海洋声呐测距环境误差改正模型优选  

Optimization of environmental error correction model for ocean acoustic ranging

作　　者：范云浩 周杰 韩念林[4] 赵爽 肖圳 朱冀星 FAN Yunhao;ZHOU Jie;HAN Nianlin;ZHAO Shuang;XIAO Zhen;ZHU Jixing(School of Civil Engineering,Shandong University of Technology,Zibo,Shandong 255049,China;Institute of Geodesy and Navigation Positioning,Chinese Academy of Surveying and Mapping,Beijing 100036,China;School of Geomatics and Spatial Information,Shandong University of Science and Technology,Qingdao,Shandong 266510,China;School of Land Science and Technology,China University of Geosciences,Beijing 100083,China)

机构地区：[1]山东理工大学建筑工程学院,山东淄博255049 [2]中国测绘科学研究院大地测量与导航定位研究所,北京100036 [3]山东科技大学测绘与空间信息学院,山东青岛266510 [4]中国地质大学土地科学技术学院,北京100083

出　　处：《导航定位学报》2025年第1期69-75,共7页Journal of Navigation and Positioning

基　　金：国家自然科学基金项目(41931076)。

摘　　要：针对声线跟踪算法在全球卫星导航系统(GNSS)组合声学测距技术中计算效率低、难以满足实时水下导航定位需求问题,提出一种声速误差参数化建模方法:利用常梯度声线跟踪模型定义并计算声速误差;然后构建与声线高度角和深度相关的声速误差函数模型,结合观测时延信息,实现对测距误差的改正;最后通过水下定位仿真系统对模型的可行性和稳定性进行实验验证。结果表明,提出的方法可实现声速误差的有效建模,其中,“复合+双指数”模型的精度最高,经过测距误差修正后可达到厘米级水下定位精度;同时,相较于传统声线跟踪方法可显著降低计算成本,在深海定位中计算效率可提升100倍以上。Aiming at the problem that the sound ray tracing algorithm has low computational efficiency and is difficult to meet the needs of real-time underwater navigation and positioning in the global navigation satellite system(GNSS)integrated acoustic ranging technology,the paper proposed a parametric modeling method of sound velocity error:the constant gradient sound ray tracing model was used to define and calculate the sound velocity error;then,the function model of sound velocity error related to the height angle and depth of sound ray was constructed,and the correction of ranging error was realized by combining the observation delay information;finally,the feasibility and the stability of the model were verified by the underwater positioning simulation system.Results showed that the proposed method could realize effective modeling of sound velocity error,among which the“compound+double exponential”model would demonstrate the highest accuracy,and could achieve centimeterlevel underwater positioning accuracy after ranging error correction;meanwhile,compared with the traditional sound ray tracing,the proposed method could significantly reduce the computational cost,and improve the computational efficiency by more than 100 times in deep sea positioning.

关 键 词：水下导航定位 声速误差 参数化建模 函数模型 测距误差 

分 类 号：P228[天文地球—大地测量学与测量工程]