基于水下传感网络的移动目标协同探测理论与关键技术

In order to meet our country's technological needs on ocean exploration and homeland security, this project is organized to address the theoretical and technical issues of underwater target detection, estimation, and tracking. The focal point is placed on the development of fundamental theory and key technologies for target detection and tracking based on the use of underwater wireless sensor networks (UWSN). New theory and methods based on UWSN will be studied and investigated for both passive and active target detection and exploration. For passive detection and exploration, feature level fusion approaches, robust direction-of-arrival estimation based on multiband, multiple arrays with heterogeneous geometry and UWSN, and target localization and tracking methods in low SNR conditions will be investigated. For active detection and exploration, theory and methods based on distributed multiple-input-multiple-output (MIMO) systems, methods for joint detection and communication, fusion approaches based on the use of multiple UWSN nodes and multidimensional information will be studied. Furthermore, the influence of node position errors, clock skew, the time-varying properties of acoustic channels on the detection performance will be studied and proper compensation methods will be investigated. We will also study the real-time tracking algorithms in the complex underwater environment and achieve the low-energy and high-precision underwater moving-target tracking performance through the network topology optimization and edge node selection. An opening experimental system for cooperative exploration with multiple underwater nodes will be built, which we hope to serve as an easy-access experimental platform for researchers and engineers working in the field. Finally, relevant experiments about distributed exploration based on UWSN will be carried out to validate the effectiveness of all the studied approaches and methods. The research results of this project will make undoubtedly profound impact on the study, use, exploration, security of our ocean.

结合海洋开发和海洋国土安全的需求，针对水下无线传感网络（UWSN）的特点和水声信道特殊性，重点研究水下目标分布式探测与跟踪的基础理论和关键技术。在UWSN被动协同探测方面，研究特征级检测融合、异构阵列多频段方位信息融合、低信噪比下被动目标定位等方法；在UWSN主动协同探测方面，研究分布式多输入多输出(MIMO)探测、水下探测通信一体化、多节点多维信息融合等方法；分析UWSN中节点位置误差、时钟同步误差、水声信道起伏等因素对协同探测效果的影响机理，提出有效的修正补偿方法；研究复杂水下环境中动目标实时跟踪算法，并通过网络拓扑结构优化和优势节点选择，实现低能耗、高精度的水下动目标跟踪；设计并构建水下多节点协同探测的开放式实验系统，为国内的水下网络化探测研究提供先进的实验平台；开展相关的探测试验研究，验证所提方法的有效性。本项目的研究成果将为大范围海洋信息感知提供较为系统的理论指导和有效方法。

随着海洋开发和海洋国土安全的需求日益增强，迫切需要建立水下传感网络（UWSN），以实现海洋环境检测、资源勘探与安全警戒等任务。因此，本项目开展了基于水下传感网络的移动目标协同探测理论与关键技术的研究。其主要研究内容与重要结果如下：.研究了水下传感节点的多维信息融合技术，提出一种二维振速梯度水听器的被动目标检测和精确权向量空间谱扫描检测方法，使可检测信噪比降低2dB；研究了分布式协同探测技术，提出一种针对高斯—马尔科夫信号的分布式检测方法，提高了探测网络的检测性能；研究了水下传感网络的多目标分布式跟踪技术，提出基于节点互信息的多节点加权粒子滤波算法，提高了水下传感网络多目标分布式跟踪精度和效率；研究了节点位置误差下纯方位目标运动偏差补偿方法，提出加权辅助变量的偏差补偿算法，降低了节点位置误差对目标定位精度的影响；研究了水下传感网络的目标跟踪模型修正方法，提出基于声传播模型的粒子群优化目标方位估计方法、基于支持向量机与卡尔曼滤波器的机动目标跟踪算法，降低了对水下机动目标的跟踪误差；研究了水下传感网络中目标方位估计的离网格误差修正方法，提出一种二维DOA估计算法，实现DOA的精确估计；研究了水下传感网络中目标跟踪系统能耗优化方法，提出基于长时能量分配的目标跟踪算法，提高了能量利用效率和跟踪精度。.研制水下传感网络节点的六元被动探测原理样机，提供开放共享试验航次，为8个自然基金研究团队提供了水下探测、通信试验服务；研制了国内第一套水下移动节点的探测通信一体化原理样机，已具备搭载水下航行器进行湖海动态试验的条件；研制了水下探测通信一体化潜标原理样机，开展了一体化系统的发射泄漏强度测量、自干扰抑制、主动探测等原理性的实验；开发了水下协同探测网络仿真与性能评估软件，可对水下协同探测网络进行仿真分析、对网络协同探测性能进行评估。.本项目的研究成果将为大范围海洋信息感知提供较为系统的理论指导和有效的方法。