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METHOD FOR POSITIONING UNDERWATER GLIDER BASED ON VIRTUAL TIME DIFFERENCE OF ARRIVAL OF SINGLE BEACON
METHOD FOR POSITIONING UNDERWATER GLIDER BASED ON VIRTUAL TIME DIFFERENCE OF ARRIVAL OF SINGLE BEACON
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机译：基于单信标虚拟到达时差的水下滑翔机定位方法
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摘要
A method for positioning an underwater glider based on a virtual TDOA of a single beacon is provided. In the method, a positioning beacon periodically sends positioning messages, where the positioning message includes longitude, latitude and depth information of the positioning beacon; the underwater glider receives the positioning messages and records TOAs at which the positioning messages arrive at an acoustic positioning signal receiving module; and the underwater glider parses the positioning messages and stores positioning message data, creates virtual beacons based on beacon information and attitude information of the underwater glider, corrects the TOAs, and calculates a position of the underwater glider according to a TDOA algorithm. According to the method, the underwater glider passively listens to and receives the positioning messages without sending a positioning request to the positioning beacon, making the entire positioning process energy-saving with a certain degree of concealment.
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