水下无人航行器集群协同定位中的几个关键因素及影响规律  

Several key factors affecting UUVs cooperative localization and law of influence

作　　者：杜祯强 柴洪洲[1] 向民志 章繁 惠俊 王朝莹 DU ZhenQiang;CHAI HongZhou;XIANG MinZhi;ZHANG Fan;HUI Jun;WANG ZhaoYing(Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450001,China;Key Laboratory of Ocean Geomatics,Ministry of Natural Resources,Qingdao Shandong 266590,China)

机构地区：[1]信息工程大学地理空间信息学院,郑州450001 [2]自然资源部海洋测绘重点实验室,山东青岛266590

出　　处：《地球物理学报》2025年第4期1201-1210,共10页Chinese Journal of Geophysics

基　　金：国家自然科学基金(42074014);自然资源部海洋测绘重点实验室开放基金(2021B15)资助。

摘　　要：水下无人航行器集群(Unmanned Underwater Vehicles,UUVs)协同定位可将全球导航卫星系统的时空基准延拓至水下,实现UUVs编队精准控制、路径合理规划以及高效协同作业.本文剖析了影响UUVs协同定位精度的几个关键因素,即编队构型影响、测距误差影响(包括时钟漂移误差、水声测距误差和声速剖面误差)、主UUV位置误差影响.水下的弱通信条件使得编队构型的优劣直接影响协同定位的精度,编队构型误差与UUVs分离角和天顶距相关;时钟漂移误差主要取决于UUVs时间同步板的精度,其与时钟漂移量呈线性关系;水声测距误差包含系统性误差和随机误差,系统性误差的比例会影响UUVs的最优分离角;声速剖面误差与深度和波束入射角相关,作业中需要对入射角加以限制.Unmanned Underwater Vehicles(UUVs)cooperative localization can deliver the space-time frame of Global Navigation Satellite System(GNSS)to the inside of ocean,which can realize the accurate control of UUVs,reasonable path planning and efficient cooperative operation.Several key factors affecting the accuracy of UUVs cooperative localization are analyzed,i.e.,influence of UUVs configuration,influence of ranging error(including error of acoustic time delay,error of acoustic ranging and error of sound velocity profile),and influence of master UUV position error.Due to the weak communication in underwater conditions,the UUVs configuration directly affects the accuracy of cooperative localization.Error of UUVs configuration is related to the separation angle and the zenith angle.Error of acoustic time delay mainly depends on the accuracy of UUVs time synchronization module,which has a linear relationship with clock drift.Error of acoustic ranging includes systematic error and random error,and the proportion of systematic error will affect the optimal separation angle of UUVs.Error of sound velocity profile is related to the incident angle and depth,and the incident angle needs to be limited.

关 键 词：UUV 协同定位 影响因素 编队构型 声速剖面 

分 类 号：P229[天文地球—大地测量学与测量工程]