水下声学定位系统及其误差分析  

The Analysis on Error of Underwater Acoustic Positioning System

作　　者：上官经邦 陈新华[2] 黄海宁[2] 宋春楠 李嶷[2] 张志博[2] 余华兵 

机构地区：[1]中国科学院大学,北京100190 [2]中国科学院声学研究所水声工程中心,北京100190 [3]北京神州普惠科技股份有限公司,北京100085

出　　处：《网络新媒体技术》2016年第3期27-36,共10页Network New Media Technology

摘　　要：介绍了水下声学定位系统的发展状况,详细阐述了长基线定位系统的定位原理及其误差分析,并对定位过程进行了误差的仿真分析。同时分析了二次水声定位的定位误差来源,包括GPS的系统误差、GPS和换能器的位置误差、测时误差、载船位置变化引起的误差、声速误差等,为减小定位误差,介绍了基于最小二乘法进行递推估算位置,通过足够冗余数据来减小测量误差的方法,为提高精度提供了依据。The paper introduced the developing status of underwater acoustic positioning system, explained the positioning principle and error analysis of long baseline positioning in detail, and completed the simulation of positioning procedure and then gave the error analysis based on the simulation results. Then the paper discussed the error factors of secondary acoustic positioning system, including GPS measuring error, the error brought about by position difference between GPS system and receiving transducer, time - delay measuring error, the error led by the change of boat＇ s position during positioning procedure and the error existed in computation of acoustic velocity, etc. In addition, the paper introduced the recursive calculation positioning method based on the least square method, which can reduce the errors by calculating enough redundant data. The study will contribute to reduce errors and then improve precision of positioning results.

关 键 词：长基线定位 二次定位 定位误差 GPS定位 应答器 

分 类 号：TB56[交通运输工程—水声工程]