考虑双程声径的走航式水下差分定位方法
A shipboard underwater difference positioning method considering a round-trip acoustic path
王兆喆 1王振杰 1秦学彬 2赵爽3
作者信息
- 1. 中国石油大学(华东)海洋与空间信息学院,山东青岛 266580
- 2. 中国石油集团东方地球物理勘探有限责任公司海洋物探处,天津 300457
- 3. 中国测绘科学研究院大地测量与地球动力学研究所,北京 100036
- 折叠
摘要
水下声学定位中存在收发时刻位置差、声速误差等系统性误差,传统方法无法同时削弱这些误差的影响.针对该问题,本文采用历元间差分削弱系统误差的影响,给出了一种考虑双程声径的走航式水下差分定位方法,对其函数、随机模型进行了推导,并通过仿真和实测算例验证本方法的定位精度水平.结果表明:传统单程非差、单程差分、双程非差以及考虑双程声径的差分方法,对应的观测值残差均方根误差分别为3.460、3.396、1.692和1.471 m,证明本方法有效提高了水下定位的精度,且较适用于深海区域的水下定位.
Abstract
Systematic errors such as deviation between positions at the epoch when sending and receiving signals and errors related to sound speed cannot be weakened simultaneously by traditional methods.To address these issues,the epoch difference strategy is applied to mitigate the effect of systematic errors,proposing a shipboard epoch difference considering a round-trip acoustic path.The corresponding functional and stochastic models are derived,and the positioning performance by this method is verified by simulation tests and field experiments.The results indicate that the residual root mean square errors of traditional single-way-zero-difference,single-way-epoch-differ-ence,round-trip-zero-difference,and round-trip-zero-differential methods are 3.460,3.396,1.692,and 1.471 m,respectively.Results show that the proposed method effectively improves underwater positioning accuracy and is suitable for underwater positioning in deep-sea areas.
关键词
水下声学/差分方程/双程声径/走航观测/函数模型/随机模型/系统误差/最小二乘法/仿真平台Key words
underwater acoustics/difference equation/round-trip acoustic path/sailing observation/functional model/stochastic model/systematic error/least square method/simulation platform引用本文复制引用
基金项目
崂山实验室科技创新项目(LSKJ202205101)
国家自然科学基金(42174020)
东方地球物理公司装备应用基础研究项目(02-02-2022)
出版年
2023
国家科技期刊平台
NSTL
维普
万方数据