The precise salvage of shipwrecks mainly depends on the positioning accuracy of ships and wrecks.The problem of precise positioning for wrecks salvage was focused on,the technical route of multi means collaboration was studied,an integrated installation and calibration method for ultra short baseline and inertial navigation system(USBL/INS)was proposed.A static calibration model for multiple beacons was constructed,and a posture installation deviation calculation method with the minimum damping coefficient was proposed.Through the integrated installation and calibration experiments of the sound-absorbing water tank and the dynamic installation and calibration experiments,it has been proven that this method reduces the positioning error by about 54%compared to the dynamic calibration.The advantage is not requiring repeated calibration and could effectively improve work efficiency.Finally,the"SERASII"sunken ship dismantling and salvage project was took as an example,the integrated USBL/INS positioning accuracy was verified,and the good effect of its salvage positioning was verified through multi beam scanning,providing technical support for the precise salvage of small wreckage of sunken ships.In addition,the static calibration method also provides a solution for the precise positioning of the unpowered construction ship USBL.
关键词
沉船打捞/超短基线/惯导/安装校准/精准定位
Key words
salvage of shipwrecks/USBL/INS/installation calibration/precision positioning
维普
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