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海洋声速剖面严重影响着水下声传播特性,近实时地获取声速剖面对水下声通信、水下定位、鱼群探测等都有重要意义。单经验正交函数回归（single Empirical Orthogonal Function regression,sEOF-r）方法通过建立声速剖面的经验正交系数与海面遥感数据之间的线性回归关系来反演声速剖面。但是,海洋是一个复杂的动力系统,声速与海面遥感数据并不是简单的线性关系,因此,本文基于Argo历史网格数据,通过自组织映射（Self-Organizing Map,SOM）生成海平面高度异常（Sea Level Anomaly,SLA）、海表面温度（Sea Surface Temperature,SST）等海表遥感数据以及表层声速仪测量的表层声速与声速剖面异常之间的非线性映射;然后利用近实时的海表遥感数据和表层声速反演三维海洋声速场。声速剖面反演的结果表明,在多源信息融合的优势下,本文方法的反演性能最稳定且精度最高,声速剖面的平均反演精度比经典sEOF-r方法提高约2 m/s,比未考虑表层声速的经典SOM方法提高约1 m/s。 相似文献
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To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrain-matching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation (LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning. 相似文献
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《中国海洋工程》2015,(6)
To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation(LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning. 相似文献
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通航水深是船舶在某时段沿着一定航线通过特定区域的最浅水深，对船舶的安全航行具有重要意义。海图测绘时将水深归算至深度基准面，由验潮资料求得，而潮汐值是通过临近区域发布的潮汐表来进行推算，由此获得的通航水深精度不
高，且不同港区之间采用深度基准不统一，所以无法为船舶提供精确、连续的通航水深。本文提出了一种基于高精度 GNSS的通航水深测量方法，直接测量海底高程，通过精密数值模型模拟海面高程，由此获得通航水深，并提出了实时通航水深的应用模式。为了建立与陆地地形相衔接的海底地形模型，以 CGCS2000 参考椭球面为垂直参考基准面，深度基准面采用 POM（Princeton Ocean Model） 模式进行潮波数值模拟的方法构建。实验结果显示：数值模型精度较高，构建的深度基准面误差在5 cm 以内。本文提出的方法改变了传统的通航水深测量及服务模式，提供高效率、高精度通航水深、海图水深数据，可为船舶用户提供实时动态水深服务。 相似文献
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A rapid real-time adjustment scheme is proposed for improving the precision of the conventional short-base line (SBL) positioning fix system used by submarines and other underwater vehicles. In the proposed approach, an initial position estimate is obtained by solving the conventional SBL tracking equations of the submarine given the assumptions of a constant speed of sound in water and a straight-line propagation path. In the first stage of the real-time adjustment procedure, this initial estimate is corrected using an iterative computation scheme based on a 3D geometry model. The improved position estimate is then used to compute a new, more accurate value of the speed of sound in water. Finally, in the second stage of the real-time adjustment procedure, the corrected speed of sound in water and the discrepancy between the original and corrected position estimates obtained in the first adjustment procedure are applied to update the coordinates of the submarine based on the second signal received from the pinger. The numerical results show that the proposed real-time adjustment system yields a significant improvement in the accuracy of the positioning fix estimates compared to those obtained from the conventional SBL method or the SBL method with the first adjustment procedure only. 相似文献
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This paper describes a new framework for detection and tracking of underwater pipeline,which includes software system and hardware system.It is designed for vision system of AUV based on monocular CCD camera.First,the real-time data flow from image capture card is pre-processed and pipeline features are extracted for navigation.The region saturation degree is advanced to remove false edge point group after Sobel operation.An appropriate way is proposed to clear the disturbance around the peak point in the process of Hough transform.Second,the continuity of pipeline layout is taken into account to improve the efficiency of line extraction.Once the line information has been obtained,the reference zone is predicted by Kalman filter.It denotes the possible appearance position of the pipeline in the image.Kalman filter is used to estimate this position in next frame so that the information of pipeline of each frame can be known in advance.Results obtained on real optic vision data in tank experiment are displayed and discussed.They show that the proposed system can detect and track the underwater pipeline online,and is effective and feasible. 相似文献
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采用水下超短基线定位系统和捷联惯导系统组合对水下潜器进行导航时,未知的声速误差会严重影响组合导航的精度。顾及超短基线定位系统的噪声水平、阵列上接收单元的误差特性以及和捷联惯导系统在导航性能的互补性,基于平面波近似原理,建立了SINS/USBL紧组合系统的状态方程和量测方程,并对未改正的声速误差在线估计,提出一种超短基线定位系统和捷联惯导系统紧组合算法。新算法可以将非高斯的未知声速误差进行建模后进行估计,有效提高了捷联惯导系统的误差估计性能。仿真实验结果表明,新算法能有效估计未知声速误差,滤波收敛后的精度明显优于松组合方案,具有很强的实用性。 相似文献
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超短基线定位解算中的距离观测值是指换能器与水下应答器之间的直线距离,而海水声速的不均匀分布导致声波在海水中的实际传播路径为连续弯曲的曲线,需要结合实测声速剖面进行声线修正。根据声速在分层介质中的传播特性,本文提出了一种基于二次多项式拟合的声线跟踪算法,采用线性插值方法对声速剖面数据进行合理加密并按等深度进行分层,设定每层声速梯度是不断变化的,用二次多项式拟合声速,基于运动学原理建立了完整的数学解算模型。仿真结果表明,该方法修正后的水下目标分布具有明显的收敛性,且优于等梯度声线跟踪算法和等效声速剖面法,显著提高了超短基线水声定位系统的定位精度。 相似文献
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文中关注水下潜航器导航定位时,电磁波传播途径中能量衰减、惯导系统长航时积累误差以及提高水下潜航器定位精度等问题。基于倒置的超短基线声学基阵,分析声波往返传播时间(RTT)、平面波近似方法和USBL导航解算方法及其坐标转换过程,结合INS误差方程,建立INS/USBL松组合模型。为进一步提高系统精度、动态性能和抗干扰性,考察USBL的原始斜距、斜距差以及声学基阵的空间分布信息,提出基于USBL原始输出信息的INS/USBL紧耦合组合导航方法。通过MATLAB仿真对导航算法进行验证,结果表明两种算法能充分抑制纯惯导误差随时间积累问题,且有效地估计出姿态、速度和位置误差角;其中紧耦合方法状态估计误差最小,导航参数精度相对松组合提高30%以上,对于提高水下载体导航定位精度、海洋探测具有重大意义。 相似文献
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Deep Sea AUV Navigation Using Multiple Acoustic Beacons 总被引：1，自引：1，他引：0
Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation. 相似文献
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Precise Multibeam Acoustic Bathymetry 总被引：7，自引：0，他引：7
The maximum error in ocean depth measurement as specified by the International Hydrographic Organization is 1% for depth greater than 30m. Current acoustic multibeam bathymetric systems used for depth measurement are subject to errors from various sources which may significantly exceed this limit. The lack of sound speed profiles may be one significant source of error. Because of the limited ability of sound speed profile measurement, depth values are usually estimated using an assumed profile. If actual sound speed profiles are known, depth estimate errors can be corrected using ray-tracing methods. For depth measurements, the calculation of the location at which a sound pulse impinges on the sea bottom varies with the variation of the sound speed profile. We demonstrate that this location is almost unchanged for a family of sound speed profiles with the same surface value and the same area under them. Based on this observation, we can construct a simple constant-gradient equivalent sound speed profile to correct errors. Compared with ray-tracing methods, the equivalent sound speed profile method is more efficient. If a vertical depth is known (or independently measured), then depth correction for a multibeam system can be accomplished without knowledge of the actual sound speed profile. This leads to a new type of precise acoustic multibeam bathymetric system. 相似文献
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The maximum error in ocean depth measurement as specified by the International Hydrographic Organization is 1% for depth greater than 30m. Current acoustic multibeam bathymetric systems used for depth measurement are subject to errors from various sources which may significantly exceed this limit. The lack of sound speed profiles may be one significant source of error. Because of the limited ability of sound speed profile measurement, depth values are usually estimated using an assumed profile. If actual sound speed profiles are known, depth estimate errors can be corrected using ray-tracing methods. For depth measurements, the calculation of the location at which a sound pulse impinges on the sea bottom varies with the variation of the sound speed profile. We demonstrate that this location is almost unchanged for a family of sound speed profiles with the same surface value and the same area under them. Based on this observation, we can construct a simple constant-gradient equivalent sound speed profile to correct errors. Compared with ray-tracing methods, the equivalent sound speed profile method is more efficient. If a vertical depth is known (or independently measured), then depth correction for a multibeam system can be accomplished without knowledge of the actual sound speed profile. This leads to a new type of precise acoustic multibeam bathymetric system. 相似文献
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This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology. 相似文献
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水声定位系统中, 声线弯曲是造成定位误差大的主要原因, 本文针对该问题提出了一种迭代适应点分层(IAPL)的声线修正算法, 将声速剖面筛选分层修正声线。首先搭建水声定位模型, 通过拟合目标海域的监测数据, 得到声速高次函数; 其次探究声线弯曲时目标位置与掠射角的关联性, 由此构造出声线插值函数并求解路径参数; 最后提出划分原则, 精简声速剖面分层。仿真结果表明, 所提算法定位误差较低, 分层精简率均维持在48.04%的水平, 使计算量平均下降可达50.27%, 能够最大程度保留声速剖面的原始特征, 减少分层数量, 提高计算效率。 相似文献
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海洋冷水团是海洋学家关注多年的问题 ,其监测方法亟待解决。本文将简正波波数层析法用于冷水团监测 ,并对简正波波数层析用于反演黄海冷水团声速剖面进行了数值模拟。数值模拟结果表明 ,简正波波数层析可以用于反演平均声速剖面 ,特别在监测与距离有关海洋环境的声速结构方面大有潜力。 相似文献