基于递推最小二乘的水下声学应答器在线标定方法  

Online position calibration method of underwater acoustic transponder based on recursive least squares

作　　者：金博楠 徐晓苏[1,2] 张涛[1,2] 康志超[1] JIN Bonan;XU Xiaosu;ZHANG Tao;KANG Zhichao(Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology,Ministry of Education,Southeast University,Nanjing 210096,China;School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《中国惯性技术学报》2019年第6期746-752,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61473085,51775110,51775110);中央高校基本科研业务费资助(2242018K40065);上海市北斗导航与位置服务重点实验室开放课题基金;惯性技术重点实验室基金(614250607011709);水下信息与控制重点实验室基金(614221805051809)

摘　　要：针对水下应答器在线标定问题,提出了一种基于递推最小二乘的应答器标定方法,其在解算间隙不断插入历史数据进行循环解算并引入遗忘因子加快算法收敛。为了提高算法稳定性,在标定最后用改进消元法对结果进行比对,以避免递推最小二乘法结果陷入局部收敛。改进消元法在传统方法基础上加进了声速修正方法以提高定位精度。对影响标定精度的误差因素进行了分析,对标定时不同的航行路径带来的定位效果进行了比较得出最优路径。仿真结果表明,递推最小二乘法不但能够在线估计,而且具有与实时性和高精度特点,具有很好的效果,相比于传统消元法有显著提高。最后在千岛湖实验中,采用所提出的方法对应答器进行了标定,标定精度优于10 cm,保证了水下应答器高精度标定的实施。Aiming at the problem of online calibration of underwater transponders, a transponder calibration method based on recursive least squares(RLS) is proposed. During the calculation interval, the historical data is continuously inserted for loop calculation, and the forgetting factor is introduced to speed up the algorithm’s convergence. In order to improve the stability of the algorithm, an improved elimination method is used to compare the RLS results at the end of the calibration so as to avoid local convergence of the results. The improved elimination method adds the sound velocity correction method to t he traditional elimination method to improve the positioning accuracy. The error factors that affect the calibration accuracy are analyzed, and the positioning effects brought by different navigation paths during the calibration are compared to obtain the optimal path. Simulation results show that the proposed method can not only estimate online, but also has the characteristics of real-time and high precision with good effect, and is significantly improved over the traditional elimination method. In the Qiandao Lake experiment, the proposed method is used to calibrate the transponder, and the calibration accuracy is better than 10 cm, which ensures the implementation of high-precision calibration of the underwater transponder.

关 键 词：在线估计 长基线 递推最小二乘 应答器标定 水下定位 消元法 

分 类 号：U666.11[交通运输工程—船舶及航道工程]