科研之友
微信
新浪微博
Facebook
分享链接
摘要
Aiming at the problem that the large error of underwater localization is caused by variable sound velocity and obstacles, a parabolic model ranging localization was proposed in this paper. Firstly, based on AoA(Angle of Arrival), a ranging method with parabolic models that is suitable for the curved sound ray was proposed. Then, based on ToA(Time of Arrival), the ranging recognition method of the non-ideal path and the ranging correction method of the ideal path were proposed respectively. Finally, the projection method and the least square method were used to complete the localization. The simulation results show that the algorithm can effectively reduce the localization error in three aspects, curved sound ray, path recognition, and ranging correction.
