基于传感器潜器协同的水下移动目标定位与持续追踪研究

Localization and tracking of underwater mobile target are aimed to acquire the precise location and achieve the sustainable tracking for mobile target, through the cooperation between sensors and underwater vehicles. They have important practical significance to improve China’s marine observation capability and safeguard our country marine rights. Currently, the most favorable carrier for underwater communication is still the acoustic wave. However, due to the limited characteristic of underwater acoustic communication, the land localization and tracking methods, which are under the good communication condition, cannot be directly applied to underwater environment. This project considers the limited characteristic of underwater acoustic communication, and our purpose is to improve the localization accuracy and increase the tracking durability. Based on this, we intend to focus on current modeling, cooperative localization and sustainable tracking aspects, and then the following works are investigated. In order to describe the influence of water flow on localization and tracking, a distributed spatiotemporal characteristic model is constructed for ocean current field. Then, a network topology optimization strategy which can satisfy energy efficiency is developed, such that the communication energy consumption during the modelling process can be reduced. Moreover, we design a consensus estimation-based joint localization algorithm to acquire the precise localization of target. Based on the results in modelling and localization processes, we consider the flexibility of target, and then a state prediction algorithm is provided for target. Meanwhile, reinforcement learning method is applied to propose a model-free formation control strategy for underwater vehicles, such that the task of sustainable tracking can be guaranteed. Finally, underwater semi-physical simulation and experiment platforms are established to analyze and verify the proposed results. The expected results of this project can provide basic theoretical and key technical support for the integration design of localization and tracking of underwater mobile target.

水下移动目标定位追踪系统旨在通过传感器与潜器的协同，以实现移动目标的精确定位与持续追踪，对提升我国海洋观测能力和维护海洋权益具有重要现实意义。目前声波仍是水下通信最主要的载体，然而水声弱通信特性使得陆地良好通信条件下的定位追踪方法并不能直接应用于水下。本项目考虑水声弱通信特性，以提高定位精度与增强追踪持续性为目的，拟聚焦流速建模、协同定位与持续追踪三个层面，开展以下研究工作：为描述水流对定位追踪的影响，建立水下流速场分布式时空相关特征模型，并提出满足能量有效性的拓扑优化策略，以减少建模过程中的通信能耗；进一步，设计一致性估计下的联合定位算法，以获取目标精确位置；在建模与定位基础上，设计目标态势预测算法，提出基于增强学习的潜器无模型编队控制策略，以实现目标的持续追踪；最后，建立水下半实物仿真实验平台，以分析验证研究成果。本课题的预期成果可为水下移动目标定位追踪提供理论研究基础和关键技术支持。

21世纪是海洋的世纪，海洋将成为人类生存与发展的新空间。为提升海洋观测能力，大量具备感知、传输、控制功能的水下传感器与潜器被部署在观测水域，并通过目标定位、通信传输和协同控制技术，组成信息和控制紧密耦合的水声传感网络。上述网络的设计必须满足水下观测系统对定位准确性、传输可靠性与控制协同性的整体需求，以使其能够根据水下目标姿态与环境信息的变化进行全方位、全天候实时观测。然而，水下异步时钟、声线弯曲、高传输能耗等弱通信特性，以及水下目标高机动性与快时变流速场等复杂环境，一方面导致水下定位-传输-控制分离设计面临定位误差大、组网稳健性弱、控制可持续差等难题，另一方面导致水下定位-传输-控制联合设计面临系统间耦合度高、制约关系不明确等不足。如何在弱通信与复杂水下环境下，实现水下定位准确性、传输可靠性与控制协同性的整体提升，已成为水声传感网络研究的新挑战。.针对上述挑战，本项目考虑水声弱通信特性，开展水下移动目标定位追踪研究。从流速建模、协同定位与持续追踪层面开展以下研究。对水下流速场进行分布式时空相关特征建模，并在特征建模基础上进行拓扑优化，以体现水下流速场对定位追踪过程的影响。探索异步时钟与声线弯曲下联合定位新方法，以提高水下目标定位的精度。对目标设计态势预测算法，进而在通信时延约束下设计潜器无模型编队控制策略，以增强目标追踪的持续性。最后，建立水下半实物仿真实验平台，以分析与验证研究成果。上述研究成果不仅能够弥补现有静态传感网络目标探测自主性与适变性的不足，而且能够提升水声传感网络整体系统，为水下观测应用提供必要理论依据与技术支持！

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