Study on ultra short baseline positioning system based on improved quad array and extended Kalman filter

基于改进四元基阵的超短基线定位系统研究

¹ State Grid Zhoushan Power Supply Company, Zhoushan 316021, China
² Zhejiang Zhoushan Marine Power Research Institute Co., Ltd., Zhoushan 316021, China
³ Shaanxi Hard Equipment Technology Co., Ltd., Xi'an 710086, China

Received: 21 November 2023

Abstract

Ultra-short baseline equipment has been widely used in underwater positioning because of its small size and flexible use. In order to eliminate the phase ambiguity in the long distance measurement of ultra-short baseline system, an improved four-element array is proposed, which solves the above-mentioned problem effectively and improves the positioning accuracy. At the same time, in order to improve the precision of the phase difference between the measured elements, the acoustic signal is denoised by using the extended Kalman filter. The simulation results show that comparing with the traditional matrix, the improved four-element matrix improves the positioning accuracy by nearly one order of magnitude, and effectively reduces the number of primitives comparing with the improved eight-element matrix.

摘要

超短基线设备由于尺寸小、使用灵活, 在水下定位时得到了广泛应用。为了消除超短基线系统长距离测距的相位模糊问题, 提出了一种改进传统的四元基阵, 有效地解决了相位模糊问题, 并提高了定位精度。同时, 为了提高测量的基元间相位差的精度, 通过扩展卡尔曼滤波对声波信号进行了降噪。仿真验证的结果表明, 相对于传统基阵, 改进的四元基阵将定位精度提升了将近一个数量级, 且相对于改进的八元基阵有效减小了基元数。