考虑信标运动的水下联合定位算法  

Underwater combined positioning algorithm considering beacon movement

作　　者：秦显平 明锋[1,2] 许扬胤 QIN Xianping;MING Feng;XU Yangyin(State Key Laboratory of Geo-Information Engineering,Xi′an 710054,China;Xi′an Research Institute of Surveying and Mapping Temporal-Spatial Datum and Navigation Research Department,Xi′an 710054,China)

机构地区：[1]地理信息工程国家重点实验室,陕西西安710054 [2]西安测绘研究所时空基准与导航研究室,陕西西安710054

出　　处：《哈尔滨工程大学学报》2023年第11期2036-2043,共8页Journal of Harbin Engineering University

基　　金：崂山实验室科技创新项目(LSKJ202205101);国家重点研发计划(2020YFB0505800).

摘　　要：为融合全球导航卫星系统/声学测量与海底信标之间声学测量优势,同时考虑导航信标因海底洋流等因素而引起的运动,本文提出考虑信标运动的水下联合定位算法,并采用3000 m水深海域的实测数据进行试验计算。试验结果表明:联合定位估计的声速模型与声速测量值之间的差异小于0.15 m/s;与全球导航卫星系统/声学定位相比较,联合定位获得的海底导航信标运动轨迹具有更高的精度,全球导航卫星系统/声学定位及联合定位的基线残差统计值分别为-0.302±0.740 m、0.007±0.169 m;试验区海底导航信标水平运动幅度可达3 m,周期性运动模型可以较好地描述试验区海底导航信标的运动轨迹。By integrating the advantages of GNSS/acoustic measurement and seabed acoustic ranging and consider-ing the movement of submarine navigation beacons caused by seabed ocean currents,this paper proposes an under-water combined positioning algorithm considering beacon movement.The data measured at a water depth of approxi-mately 3000 m were used to test the underwater positioning algorithm.The results show a difference of less than 0.15 m/s between the sound velocity model estimated by the underwater combined positioning and the sound veloci-ty measurement.Compared with GNSS/acoustic positioning,the combined positioning can obtain higher accuracy of a submarine navigation beacon trajectory.The values of baseline residual statistics of the GNSS/acoustic positio-ning and the underwater combined positioning are-0.302±0.740 m and 0.007±0.169 m,respectively.The amplitude of horizontal movement of the seabed navigation beacons can reach 3 m,and the periodic motion model can appropriately describe a seabed navigation beacon trajectory in the test area.

关 键 词：海底导航信标 弹性定位 全球导航卫星系统/声学定位 水下联合定位 海底声学测距 平均声速 声速模型 声学导航 

分 类 号：P229[天文地球—大地测量学与测量工程]