主动式定位的椭球交会原理及其2种解法  

The ellipsoid intersection principle of active positioning and its two solutions

作　　者：薛树强[1] 杨文龙 赵爽 XUE Shuqiang;YANG Wenlong;ZHAO Shuang(Institute of Geodesy and Navigation Positioning,Chinese Academy of Surveying and Mapping,Beijing 100036,China;School of Space Science and Physics,Shandong University(Weihai),Weihai,Shangdong 264209,China)

机构地区：[1]中国测绘科学研究院大地测量与导航定位研究所,北京100036 [2]山东大学(威海)空间科学与物理学院,山东威海264209

出　　处：《导航定位学报》2024年第3期1-7,共7页Journal of Navigation and Positioning

基　　金：国家自然科学基金重点基金项目(41931076);国家重点研发计划项目(2020YFB0505802);崂山实验室科技创新项目(LSKJ202205100,LSKJ202205105)。

摘　　要：空间球交会定位原理广泛应用,但并非所有主动式定位系统均适用该定位原理。该文探讨了主动式双程定位观测模型及与之适配的椭圆交会定位原理,分析了主动式定位模型化为空间交会定位模型的模型误差,提出了基于高斯-牛顿法的主动式定位模型直接求解算法,以消除参数初值误差及其模型非线性强度影响;同时,为了继承基于空间交会原理的定位模型和算法,提出了求解主动式定位模型的间接解法,该方法通过双程距离精确转化为单程距离实现。以主动式声呐定位应用场景为例,进行深海3 000 m海试数据验证,结果表明,主动式声呐定位模型相对于传统空间交会定位模型具有更高的定位精度,且直接解法与间接解法结果及其精度评定结果相同。其中,间接法通过建立往返双程距离比例关系,将模型近似误差进行等效转化,可对现有常规定位模型与算法直接加以利用,因此该方法具有更好的实用价值。The principle of space intersection positioning is widely applied,but not all active positioning systems are compatible with this principle.The active round-trip positioning observation model and the elliptical intersection positioning principle adapted to it are analyzed,the model errors are analyzed when modeling the active positioning model as a space intersection positioning model.A direct solution algorithm for the active positioning model based on the Gauss-Newton method was proposed to eliminate the initial parameter errors and the impact of model nonlinearity.Simultaneously,in order to inherit the positioning model and algorithm based on the space intersection principle,a concise solution method for the active positioning model is proposed.This method achieves precise conversion from round-trip distance to unidirectional distance.Taking the application scenario of active acoustic positioning as an example,deep-sea trials at 3000 m are conducted for validation.The results indicate that the active acoustic positioning model has higher positioning accuracy compared to the traditional space intersection positioning model.Moreover,the direct solution method yields results and accuracy assessments consistent with the indirect solution method.The proposed indirect method can be directly applied to the conventional positioning models and algorithms,making it more practically valuable by equivalently converting the model approximation errors based on the established proportional relationship between the round-trip distance.

关 键 词：主动式定位 空间交会 椭圆交会 声呐定位 非线性平差 

分 类 号：P228[天文地球—大地测量学与测量工程]