南京大学学报（自然科学版）2017，Vol.53Issue(4)：629-637,9.DOI:10.13232/j.cnki.jnju.2017.04.002
一种适用于水下垂向运动目标的长基线水声定位方法
A method of long baseline acoustic positioning for underwatervertical moving target
张旭 1孙翱 2韩旭 1辛健1
作者信息
- 1. 中国人民解放军91550部队,大连,116023
- 2. 中国人民解放军92493部队博士后科研工作站,大连,116023
- 折叠
摘要
Abstract
On account of high speed,transient state and complex working conditions of underwater vertical moving vehicle,its trajectory measurement has become a complex problem in practice for many years.This paper presents a method of long baseline acoustic positioning for underwater vertical moving vehicle with a cooperative acoustic target.A measurement model was developed based on multi-range measuring system,which was restricted by the properties of cooperative acoustic beacon.The problem of solving non-linear equations to obtain the optical value was transformed into a least-squares estimation problem of overdetermined linear equations by using Taylor expansion formula in first order,and a Newton iteration method was adopted for numerical calculation.A simulation algorithm was designed to investigate the error distribution properties based on a measuring array which was composed of several seabed coplanar receivers and a surface float receiver,and a detailed comparison was made between three typical arrays in the same area.The simulation results show that the precision inside array in horizon is clearly better than that in vertical.The horizontal standard deviations of 6-receivers array,8-receivers array and 15-receivers array are 0.5 m,0.3 m and 0.2 m separately,while the vertical ones are 3.5 m,1.5 m and 1.0 m,the ratio of outside array areas whose standard deviation is less than 0.3 m to inside array areas is about 0.3~1.9 in horizon,and the ratio of outside array areas whose standard deviation is less than 1.5 m to inside array areas is about 0.2~1.1 in vertical.The solution method establishes the relationship of precision distribution to different measuring arrays in a complex condition,which would be possible to use for measuring system design and scheme making.Weighing the precision and feasibility,the 8-receivers array with a structure of "XX" is considered as a more reasonable scheme compared with 6-receivers array and 15-receivers array.关键词
长基线定位/水下垂向运动目标/测量阵/精度分析Key words
long baseline positioning/underwater vertical moving target/measurement array/precision analysis分类
军事科技引用本文复制引用
张旭,孙翱,韩旭,辛健..一种适用于水下垂向运动目标的长基线水声定位方法[J].南京大学学报（自然科学版）,2017,53(4):629-637,9.
