一种水下运动体目标参数联合估计方法  

A parameter joint estimation method for underwater moving volume target

作　　者：郑翠娥 程驰宇 孙大军 李宗晏[1,2,3] ZHENG Cuie;CHENG Chiyu;SUN Dajun;LI Zongyan(National Key Laboratory of Underwater Acoustic Technology,Harbin Engineering University,Harbin 150001;Key Laboratory of Marine Information Acquisition and Security(Harbin Engineering University),Ministry of Industry and Information Technology,Harbin 150001;College of Underwater Acoustic Engineering,Harbin Engineering University,Harbin 150001;Qingdao Innovation and Development Base,Harbin Engineering University,Qingdao 266000)

机构地区：[1]哈尔滨工程大学水声技术全国重点实验室,哈尔滨150001 [2]工业和信息化部海洋信息获取与安全工信部重点实验室(哈尔滨工程大学),哈尔滨150001 [3]哈尔滨工程大学水声工程学院,哈尔滨150001 [4]哈尔滨工程大学青岛创新发展基地,青岛266000

出　　处：《声学学报》2025年第1期45-58,共14页Acta Acustica

基　　金：崂山实验室科技创新项目(LSKJ202205100,LSKJ202205103);黑龙江省自然科学基金项目(YQ2019D003)资助。

摘　　要：为解决声速测量不准和姿态传感器安装偏差引起的水下体目标垂向运动轨迹估计有偏问题,提出了一种水下运动体目标参数联合估计方法,将声速误差、安装姿态误差作为未知参数与运动轨迹进行联合估计。理论分析和仿真结果表明,声速误差、安装姿态误差主要影响体目标垂向轨迹估计性能,所提联合方法有效消除了由系统误差引起的垂向运动轨迹系统偏差。海上试验以压力计测量深度为参考评定体目标轨迹长基线估计方法的垂向估计性能,所提方法将3.67 m的垂向轨迹偏差减小至0.02 m,提高了体目标垂向运动轨迹估计准确度。To solve the problem of biased estimation of vertical trajectory of underwater volume targets caused by inaccurate sound velocity measurement and deviation of attitude sensor installation,a long baseline positioning method for underwater motion volume target trajectory is presented,in which the sound velocity error and installation attitude error are jointly estimated with the motion trajectory as unknown parameters.Theoretical analysis and simulation experimental results show that the velocity error and installation attitude error mainly affect the performance of vertical trajectory estimation for volume targets.The proposed method effectively eliminates the systematical deviation of vertical motion trajectory caused by systematical error.In the sea experiment,the vertical estimation performance of the long baseline volume target trajectory estimation method is evaluated by using the pressure gauge depth measurement as the reference,and the proposed method reduces the deviation of vertical motion trajectory from 3.67 m to 0.02 m,which improves the accuracy of the vertical trajectory of underwater volume targets.

关 键 词：长基线定位 体目标 运动轨迹估计 系统误差估计 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TB566[自动化与计算机技术—控制科学与工程]