机器人2024，Vol.46Issue(3)：351-360,10.DOI:10.13973/j.cnki.robot.230246
针对全海深载人潜水器的超短基线定位校正
Ultra-short Baseline Positioning Correction for Full-ocean-depth Manned Submersible
摘要
Abstract
A positioning correction method is proposed to solve the problem of decreased positioning accuracy caused by the hydrophone installation deviation in the multi-element ultra-short baseline positioning system of full-ocean-depth manned submersible.Based on the basic principle of ultra-short baseline positioning,the influence of the primitive installation errors in x and y directions on the positioning result is analyzed to improve the ultra-short baseline positioning accuracy.Using the above analysis results,a method combining phase correction and Toeplitz correction is proposed to improve the positioning accuracy.Simulation and experiment show that the proposed algorithm is simple,easy to implement,and effective,and can effectively improve the positioning accuracy.关键词
超短基线定位/波达方向估计算法/总体最小二乘-旋转不变子空间算法/Toeplitz校正/相位校正Key words
ultra-short baseline positioning(USBL)/direction of arrival(DOA)estimation algorithm/total least squares-estimation of signal parameters via rotational invariance technique(TLS-ESPRIT)/Toeplitz correction/phase correction引用本文复制引用
熊长静,杨波,汪伟,刘烨瑶,李欣国,潘锋..针对全海深载人潜水器的超短基线定位校正[J].机器人,2024,46(3):351-360,10.基金项目
国家重点研发计划(2021YFC2801303). （2021YFC2801303）
