哈尔滨工程大学学报2023，Vol.44Issue(11)：2018-2026,9.DOI:10.11990/jheu.202307043
基于海底基准的中远程PNT定位导航技术及验证
Medium and remote range acoustic PNT datum positioning and navigation technology
摘要
Abstract
To address the issues arising from inaccurate calculations of effective sound speed due to difficulties in the sound line flip correction and static model approximation errors due to lengthy propagation delays in seafloor da-tum,a medium and remote range acoustic positioning and navigation method is investigated.Based on ray acoustics theory and long baseline positioning techniques,this method uses prior depth information to perform sound ray tracking and correction for inverted sound rays;meanwhile,it establishes a joint solution model for target motion trajectories and velocities to compensate for static model approximation errors,achieving dynamic,high-precision medium and remote range positioning and target navigation.Sea experiment results indicate that,using the ultra-short baseline positioning results as the external truth value,the target achieved a positioning accuracy of 16.87 m at a distance of 20 km from the seafloor datum,which met the requirements for high-precision positioning and navi-gation in medium and remote ranges.关键词
海底基准/中远程定位导航/长基线定位/声线翻转/动态定位模型/声线跟踪/轨迹估计/高精度定位Key words
seafloor datum/medium and remote acoustic positioning/long baseline positioning/ray flipping/mov-ing positioning model/ray tracing/trajectory estimation/high-precision positioning分类
物理学引用本文复制引用
郑翠娥,程驰宇,韩云峰,张居成..基于海底基准的中远程PNT定位导航技术及验证[J].哈尔滨工程大学学报,2023,44(11):2018-2026,9.基金项目
黑龙江省自然科学基金项目(YQ2019D003) （YQ2019D003）
崂山实验室科技创新项目(LSKJ202205100,LSKJ202205103). （LSKJ202205100,LSKJ202205103）
