水下定位系统传感器安装误差标定技术研究  

Research on technique of underwater positioning sensor system installation error calibration

作　　者：李铁[1] 聂鹏[1] 李想 

机构地区：[1]中国人民解放军91550部队 [2]哈尔滨工程大学水声工程学院

出　　处：《传感器与微系统》2010年第6期50-54,共5页Transducer and Microsystem Technologies

基　　金：国家"863"计划资助项目(2006AA09Z218)

摘　　要：提出了一种基于非线性参数估计的水下定位系统传感器安装误差标定技术。水下定位系统由声学传感器,GPS和船体姿态传感器组成,各传感器的坐标系并不能完全重合,需要对传感器之间的误差标定后进行修正才能够获得高精度的定位效果。已有的标定方法多基于高斯—牛顿迭代法,而当非线性系统模型线性化带来较大误差时,常规的基于高斯—牛顿迭代法的标定方法已无法达到高精度的要求,而非线性模型参数估的直接解法则掺入了三阶量,有效减小线性化的模型误差,提高了各传感器安装误差的标定精度。海试数据处理表明:定位精度可由1m提高到0.7m。A method of underwater positioning system＇ s sensor installation error calibration technique based on nonlinear parameter estimation is proposed. Underwater positioning system is composed of acoustic sensor, GPS and ship attitude sensor, but the coordinate of sensor systems couldn＇ t be completely coincided. So calibration techniques is needed to reach high-precision positioning. The calibration method has been mostly based on Gauss- Newton iteration. When there is large system model error caused by linearization of the nonlinear system model. Conventional method based on Gauss-Newton couldn＇ t achieve the requirement of high precision calibration, but the direct solution method is mixed with third-order quantity rules so it effectively reduced the model error caused by linearization and improved the precision of calibration of the sensor system. Processing sea trial data show that the positioning precision could be improved from lm to 0.7 m.

关 键 词：非线性参数估计 水下定位系统 安装误差校准 直接解法 

分 类 号：TN767.7[电子电信—电路与系统]