In order to identify the systematic error of multi-beacon long baseline(LBL)positioning and improve the positioning accuracy,an underwater positioning model of multi-beacon LBL system was constructed aiming at the situation that the target is installed with multiple beacons and the target size cannot be ignored.Further,aiming at the sound speed error and the time of arrival(TOA)error existing in the acoustic measurement data systematic error,based on the multi-beacon LBL system positioning model,several systematic error identification models were constructed.According the underwater target positioning process,the TOA residual was analyzed,and the optimal test statistic of the systematic error identification model was derived,and the optimal selection criterion of the systematic error identification model was given to realize the effective estimation of underwater target position parameters and systematic error.The simulation results show that the optimal model selection criterion can effectively select the appropriate systematic error identification model,and then improve the accuracy of LBL system for positioning the underwater target.Therefore,the systematic error identification method of multi-beacon LBL positioning system based on optimal model selection proposed can provide theoretical support and valuable reference for the underwater target positioning test.
long baseline positioning systemmulti-beacon systemsound speed errortime of arrival erroroptimal model selection criterion
维普
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