深海应答器坐标改进正交标定法  

Improved calibration method of vertical lines intersection for coordinates of transponder in deep ocean

作　　者：冀大雄[1] 刘健[1] 

机构地区：[1]机器人学国家重点实验室中国科学院沈阳自动化研究所,辽宁沈阳110016

出　　处：《海洋工程》2010年第2期117-121,共5页The Ocean Engineering

摘　　要：深海环境下投放应答器,由于海流、浪和涌的影响,应答器落底的位置很难直接测量。利用海底应答器对水下目标进行定位和跟踪之前,必须对其位置进行准确标定。用一种测量海底应答器坐标的改进方法:改进垂线相交标定法。该方法对测量母船航迹、海深等因素不做要求,依据立体几何原理,采用解析法直接求解应答器平面坐标。用Markov过程模拟母船航迹,进行1 000次蒙特卡洛仿真实验,得到置信度为0.99的标定误差置信区间,结果表明该方法具有很好的标定精度,对测量母船的位置误差鲁棒性好。Seafloor transponders are used to track and determine the underwater targets.However,it is always impossible to deploy a transponder precisely in deep ocean because of current,wave and surge.A calibration phase is needed to estimate the position of each transponder before doing any tracking or localization.A method which is called improved vertical lines intersection for measurement of the coordinate of bottom transponder is presented for modification of previous methods.This method applies solid geometry and analytic geometry principia to get the coordinate of transponder directly,without requirements of navigation vessel track and sea depth.The Markov process is adopted to simulate vessel movement,and the statistical confidence interval with confidence of 0.99 is obtained from Monte-Carlo emulation of 1000 times.The results show that the improved vertical lines intersection method owns fine accuracy and favorable robustness for position error of research ship.

关 键 词：改进垂线相交法 深海应答器坐标 最小二乘法 几何原理 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]