不同海底信标配置下的声呐开窗导航精度分析
Accuracy Analysis of Active Sonar Navigation for Different Underwater Beacon Configurations
卞加超 1薛树强 2赵爽 1肖圳 1高金来1
作者信息
- 1. 中国测绘科学研究院,北京 100039
- 2. 中国测绘科学研究院,北京 100039;地理信息工程国家重点实验室,西安 710054
- 折叠
摘要
海底信标数量决定了声学导航定位的可解性,如单海底信标导航需要联合载体航向或姿态等信息.采用载体状态开窗估计方法探讨了在不同海底信标数量情形下主动式声呐导航的精度水平,仿真分析了从单海底信标到四个海底信标的主动式声呐导航模型导航定位精度,并进一步通过实测数据对其进行验证.验证结果表明,主动式声呐导航定位精度与海底可观测信标数量成正比.当海底有四个信标时,信标数量减少引起的精度下降在1m以内;而当海底仅有单个信标时,解算精度显著降低,但导航定位精度仍可保持在10m以内.
Abstract
The number of seafloor acoustic navigation beacons determines the solvability of acoustic navigation.For example,when using a single seafloor acoustic beacon for navigation,it is necessary to integrate information such as the ve-hicle's heading or attitude.The precision level of active sonar navigation system under varying numbers of seafloor acoustic navigation beacons is explored using vehicle state estimation model within a sliding window.Designing a simulation experi-ment to analyze the navigation accuracy of an active-sonar navigation model as the number of seafloor acoustic navigation beacons increased from one to four.The results obtained from the simulation experiment are further validated using actual measured data which show that:the accuracy of the active sonar navigation is directly proportional to the number of observa-ble seafloor acoustic navigation beacons.When there are four beacons,the decrease in accuracy caused by reducing the number of beacons is within 1 m.However,the accuracy significantly decreases when there is only a single beacon,but the navigation accuracy can still be maintained within 10 m.
关键词
导航信标/水下导航/开窗估计/B样条Key words
navigation beacon/underwater navigation/active window estimation/B-spline引用本文复制引用
出版年
2024
NETL
NSTL
万方数据