面向智慧海洋的低复杂度方位估计技术
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作者单位:

1.哈尔滨工业大学威海信息科学与工程学院;2.中国船舶集团有限公司第七一〇研究所

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基金项目:

黑龙江省自然科学基金


Smart ocean oriented low complexity orientation estimation technology
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Affiliation:

1.Harbin Institute of TechnologyWeihai;2.No R D Institute,CSSC

Fund Project:

The Natural Science Foundation of Heilongjiang

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    摘要:

    随着海洋开发与探索的增加,集成多种技术的用于智慧海洋研究的水下物联网(UIoT)掀起了研究的热潮,使用计算高效且具有普适性的算法来进行方位估计是当前的发展趋势。为了满足上述要求,本文提出了一种新颖且广泛应用的酉四元数(UQ)模型中心对称阵列,相应协方差矩阵的估计和分解可以在实数域中执行,而不是复数域中,因此实现计算的低复杂度。此外,我们分析了该模型的物理含义,并将其与新兴的基于四元数的姿态估计和控制相结合,揭示了UQ模型在UIoT中的潜在优势。在仿真实验中,我们在几个模拟的水下场景中测试了算法的性能,证明了UQ模型的灵活性和适用性。

    Abstract:

    With the increase in ocean exploitation and exploration, the Underwater Internet of Things(UIoT) integrating multiple technologies for smart ocean investigation has created a research trend, and the use of computationally efficient and generalized algorithms for orientation estimation is the current trend. To meet the above requirements, in this paper, we propose a novel and widely used centrosymmetric array of the Unitary Quaternion(UQ) model, where the estimation and decomposition of the corresponding covariance matrix can be performed in the real domain instead of the complex domain, thus achieving low computational complexity. In addition, we analyze the physical implications of the model and combine it with the emerging quaternion-based pose estimation and control to reveal the potential advantages of the UQ model in UIoT. In simulation experiments, we demonstrated the flexibility and applicability of the UQ model by testing the performance of the algorithm in several simulated underwater scenarios.

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历史
  • 收稿日期:2022-10-11
  • 最后修改日期:2022-10-28
  • 录用日期:2022-10-31
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