Research on Beacon Calibration Algorithm Based on Probability Graph Model

With the rapid development of acoustic technology, underwater localization plays an increasingly important role in the field of Marine resources exploitation and Marine military field. In order to accurately obtain the underwater target position, long baseline positioning method is often adopted. However, the accuracy of the beacon position greatly affects the accuracy of the target position. This paper studies the principle of probability graph model and underwater positioning technology, establishes factor graph model for absolute calibration of beacon in long baseline positioning process, and then deduces edge probability distribution function of target position variable by sum-product algorithm. Finally, the validity of the probability graph method is verified by lake test. When the amount of data is sufficient, the positioning accuracy of probability graph method and least square method is the same order of magnitude.