基于海底基准的中远程PNT定位导航技术及验证
Medium and remote range acoustic PNT datum positioning and navigation technology
郑翠娥 1程驰宇 1韩云峰 1张居成1
作者信息
- 1. 哈尔滨工程大学水声技术全国重点实验室,黑龙江哈尔滨 150001;海洋信息获取与安全工业和信息化部重点实验室(哈尔滨工程大学),黑龙江哈尔滨 150001;哈尔滨工程大学水声工程学院,黑龙江哈尔滨 150001
- 折叠
摘要
针对海底基准中远程声学定位导航的声线翻转修正困难引起的有效声速获取不准和长传播延时引起的静态模型近似误差问题,本文依据射线声学理论和长基线定位原理,研究了一种中远程声学定位导航方法.该方法根据先验深度信息对翻转声线进行声线跟踪修正,并构建目标运动轨迹、速度联合解算模型以补偿静态模型近似误差,实现动态目标中远程高精度定位导航.中远程海底基准系统海上性能验证结果表明:以超短基线定位结果作为外符合真值对系统和本文方法的性能进行评估,目标在距离海底基准20 km处达到了 16.87 m的定位精度,满足中远程高精度定位导航需求.
Abstract
To address the issues arising from inaccurate calculations of effective sound speed due to difficulties in the sound line flip correction and static model approximation errors due to lengthy propagation delays in seafloor da-tum,a medium and remote range acoustic positioning and navigation method is investigated.Based on ray acoustics theory and long baseline positioning techniques,this method uses prior depth information to perform sound ray tracking and correction for inverted sound rays;meanwhile,it establishes a joint solution model for target motion trajectories and velocities to compensate for static model approximation errors,achieving dynamic,high-precision medium and remote range positioning and target navigation.Sea experiment results indicate that,using the ultra-short baseline positioning results as the external truth value,the target achieved a positioning accuracy of 16.87 m at a distance of 20 km from the seafloor datum,which met the requirements for high-precision positioning and navi-gation in medium and remote ranges.
关键词
海底基准/中远程定位导航/长基线定位/声线翻转/动态定位模型/声线跟踪/轨迹估计/高精度定位Key words
seafloor datum/medium and remote acoustic positioning/long baseline positioning/ray flipping/mov-ing positioning model/ray tracing/trajectory estimation/high-precision positioning引用本文复制引用
基金项目
黑龙江省自然科学基金(YQ2019D003)
崂山实验室科技创新项目(LSKJ202205100)
崂山实验室科技创新项目(LSKJ202205103)
出版年
2023
国家科技期刊平台
NSTL
维普
万方数据