An underwater measurement and control network centralized data fusion localization algorithm based on Chan-algorithm method

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 estimation(WLS) method at first; second, constructs new error vectors on the basis of the relationship between the position and the time delay information; last, resolves the target position from the vectors above by using WLS method again. The result of research demonstrates that the algorithm realizes the data fusion method of multiple sets of underwater measurement and control equipment, which could improve the precision of localization globally. The precision of the proposed method is much better than the data fusion localization algorithm purely based on the time of arrival.