考虑信标运动的水下联合定位算法
Underwater combined positioning algorithm considering beacon movement
秦显平 1明锋 1许扬胤1
作者信息
- 1. 地理信息工程国家重点实验室,陕西西安 710054;西安测绘研究所时空基准与导航研究室,陕西西安 710054
- 折叠
摘要
为融合全球导航卫星系统/声学测量与海底信标之间声学测量优势,同时考虑导航信标因海底洋流等因素而引起的运动,本文提出考虑信标运动的水下联合定位算法,并采用3 000 m水深海域的实测数据进行试验计算.试验结果表明:联合定位估计的声速模型与声速测量值之间的差异小于0.15 m/s;与全球导航卫星系统/声学定位相比较,联合定位获得的海底导航信标运动轨迹具有更高的精度,全球导航卫星系统/声学定位及联合定位的基线残差统计值分别为-0.302±0.740 m、0.007±0.169 m;试验区海底导航信标水平运动幅度可达3 m,周期性运动模型可以较好地描述试验区海底导航信标的运动轨迹.
Abstract
By integrating the advantages of GNSS/acoustic measurement and seabed acoustic ranging and consider-ing the movement of submarine navigation beacons caused by seabed ocean currents,this paper proposes an under-water combined positioning algorithm considering beacon movement.The data measured at a water depth of approxi-mately 3 000 m were used to test the underwater positioning algorithm.The results show a difference of less than 0.15 m/s between the sound velocity model estimated by the underwater combined positioning and the sound veloci-ty measurement.Compared with GNSS/acoustic positioning,the combined positioning can obtain higher accuracy of a submarine navigation beacon trajectory.The values of baseline residual statistics of the GNSS/acoustic positio-ning and the underwater combined positioning are-0.302±0.740 m and 0.007±0.169 m,respectively.The amplitude of horizontal movement of the seabed navigation beacons can reach 3 m,and the periodic motion model can appropriately describe a seabed navigation beacon trajectory in the test area.
关键词
海底导航信标/弹性定位/全球导航卫星系统/声学定位/水下联合定位/海底声学测距/平均声速/声速模型/声学导航Key words
submarine navigation beacons/resilient positioning/GNSS/acoustic positioning/underwater combined positioning/seabed acoustic ranging/average sound velocity/sound velocity model/acoustic navigation引用本文复制引用
基金项目
崂山实验室科技创新项目(LSKJ202205101)
国家重点研发计划(2020YFB0505800)
出版年
2023
国家科技期刊平台
NSTL
维普
万方数据