Aiming at the problem of low solution efficiency of multi-antenna technology in the application of global navigation satellite system (GNSS) combined acoustic ranging,the paper proposed a multi-antenna GNSS/acoustic combined positioning model and a virtual antenna GNSS/acoustic combined positioning model:the precise antenna position was adopted to achieve high-efficiency solution;and then through underwater positioning simulation experiments,the virtual antenna positioning model and the multi-antenna positioning model were compared and analyzed.Result showed that in terms of seafloor positioning accuracy,the virtual antenna positioning model would be similar to the multi-antenna positioning model,and the multi-antenna positioning model and the virtual antenna positioning model could be better than the traditional single-antenna positioning model;meanwhile,in terms of solution efficiency,the virtual antenna positioning model would be superior to the multi-antenna positioning model,the virtual antenna positioning model would take 180.020 s for processing,and the multi-antenna positioning model 50.257 s,indicating that the solution efficiency could be improved by about 3.6 times.
万方数据
维普
