共查询到19条相似文献，搜索用时 109 毫秒
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从1990年中期以来，由于全球定位系统的出现，水面载体的定位已不成问题。今天，使用简单的装置（除了部队特别的应用之外）任何水面载体都可以精确地定位。因为电磁波在水中第一厘米很快地衰减，GPS不能在水下工作。传统的可用系统和根据水面浮标与超短基线（USBL）声学定位系统引出来的长基线声学定位系统一样，不能满意地解决定位问题。 相似文献
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本文主要介绍用 IBM/PC 及接口技术,实现声学综合定位系统实时数据采集及处理的软硬件的设计思想。应用超短基线原理的声学综合定位系统安装在船上,借助 IBM/PC 机的丰富的软件资源、实现水下目标(信标或释放器)的定位和导肮。 相似文献
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深海超短基线声学定位系统计算目标水平距离的一种新方法 总被引：3，自引：0，他引：3
对深海环境中工作的潜器或设备载体进行定位测量是深海调查的重要任务之一，本文基于射线声学原理对超基线声学定位系统的定位数据提出了一种迭代处理算法，能够得到非常精确的水平距离测量结果，这种方法对于大洋调查的深拖系统和其他下水设备定位有重要的现实意义。 相似文献
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本文介绍了短基线、超短基线和长基线的声学定位原理和特性。文章还对声学导航、水下跟踪。水下声学定位的应用、海洋工程用的导航技术、海洋勘探以及海洋地球物理调查等问题进行了讨论。 相似文献
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声学系统是探测悬浮颗粒物在海洋中的短期时空分布状态,揭示悬浮颗粒物的沉降、扩散和迁移特性的有效工具。本文阐述了声学系统信号与悬浮颗粒浓度的量化(以美国Datasonics声学系统为例)及信号数字化处理。用处理后的数据可定量分析海洋中悬浮颗粒物时空分布以及不同密度层和水团的分布,可供从事物理海洋学方面的研究。文中阐述的声学信号处理方法对在海洋调查研究、海洋环境保护研究和海洋环境监测中声学技术的应用可提供一个借鉴。 相似文献
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海底大地基准网将是新一代国家综合PNT（Positioning, Navigation and Timing）系统建设的重要组成,也是未来海洋立体观测系统的基础设施。联合全球卫星导航定位系统和声学测距的GNSS-声学定位技术可用于高精度水下定位,直接服务于海底大地基准网建设。本文聚焦海底大地基准建设技术,简要梳理了国内外水下声学导航定位技术及系统背景,分析总结了海底大地基准建设的站址勘选及布放技术要点,在讨论GNSS-声学观测平台和数据采集技术基础上,重点探讨了GNSS-声学定位的数据处理方法研究进展,最后简单介绍了GNSS-声学的当前主要应用并展望了未来海底大地基准建设的技术需求和应用问题。 相似文献
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The purpose of the current study is to introduce a set of mobile underwater positioning systems (MUPS) that will enable non-offshore vessels to execute underwater missions. Besides mobility, the system would also possess the advantage of having to use fewer acoustic instruments than conventional acoustic positioning systems. The method adopted by the system will involve the use of expendable and multi-functional bathythermographs (XBT) to measure the underwater acoustic speed and the depth of water at the same time. Then it must utilize the geometric relations formed by measuring the position of underwater targets at set intervals during navigation. In addition, since sound does not travel in a straight line when underwater, the iteration and convergence method must be used to perform corrections on the transmission speed and positional errors to obtain an accurate coordinate of the underwater target. After simulation testing, the positioning system established by the current study has proven to be fast in converging the error values along with high positioning accuracy of the system. The results of the study indicate that the MUPS built by the research institute can be utilized on a vessel, and will be very helpful in assisting the management of urgent underwater positioning missions. 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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Underwater robot positioning and navigation achieve autonomous underwater robot movement based on the premise that positioning obtains the coordinates of the relative position of the underwater robot using a sensor, and navigation yields a known location to the destination path planning. Due to the location of an underwater robot and the complex and changing environment in which it operates, it is difficult to achieve precise positioning using the traditional positioning method. This paper systematically analyzes and summarizes several typical localization and navigation methods of underwater robots, such as multisensor information fusion technology, underwater acoustic localization and navigation methods, GPS buoy, underwater vision, SLAM and coordinate localization and navigation of multiple underwater robots. Multisensory information fusion technology integrates the advantages of the above methods, enhances the system stability and robustness, overcomes the disadvantages of traditional positioning and navigation, and enables the autonomous navigation and positioning of underwater robots. Underwater acoustics enable flexible and convenient positioning, whereas GPS can achieve high-precision and high-positioning navigation information, and visual positioning effectively overcomes the problem of error accumulation. Multirobot cooperative positioning resolves the problem of positioning failure caused by the collapse of a single system and completes complex tasks that cannot be completed by a single robot, thus enhancing the stability and robustness of the system. This paper systematically describes the realization of these methods, presents an actual analysis of their respective advantages and problems, and discusses the development of the field of research prospects and application prospects. 相似文献
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一种超短基线定位系统阵型的改进方法 总被引：1，自引：0，他引：1
超短基线随着作用距离增加,其定位误差也增大.为了满足远距离作业需要,提高超短基线远距离的定位精度,文中提出通过改进超短基线基阵阵型的方法来提高定位精度,但同时会带来相位模糊的问题,因此进一步提出一种利用双脉冲信号相位抗模糊的方法以保证在改进的阵型条件下能够正确地定位.仿真和实验结果证明通过阵型改进后的超短基线系统定位精度得到了很大的提高. 相似文献