声速剖面测量误差对水下定位的影响
Effects of sound speed profile measurement error on underwater positioning
李景森 1薛树强 1徐莹 2李保金 3卞加超3
作者信息
- 1. 中国测绘科学研究院大地测量与导航定位研究所,北京 100830;山东科技大学测绘与空间信息学院,山东青岛 266510
- 2. 山东科技大学测绘与空间信息学院,山东青岛 266510
- 3. 中国测绘科学研究院大地测量与导航定位研究所,北京 100830
- 折叠
摘要
声速误差是全球导航卫星系统/声学定位的主要误差.受海洋环境的复杂时空变化和声速测量多来源误差影响,声速剖面必然含有测量误差,从而影响水下定位结果的精确性.在仅考虑声速垂向分层假设的前提下,本文对声速剖面观测中不可避免的系统误差和随机误差对海底应答器定位的影响进行了研究.结论如下:当海面航迹关于海底应答器成轴对称时,声速误差主要反映在垂直方向以及其中一个水平方向;当海面航迹关于海底应答器成中心对称时,声速误差主要反映在垂直方向,且水平方向的精度几乎不受声速误差的影响;声速剖面无论是含系统误差,还是随机误差,其对定位结果的影响都是系统性,对海底应答器定位结果的影响规律也是相同的,且均可由顾及声速剖面时空代表性误差的海底精密定位模型予以削弱.
Abstract
Sound speed measurement error is the primary error source in global navigation satellite system/acoustic(GNSS/A)positioning.Sound speed is influenced by complex spatiotemporal variations in the ocean environment and has multiple measurement error sources,resulting in inevitable errors in the sound speed profile,which in turn affects the accuracy of underwater positioning results.Under the premise of only considering the vertical layering as-sumption of sound speed,this paper studies the impact of systematic and random errors on the positioning of sea-floor transponders in sound speed profile observation.The conclusions are as follows:When the track has axial symmetry around the seafloor transponder,the sound speed error is mainly reflected in the vertical direction and a horizontal direction;when the track has central symmetry around the seafloor transponder,the sound speed error is mainly reflected in the vertical direction,and the accuracy in the horizontal direction is barely affected by the sound speed error;whether the sound speed profile contains systematic or random errors,its impact on the positioning re-sults is systematic.It has the same effect on the positioning results of the seafloor transponder.Both effects can be weakened by an underwater precise positioning model considering the spatiotemporal representative error of the sound speed profile.
关键词
声速误差/声线跟踪/时空变化/全球导航卫星系统/声学/水下高精度定位/海底大地测量/蒙特卡罗/海底控制点Key words
sound speed error/acoustic ray tracing/spatiotemporal variation/GNSS/A/high-precision underwater positioning/seafloor geodesy/Monte Carlo/seafloor control points引用本文复制引用
基金项目
崂山实验室科技创新项目(LSKJ202205100)
崂山实验室科技创新项目(LSKJ202205105)
出版年
2023
国家科技期刊平台
NSTL
维普
万方数据