基于迭代最小二乘的水下三维高鲁棒性定位算法

In order to solve the problem that the positioning performance of the closed solution algorithm can not reach the Cramer Rao Lower Bound (CRLB) and the initial value selection of Newton iterative algorithm in the underwater three-dimensional positioning based on spatial angle information, a highly robust algorithm based on iterative least squares is used to correct the residual term of the closed form solution and select the initial value of the iterative algorithm. The pseudo linear Weighted Least Squares (WLS) algorithm is used to obtain the closed form solution as the initial value of the regularization modified iterative method. The iterative result is used to modify the residual term of the closed form solution algorithm. Through the alternating operation of the iterative least squares method, a stable and accurate solution is obtained. Through simulation, the high robustness of the iterative least squares algorithm is verified, the adverse effect of the selection of the residual term in the pseudo linear weighted least squares algorithm is eliminated, the problem of selecting the initial value of the iterative method is solved, and the positioning performance similar to that of the iterative method in the case of convergence is obtained.