistinctadvantagesoverotherunderwaterpositioningsystems,suchashighaccuracy,highupdaterate,andlong-rangecapability,whichmakeitavaluabletoolforvariousapplications,suchasunderwaternavigation,surveying,andexploration.TheaimofourresearchistodevelopaUSBLsystemwithenhanceddisplayandalgorithmimplementationcapabilities.Specifically,wefocusondesigningauser-friendlyandintuitivedisplaysoftwarefortheUSBLsystemandimprovingthepositioningaccuracyandrobustnessbyapplyingadvancedalgorithms,suchastheLSandEKFalgorithms.DisplaySoftwareDesignandImplementationTheUSBLdisplaysoftwareisimplementedusingtheQtframework,apopularcross-platformGUIdevelopmenttool.Thesoftwareconsistsofthreemainmodules:dataacquisition,dataprocessing,anddatavisualization.Thedataacquisitionmodulereceivesanddecodestheacousticsignalsfromthetransducersandextractstherangesandanglesofthetargets.ThedataprocessingmodulethencalculatestheprecisepositionofthetargetsbasedonthegeometryandkinematicsoftheUSBLsystem.Finally,thedatavisualizationmodulepresentstheresultsinauser-friendlyandinformativeway,includingthe2D/3Dviewsofthetargets'positions,theirtrajectories,andthestatusoftheUSBLsystem.AlgorithmOptimizationandSimulationResultsToimprovethepositioningaccuracyandrobustnessoftheUSBLsystem,weevaluatedtwoadvancedalgorithms:theLSandEKFalgorithms.TheLSalgorithmisaclassicmethodforsolvingoverdeterminedlinearequationsandcanbeusedtoestimatethetarget'spositionbyminimizingthesumofsquaresoftheresidualsbetweentheobservedrangesandthepredictedranges.TheEKFalgorithmisanonlinearfilteringtechniquethatcanestimatethetarget'spositionandvelocitybyrecursivelyupdatingthepriorprobabilitydistributionusingtheBayes'ruleandthesystemdynamicsmodels.WeimplementedandtestedtheLSandEKFalgorithmsusingMatlab.OursimulationresultsshowthatbothalgorithmssignificantlyimprovethepositioningaccuracyandrobustnessoftheUSBLsystemcomparedwiththetraditionaltriangulationmethod.TheEKFalgorithmshowsbetterperformancethantheLSalgorithmintermsofnoisesuppressionandtrackingstability,especiallyforthedynamictargets.FutureResearchDirectionsandChallengesOurfutureresearchwillfocusonfurtherimprovingtheUSBLsystem'sperformanceandfunctionality,particularlyinthefollowingaspects:1.Enhancingthesystem'santi-jammingcapabilitybyintroducingadvancedsignalprocessingandfilteringtechniques.2.IntegratingtheUSBLsystemwithotherunderwatersensorsandsystems,suchasinertialmeasurementunits(IMUs),depthsensors,andautonomousunderwatervehicles(AUVs).3.Developingreal-timeanddistributedUSBLsystemstofacilitatethelarge-scaleandcomplexunderwateroperations.OneofthemainchallengesinUSBLresearchistheunderwateracousticenvironment'scomplexityandvariability,whichaffectsthesignalpropagation,reflection,andattenuation.Toovercomethischallenge,weneedtoconductmoreexperimentsandsimulationstocharacterizetheacousticpropertiesoftheunderw