The principle of space intersection positioning is widely applied, but not all active positioning systems are compatible with this principle.The active round-trip positioning observation model and the elliptical intersection positioning principle adapted to it are analyzed,the model errors are analyzed when modeling the active positioning model as a space intersection positioning model.A direct solution algorithm for the active positioning model based on the Gauss-Newton method was proposed to eliminate the initial parameter errors and the impact of model nonlinearity.Simultaneously, in order to inherit the positioning model and algorithm based on the space intersection principle, a concise solution method for the active positioning model is proposed.This method achieves precise conversion from round-trip distance to unidirectional distance.Taking the application scenario of active acoustic positioning as an example, deep-sea trials at 3000 m are conducted for validation.The results indicate that the active acoustic positioning model has higher positioning accuracy compared to the traditional space intersection positioning model.Moreover, the direct solution method yields results and accuracy assessments consistent with the indirect solution method.The proposed indirect method can be directly applied to the conventional positioning models and algorithms, making it more practically valuable by equivalently converting the model approximation errors based on the established proportional relationship between the round-trip distance.
关键词
主动式定位/空间交会/椭圆交会/声呐定位/非线性平差
Key words
active positioning/space rendezvous/elliptical intersection/sonar positioning/nonlinear adjustment
维普
万方数据