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| An Underwater Measurement and Control Network Centralized Data Fusion Localization Algorithm Based on Chan-algorithm |
| LIANG Guolong① ZHAO Tianbai② ZOU Nan① ZHANG Boxuan② |
①(Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China)
②(The 54th Research Institute of CETC, Shijiazhuang 050081, China) |
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Abstract In order to exploit the development potential of current measurement and control equipment and to build an omnibus underwater measurement and control network with higher precision, according to the working characteristics of the system itself, an underwater measurement and control network centralized data fusion localization algorithm based on Chan-algorithm method is proposed. It is an algorithm that coarsely calculates the target position according to the time of arrival by using the Weighted Least Squares (WLS) estimation method at first; secondly, it constructs new error vectors on the basis of the relationship between the position and the time delay information; last, the target position is resolved from the vectors by using WLS method again. The result of research demonstrates that the algorithm realizes the data fusion of multiple sets of underwater measurement and control equipment, which could improve the precision of localization globally. And the precision of the proposed method is much better than the data fusion localization algorithm purely based on the time of arrival.
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Received: 19 July 2017
Published: 05 February 2018
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| Fund:The National Natural Science Foundation of China (11504064), The Technical Basic Research Projects (JSJL 2016604B003), The Qingdao Marine Science and Technology National Laboratory Open Foundation (QNLM2016ORP0102) |
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Corresponding Authors:
ZOU Nan
E-mail: zounan@hrbeu.edu.cn
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