Improved acoustic localization method for projectile dropping point

On the base of the acoustic source localization technology based on sensor array,an improved Least Square localization method is proposed.First,According to the effect of wind velocity,directions,and temperature on sound velocity,the correction model of the observations is illustrated,then correct the weight matrix by the law of error propagation,after that,location calculation by least square method.Considering that the existence of the gross error is possible,IGG3 robust model is integrated into the process to improve the anti-interference ability of the system.Additionally,the wrong observations are judged by observing the residuals vector,then the time series chaos problem is solved by adjusting the series.Finally,the effectiveness and feasibility of the proposed method are certified by calculating and analysing the real experimental data.The results show the improved Least Square localization method achieves the location accuracy within 4 m.The method proposed can not only effectively reduce the influence of gross errors,but also solve the chaos in observational series perfectly,and the reliability of the system can be improved.The research work that is closely related to practice provides reference for the design and application of acoustic source localization equipment.