单机动平台时差定位航路规划方法

Path planning for single motive station using TDOA localization

摘要:

单机动平台基于时差定位(TDOA)对水下目标定位时，观测平台的航行轨迹对定位精度有很大影响。针对如何规划航路并提升定位精度的问题，提出了一种基于改进动态窗口法(DWA)的单平台航路规划方法。在传统DWA算法的评价函数中引入了以水平精度因子(HDOP)最小化为准则设计的定位精度评价子函数。同时考虑到航向角和定位精度评价子函数的权重与观测平台到目标的距离有关，优化了航向角和定位精度评价子函数的权重系数，使其可以动态调整。仿真结果表明，改进DWA算法规划的航路能够在避开障碍物的同时提高定位精度。

关键词:航路规划;动态窗口法;水声定位;时差定位;水平精度因子

Abstract:

When locating underwater targets based on Time Difference of Arrival (TDOA) on a single platform, the path of the platform has a significant impact on the localization precision. To address the problem of how to plan the path and improve localization precision, a single-platform path planning method based on an improved dynamic window approach (DWA) is proposed. In the evaluation function of the conventional DWA algorithm, a localization precision evaluation sub-function is introduced, which is designed to minimize the horizontal dilution of precision (HDOP). Considering that the weights of the heading angle and localization precision evaluation sub-functions are related to the distance from the observation platform to the target, the weight coefficients of the heading angle and localization precision evaluation sub-functions are also optimized to allow for dynamic adjustments. Simulation results show that the path planned by the improved DWA algorithm can avoid obstacles while improving localization precision.

Key words:path planning;dynamic window approach;underwater acoustic localization;TDOA;HDOP