USBL安装偏差联合模型构建与校准方法  

A joint model construction and calibration method of USBL installation deviation

作　　者：刘慧敏 陆凯[1] 单瑞 杨源 李勇勇 杜凯 LIU Huimin;LU Kai;SHAN Rui;YANG Yuan;LI Yongyong;DU Kai(China Geological Survey Qingdao Institute of Marine Geology,Qingdao 266237,China;Key Laboratory of Submarine Geosciences,Ministry of Natural Resources,Hangzhou 310012,China;Tianjin Navigation Instrument Research Institute,Tianjin 300131,China)

机构地区：[1]中国地质调查局青岛海洋地质研究所,青岛266237 [2]自然资源部海底科学重点实验室,杭州310012 [3]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2023年第2期157-164,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(42174021,42106186);自然资源部海底科学重点实验室开放基金(KLSG2104);中国地质调查局项目(DD20191003)。

摘　　要：超短基线声学定位系统(USBL)使用前必须要进行严格的角度安装偏差校准。通过研究安装偏差校准的数学模型和数值算法,提出一种USBL安装偏差联合模型构建与校准方法。首先结合克罗尼克积给出高斯-马尔科夫数学模型假设下的校准信标位置和姿态旋转矩阵参数估计联合解,然后基于姿态旋转矩阵的联合解和条件协因数矩阵解其固定解。同时联合模型还可以对换能器水平距离安装偏差、声速误差进行增广,提高了模型的适用性。南海实测试验结果表明,所提方法可以充分利用USBL方向信息和测距信息对校准信标和其他参数进行估计,相比传统两步法,所提方法求解的信标水平定位偏差由0.69 m减小至0.60 m,水平距离安装偏差由0.26 m减小至0.04 m,角度安装偏差由0.29°减小至0.25°。Ultra short baseline systems(USBL)must be rigorously calibrated for angular misalignment before underwater application.By investigating the mathematical models and numerical algorithms of installation deviation calibration,a joint model construction and calibration method of USBL installation deviation is proposed.Firstly,the joint solution of the calibration beacon position and attitude rotation matrix parameter estimation under the assumption of Gauss-Markov mathematical model is given based on Kroneck product.Then the fixed solution is solved based on the joint solution of attitude rotation matrix and conditional cofactor matrix.At the same time,the joint model can also increase the level-range installation deviation and sound velocity error of the transducer,which improves the applicability of the model.Experimental results in the South China Sea show that the proposed method can fully utilize the USBL direction information and ranging information to estimate the calibration beacon and other parameters.Compared with the traditional two-step method,the proposed method reduces the horizontal positioning deviation from 0.69 m to 0.60 m,the level-range installation deviation from 0.26 m to 0.04 m,and the angle installation deviation from 0.29°to 0.25°.

关 键 词：超短基线声学定位系统 安装偏差校准 水平距离安装偏差 声速误差 

分 类 号：P295[天文地球—测绘科学与技术]