哈尔滨工程大学学报2025，Vol.46Issue(10)：2133-2140,8.DOI:10.11990/jheu.202404003
自动水下航行器载中低频声呐的测距精度分析
Analysis of ranging accuracy for medium to low frequency sonar system mounted on autonomous underwater vehicles
摘要
Abstract
In underwater environments rejected by GNSS,sonar is the main alternative to navigation and positioning based on ranging information.At present,the mainstream two-way ranging sonar has a frequency of 8～16 kHz,and its effective operating range is only 5～8 km,making it difficult to complete deep-sea long-range detection tasks.This article uses AUV as a carrier to carry a 2～4 kHz medium and low frequency one-way ranging sonar with a longer operating distance in the South China Sea at a depth of 3km.The sonar can record one-way delay data be-tween it and underwater acoustic beacons.In order to convert the acoustic delay observation values into correspond-ing ranging values,this article uses the temperature and salinity depth meter data carried in the experiment to cal-culate the sound velocity profiles of three empirical models,Chen Millero,Del Grosso,and Wilson,and uses an improved acoustic line tracking algorithm to obtain more accurate sound velocity data.Finally,the geometric dis-tance between AUV and underwater beacons is compared and compared as the true value.Statistical analysis.The results show that the Chen Millero sound velocity model is more suitable for deep-sea environments,with a deviation RMS value of 1.640 m for mid to low frequency sonar ranging,which is similar to the GNSS positioning error,and the accuracy of this mid to low frequency sonar can meet the requirements of deep-sea ranging.关键词
自动水下航行器/中低频声呐/水下导航/深海实测/声线跟踪/声速经验模型/声学时延测距/精度分析/定位导航授时Key words
autonomous underwater vehicle/medium and low frequency sonar/underwater navigation/deep sea measurements/voice line tracking/empirical model of sound speed/acoustic time delay ranging/precision analy-sis/positioning,navigation,and timing分类
天文与地球科学引用本文复制引用
李雨晴,高凡,刘维新,徐天河,舒建旭..自动水下航行器载中低频声呐的测距精度分析[J].哈尔滨工程大学学报,2025,46(10):2133-2140,8.基金项目
实验室科技创新项目(LSKJ202205100,LSKJ202205104). （LSKJ202205100,LSKJ202205104）
