顾及水声误差的UUVs协同定位构型设计及分析  

Configuration design and analysis of UUVs cooperative localization with underwater acoustic error

作　　者：杜祯强 柴洪洲[1] 向民志 章繁 惠俊 DU Zhenqiang;CHAI Hongzhou;XIANG Minzhi;ZHANG Fan;HUI Jun(Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450001,China;Key Laboratory of Ocean Geomatics,Ministry of Natural Resources,Qingdao 266590,China)

机构地区：[1]信息工程大学地理空间信息学院,河南郑州450001 [2]自然资源部海洋测绘重点实验室,山东青岛266590

出　　处：《测绘学报》2023年第8期1268-1277,共10页Acta Geodaetica et Cartographica Sinica

基　　金：国家自然科学基金(42074014,41904039,41604013);自然资源部海洋测绘重点实验室开放基金(2021B15)。

摘　　要：由于水介质的特殊性及水下的弱通信条件,水下无人航行器编队构型的优劣直接影响着协同定位的精度。针对传统UUVs构型设计方法未考虑水声声线弯曲和声速变化误差,且忽略了UUV之间距离变化引起的入射角差异的问题,本文提出了顾及水声误差的UUVs协同定位模型,通过引入平面位置精度衰减因子的概念分析UUVs最优编队构型。选取了位于日本南海海槽的实测数据作为水下真实声速场,分析了5种UUVs编队构型在不同深度下的协同定位精度,指出了UUVs水平距离和水深的比值与协同定位结果的关系。试验结果表明,传统方法在UUVs分离角为90°时达到最优构型,考虑到水声测距误差后,UUVs分离角在25°~30°达到最优。UUVs水平距离与水深的比值越大时,协同定位精度越高。考虑到波束入射角的限制,推荐在1.5~2.0倍比值,即55°~63°的波束入射角为最优构型。较之传统构型设计方法,顾及水声误差的编队构型使得UUVs协同定位精度平均提升24.3%。Due to the particularity of water medium and weak underwater communication conditions,the configuration of underwater unmanned vehicles(UUVs)directly affects the accuracy of UUVs cooperative localization.In the former work,the bending of underwater acoustic ray and sound velocity variation are not considered,and the change of incident angle caused by the distance variation between UUVs is ignored.The model of UUVs cooperative localization with underwater acoustic errors is proposed,and the optimal configuration of UUVs is analyzed by introducing the concept of horizontal dilution precision(HDOP).Selecting the sound velocity profile in Nankai trough,Japan as the underwater velocity field.The cooperative localization accuracy of five UUVs configurations at different depths are analyzed,and the relationship between UUVs cooperative localization results and the ratio of horizontal distance of UUVs and water depths researched.The experimental results show that the optimal UUVs separation angle is 90°in traditional method.When the underwater acoustic ranging error is considered,the separation angle of UUVs is optimal at 25°~30°.The higher the ratio of horizontal distance of UUVs and water depth,the higher the accuracy of UUVs cooperative localization.Considering the limitation of incident angle,it is recommended that the ratio is 1.5~2.0,i.e,the incident angle is 55°~63°,as the optimal configuration of UUVs cooperative localization.Compared with the traditional configuration design method,the configuration with underwater acoustic error improves the accuracy of UUVs cooperative localization by 24.3%on average.

关 键 词：UUV 协同定位 声学测距误差 HDOP值 构型设计 

分 类 号：P228[天文地球—大地测量学与测量工程]