水下传感器网络移动通信节点定位技术研究

This project works for the monitoring application using light weight autonomous underwater vehicle (AUV). To solve the problem of positioning and path planning for mobile underwater communication node, basic theory and key technologies to underwater acoustic positioning of mobile node based on underwater sensor network (UWSN) will be studied. The underwater acoustic environment has characteristics of time variability, inhomogeneous medium, and the underwater vehicle platform has characteristics of low power consumption, high mobility, time asynchronization. Aimed at these problems, several aspects will be studied, such as the underwater acoustic ray-tracing self-adapting division, multilateral constraint-based fuzzy optimization data fusion, adaptive nonlinear filter for positioning and tracking, and positioning system constructing and evaluation. And it can be solved to several key problems in location estimation of dynamic node, such as the high positioning accuracy, low communication overhead, fast required time. Based on positioning combination of fixed-fixed, fixed-mobile, mobile-mobile characteristics of underwater nodes and network condition of single or multiple reference node, the positioning framework and method of the drifting node or AUV are proposed. Through the theoretical calculation and analysis, computer simulations, semi-physical simulation test, and real underwater acoustic positioning test, theoretical framework and technology system of reliable underwater acoustic positioning for AUV will be formed. We will work closely with the others projects within the project group, for the purpose of developing theory and technology foundation of underwater networked monitoring systems.

本项目面向水下轻型航行器传感监测的重要应用，通过研究水下移动节点水声定位基础理论与关键技术，解决基于水下无线传感器网络移动节点位置估计与定位路径规划中面临的科学问题。针对海洋环境时变、不均匀特性对水声定位的影响机理，以及水下航行器平台低功耗、高机动性、非同步时钟等特点，开展自适应分层声线跟踪、多边约束模糊优化数据融合、非线性自适应滤波定位跟踪、定位系统构建与评估等方面的研究，解决水下轻型航行器要求定位精度高、通信开销低、定位时间快等技术难题，基于固定－固定、固定－移动、移动－移动节点运动特点和基于单个、多个节点网络条件，提出水下漂移节点或水下轻型航行器的定位体制和定位方法。通过理论计算与分析、计算机仿真、陆上半物理仿真试验、水池与湖上水声定位试验等手段，形成水下航行器可靠水声定位的理论和技术体系。通过与项目群内各项目的紧密合作，为水下网络化监测系统的发展奠定理论与技术基础。

本项目面向水下轻型航行器传感监测的重要应用，通过研究水下移动节点水声定位基础理论与关键技术，解决基于水下无线传感器网络移动节点位置估计与定位路径规划中面临的科学问题。针对海洋环境时变、不均匀特性对水声定位的影响机理，以及水下航行器平台低功耗、高机动性、非同步时钟等特点，完成高精度时延估计、自适应分层声线跟踪、非线性滤波定位跟踪等方面的研究，解决水下轻型航行器要求定位精度高、通信开销低、定位时间快等技术难题，基于固定－固定、固定－移动、移动－移动节点运动特点和基于单个、多个节点网络条件，提出水下高速运动轻型航行器的定位体制和定位方法。此外，研制浮标、潜标等定位系统，开展湖上水声定位试验，验证了算法的正确有效性，完成了项目各项预期目标，并积累了宝贵的数据。并通过与项目群内各项目的紧密合作，为水下网络化监测系统的发展奠定理论与技术基础。