不同海底信标配置下的声呐开窗导航精度分析  

Accuracy Analysis of Active Sonar Navigation for Different Underwater Beacon Configurations

作　　者：卞加超 薛树强[1,2] 赵爽 肖圳 高金来 BIAN Jiachao;XUE Shuqiang;ZHAO Shuang;XIAO Zhen;GAO Jinlai(Chinese Academy of Surveying and Mapping,Beijing 100039;State Key Laboratory of Geographic Information Engineering,Xi’an 710054)

机构地区：[1]中国测绘科学研究院,北京100039 [2]地理信息工程国家重点实验室,西安710054

出　　处：《导航与控制》2024年第5期78-83,共6页Navigation and Control

基　　金：崂山实验室科技创新项目(编号:LSKJ202205100,LSKJ202205105)。

摘　　要：海底信标数量决定了声学导航定位的可解性,如单海底信标导航需要联合载体航向或姿态等信息。采用载体状态开窗估计方法探讨了在不同海底信标数量情形下主动式声呐导航的精度水平,仿真分析了从单海底信标到四个海底信标的主动式声呐导航模型导航定位精度,并进一步通过实测数据对其进行验证。验证结果表明,主动式声呐导航定位精度与海底可观测信标数量成正比。当海底有四个信标时,信标数量减少引起的精度下降在1 m以内;而当海底仅有单个信标时,解算精度显著降低,但导航定位精度仍可保持在10 m以内。The number of seafloor acoustic navigation beacons determines the solvability of acoustic navigation.For example,when using a single seafloor acoustic beacon for navigation,it is necessary to integrate information such as the vehicle’s heading or attitude.The precision level of active sonar navigation system under varying numbers of seafloor acoustic navigation beacons is explored using vehicle state estimation model within a sliding window.Designing a simulation experiment to analyze the navigation accuracy of an active-sonar navigation model as the number of seafloor acoustic navigation beacons increased from one to four.The results obtained from the simulation experiment are further validated using actual measured data which show that:the accuracy of the active sonar navigation is directly proportional to the number of observable seafloor acoustic navigation beacons.When there are four beacons,the decrease in accuracy caused by reducing the number of beacons is within 1 m.However,the accuracy significantly decreases when there is only a single beacon,but the navigation accuracy can still be maintained within 10 m.

关 键 词：导航信标 水下导航 开窗估计 B样条 

分 类 号：U666[交通运输工程—船舶及航道工程]