1.哈尔滨工程大学水声工程学院;2.中国船舶集团有限公司第七〇三研究所
声纳技术重点实验室基金（6142109KF2203）、自然资源部海洋环境探测技术与应用重点实验室（MESTA-2021-A001）、水声对抗技术重点实验室基金（JCKY2022207CH09）、海底沉管高精度声呐测控系统研发（JSGG20220831103800001）
1.College of Underwater Acoustic Engineering, Harbin Engineering University;2.No. 703 Research Institute of CSSC
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。
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.
