基于海底单应答器的水下潜器声学导航技术  

An acoustic navigation technique for underwater vehicles based on a single seabed transponder

作　　者：兰华林[1] 孙大军[1] 卢逢春[1] 吕云飞[1] 

机构地区：[1]哈尔滨工程大学水声工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2007年第12期1348-1351,共4页Journal of Harbin Engineering University

基　　金：国家"863"基金资助项目(2002AA613010)

摘　　要：针对长基线定位系统需多只海底应答器而引起的系统复杂的问题,给出了一种通过在海底布放单只应答器对安装有超短基线定位系统的水下潜器进行声学导航的方法,分析了系统的性能,并进行了湖试和海试验证.试验结果表明,利用单只海底应答器可以对安装有超短基线的水面船实现亚米级精度的声学导航,该方法可用于水下潜器的声学自主导航.Long baseline positioning systems are relatively complex because multiple transponders need to be deployed on the seabed. We propose a new acoustic navigation method for submerged vehicles mounted with ultra-short baseline positioning systems deploying a single transponder on the seabed. Using surface ships the performance of the system was analyzed in lake and sea trials. The results showed that the rootmean-square error of acoustic navigation for ultra-short baseline positioning systems with a single seabed transponder is less than one meter. This method can be applied in autonomous acoustic navigation of submerged vehicles.

关 键 词：导航 超短基线 水下潜器 

分 类 号：U661.1[交通运输工程—船舶及航道工程]