海洋测绘2017，Vol.37Issue(3)：40-44,5.DOI:10.3969/j.issn.1671-3044.2017.03.009
用于AUV定位的等效声速剖面改进算法研究
AUV Positioning Based on Equivalent Sound Speed Profile Improved Algorithm
摘要
Abstract
Autonomous underwater vehicle equipped with a variety of measuring facility is widely used in the deep-sea engineering operation.However,accurate positioning is a prerequisite for the AUV to perform various underwater operations.Conventional acoustic localization methods are inaccuracy because of the velocity profile is uncertain,and it will bring about the complication of the actual operation process.Among the various methods of improving the speed of sound profile,the calculation process of the equivalent velocity profile method is relatively simple,and hardly depends on the actual velocity profile.However,the biggest problem is that the relative size of the solution is too complex.Based on the characteristics of AUV,an AUV positioning method combining USBL and equivalent Sound Speed Profile Method is proposed in this paper,and improves the algorithm.The accuracy of this method is greatly improved and the error solution of the relative area is more simpler,the problem that the original method error increases with the change of the water depth value and the grazing angle is solved,and the methool has good engineering application value.关键词
AUV定位/声线跟踪/超短基线/等效声速剖面法/最小二乘法/相对面积误差Key words
AUV positioning/ray-tracing/USBL/equivalent sound speed profile method/least-squares method/relative area error分类
天文与地球科学引用本文复制引用
孙文舟,殷晓冬,李树军,孟凡军..用于AUV定位的等效声速剖面改进算法研究[J].海洋测绘,2017,37(3):40-44,5.基金项目
国家自然科学基金(41571441). （41571441）
