基于小型圆阵的AUV方向定位算法的研究

水下小型无人系统AUV在海洋探测中起着重要,实现其精准定位与打捞有利于促进海洋经济的发展。传统的具有较高定位精度的装置如长基线等不方便装载与布置,定位效率不高。本文提出一种基于小型圆阵的AUV方向定位算法,被定位的AUV搭载声源,装载在船上的定位系统,采用半径为0.125m的水听器圆阵列,阵元个数为4,水听器阵列接收的信号通过多通道前端处理电路被采集,对每个阵元接收到的信号利用希尔伯特变换相位检测方法检测出各信号的相位恢复无幅度和相位失真的信号,然后使用具有超指向性的反卷积波束形成算法实现AUV方向的准确估计。水池实验表明,小型圆阵系统的相位反卷积波束形成定位算法精度高,定位平均误差为0.233°,主瓣宽度窄,波束平均宽度3.97°。便于装载,相比MUSIC算法具有更好的定位效果。

Research on AUV Directional Positioning Algorithm Based on Small Circular Array

The underwater small-scale unmanned system AUV plays an important role in ocean exploration, and achieving its precise positioning and salvation is conducive to promoting the development of the marine economy. Conventional devices with higher positioning accuracy, such as long baselines, are inconvenient to be mounted and arranged, and the efficiency is not high. This paper proposes a AUV directional positioning algorithm based on small circular array. The positioned AUV is equipped with sound source. The positioning system deployed in the ship adopts a hydrophone circular array with a radius of 0.125m and the number of array elements is 4. The signal received by the hydrophone array is processed by multi-channel front-end circuit. After that the signals received by each array element are detected their phase by hilbert transform and the signals are restored without phase and amplitude distortion. Then the deconvolution beam forming algorithm with super directivity achieves an accurate estimation of the ship"s direction. The pool experiment shows that the phase deconvolution beamforming positioning algorithm for small circular array systems has high positioning accuracy . The average positioning error is 0.233 °, the main lobe width is narrow, with the beam width of 3.97 °. It is easy to deploy and has better positioning effect than MUSIC algorithm.