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在没有星基、地基及水下时空基准信息的辅助下,为解决对水下目标精密定位问题,提出了一种基于水面舰船间相对测距和目标到达角的水下机动目标定位算法(UTPA)。通过联合水面舰船间电磁波相对距离观测和水下声学测角信息建立定位方程,考虑到目标定位方程求解中的异类信息融合权比失配问题,利用Helmert方差分量估计完成目标相对位置的迭代求解。Monte Carlo仿真表明:基于Helmert权比自适应调整的UTPA的定位偏差仅为典型的单平台声学定位技术的10%。
In order to solve the problem of precise positioning of underwater targets, a satellite maneuvering target localization algorithm based on relative distance measurement and target angle of arrival UTPA). The location equation is established by combining the relative distance between electromagnetic waves of underwater craft and the underwater acoustic goniometry information. Considering the heterogeneous information fusion weight mismatch problem in solving the target location equation, the iterative solution of the relative position of the target is completed by using the Helmert variance component estimation . The Monte Carlo simulation results show that the localization error of UTPA based on Helmert weight ratio adaptive adjustment is only 10% of the typical single platform acoustic localization technology.