共查询到18条相似文献，搜索用时 129 毫秒
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《海洋技术学报》2014,(6)
水下滑翔器嵌入式控制系统采用Philips公司的LPC2478为主控芯片,搭载多路高精度传感器以及伺服执行系统。通过对水下滑翔器的结构分析,构建出水下滑翔器的动力学模型,采用神经网络PID控制算法调节动力学模型中的俯仰角和横滚角,实现水下滑翔器在水下运行时的姿态调节与航迹控制。引入高斯大地线算法,分析处理经纬度坐标与航向角数据,计算得到水下滑翔器的航行距离与航向角偏差数据,从而控制伺服系统实现导航控制。同时,鉴于水面环境与水下环境的差异,为提高水下滑翔器的导航精度,引入水下航位推算算法,推算出水下滑翔器在水下的航向与姿态角,提高其在水下运行的精确度。 相似文献
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影响GPS PPK无验潮水深测量精度的几个因素 总被引：3，自引：1，他引：3
针对作用距离、数据同步、姿态、声速等因素对全球定位系统动态后处理(GPS PPK)无验潮沿岸水深测量精度的影响进行了讨论,分析了GPS PPK无验潮水深测量作业模式消除涌浪影响的机理,对姿态传感器的测量和安装精度以及GPS天线与测深仪换能器相对位置的量测精度等提出了定量要求。 相似文献
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为实现远岸潮位精确监测,从天线类型、浮标姿态改正、数据处理模式等影响因素进行了远距离GNSS浮标潮位测量精度的分析研究。结果表明:相比于非扼流圈天线,采用扼流圈天线可有效提高GNSS浮标数据观测质量,获得较高精度的定位结果;姿态改正对浮标天线高误差达厘米级,潮位提取中可通过低通滤波器有效消除;远距离潮位测量(基线大于300 km)中PPP潮位精度整体优于PPK潮位;GNSS潮位测量精度受海况影响严重,四级海况以内,潮位测量精度优于10 cm,可以满足远距离潮位观测精度的要求。 相似文献
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应用GPS技术对杭州湾跨海大桥进行首级控制网测量,结果表明:(1)合理布设GPS控制网,并采用设置深桩固埋测量标志、增加有效观测时间、加强数据可靠性与精确性的检验、选择科学及合理的坐标系统等方法,可提高观测数据的质量和精度。同时,对观测数据采用Bernese高精度基线处理软件和精密星历进行基线解算、网平差和坐标转换,保证了杭州湾跨海大桥首级控制网的精度在厘米级之内,使成果的质量达到优良。(2)Bernese基线数据的闭合环及复测基线的检核表明:同步环、异步环闭合差量值及复测基线互差量值全部符合限差要求,且在允许值的1/3以内的基线环数分别占93.3%、77.7%和100%,其成果精度达到优良。(3)GPS控制网的控制点点位的中误差全部满足±20mm的技术设计要求,并且有96.6%的控制点点位中误差在限差的1/3范围以内,精度较高。使用精密星历和广播星历两种不同的数据处理方法进行数据处理,其坐标互差吻合得较好,全部互差值均在限差允许值的1/2范围以内,且使用精密星历计算的成果精度明显高于使用广播星历计算的成果精度。 相似文献
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GNSS船姿测量以其观测误差不随时间累积的特点得到了广泛研究和应用,本文基于三天线GNSS船姿测量方式,构建了波束脚印误差与姿态误差间的关系模型,设计仿真实验分析了基线长度对姿态误差的影响,以及不同水深环境下姿态误差与GNSS定位误差的关系。为突破传统RTK在测量距离上的限制,本文采用PPP、PPK、MBD (动态参考站差分)三种方法进行GNSS船姿计算,并通过海上实验与高精度惯性导航系统进行对比分析,结果表明使用MBD测姿结果要优于PPK和PPP模式,得到的航偏角、横摇角、纵摇角标准差均在0.1°左右,可满足通常情况下多波束测深对姿态精度的要求。 相似文献
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多波束测深技术是目前水下地形测量的主要技术手段,测量平台的瞬时姿态及方位是影响多波束测深系统最终成果准确度的重要因素。GNSS方位辅助惯性导航系统,作为目前应用较为广泛的方位、姿态、及位置综合测量系统,不仅能够提供高精度位置信息,同时也能提供测量平台的瞬时姿态及方位数据,而且因为具有GNSS方位辅助测量,使得最终方位测量结果比传统方位测量精度大大提高,这对于多波束最终测量成果精度提高具有重要意义。文中从GNSS方位辅助惯性导航系统原理及技术优势出发,结合Trimble RTX后处理技术,从姿态测量、方位测量及辅助高程测量方面分析了在多波束水下地形测量中的应用,并以实际测量成果来展现其在水下地形精密测量技术方面的优势,结果显示,定位精度可以达到优于2 cm级别,方位精度可以优于0.01°(依赖于双GNSS天线之间的基线长度),该技术对水下地形测量准确度提升作用显著。 相似文献
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GPS测量误差源及其控制分析 总被引：3，自引：2，他引：1
介绍了GPS测量中各种主要的非人为误差以及它们给测量带来的影响，对于精度控制问题，主要讨论的是小型控制网（基线长度10～20km）和局部地区应用中动态和准动态差分测量的精度控制方法。 相似文献
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A four‐antenna GPS attitude determination system was used to estimate roll, pitch, and heading parameters of a 52‐meter surveying vessel in an operational marine environment. The least squares algorithm for platform attitude estimation using multiple baseline vector observables is presented. An efficient on‐the‐fly carrier phase ambiguity searching method is derived, which utilizes the Cholesky decomposition method and the known baseline constraints between the GPS antennas to construct the potential ambiguity sets on the sphere. The accuracy of the estimated attitude parameters from the GPS multi‐antenna system was assessed with an independent inertial navigation system (INS). Results from sea trials show that the proposed GPS multi‐antenna system and processing algorithms delivered a satisfactory performance under various ship maneuvers. The accuracy of GPS estimated ship attitude parameters is better than 0.06 degrees at an output rate of 10 Hz. Such a performance demonstrates a new alternative means to provide accurate, reliable, and cost‐effective ship attitude information for hydrographic applications. 相似文献
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Shipborne GPS attitude determination during MMST-93 总被引：1，自引：0，他引：1
Lachapelle G. Cannon M.E. Lu G. Loncarevic B. 《Oceanic Engineering, IEEE Journal of》1996,21(1):100-104
The attitude parameters of a ship underway were measured using a configuration of four 10-channel NovAtel Model 951 narrow-correlator-spacing receivers. These C/A code receivers have output rates of up to 10 Hz and maintain effective carrier phase lock under relatively harsh ship dynamics. The attitude parameters are calculated independently at each epoch using differential carrier phase measurements, carrier phase ambiguities are resolved on-the-fly by constraining the approximately known distances between the antennas that are rigidly mounted on the ship. Carrier phase thermal noise and multipath are minimized by mounting the antennas as far apart as possible. The four-antenna configuration provides redundancy and further improves accuracy. During the Matthew Motion Sensor Trials (MMST-93) conducted off the coast of Halifax, Nova Scotia, in June-July 1993, the GPS-derived attitude parameters were compared with those obtained with a Honeywell HG1050 ring laser gyro inertial navigation system (INS) which provides roll and pitch with an accuracy of 15 arcsecs and heading with an accuracy of 2 arcmins. To simulate rough weather conditions, sharp maneuvers were performed to induce roll angles in excess of 10°. No accuracy degradation nor any loss of GPS measurements occurred. The RMS agreement between GPS and INS derived attitude parameters is better than 2 arcmins in heading, 1 arcmin in pitch and 3 arcmins in roll. This level of accuracy demonstrates the capability of GPS for cost-effective shipborne attitude determination at an accuracy level of 0.05 相似文献
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基于对多种飞机的机载GPS测量实践,认为我国HY-2海洋二号卫星实现厘米级精度的星载GPS定轨测量的基础是:选择适合天线,捕获多颗在视GPS卫星;注重天线安装位置,减弱多路径效应影响;选择适合GPS信号接收机,确保星载GPS测量数据优质。 相似文献
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为了评估北斗卫星导航系统（BDS）用于验潮站沉降监测的可靠性和精度,该文利用北海区沿海8个验潮站2022年全年的GPS和BDS观测数据,从基线解标准均方根误差、基线重复性和GPS与BDS基线互差等方面对GPS和BDS解算结果进行对比分析。结果表明,BDS基线解的NRMS值在0.17～0.25之间,GPS基线解的NRMS值在0.18～0.23之间,二者基线解的NRMS值基本相当;GPS基线解的长度和各分量基线重复率平均值要小于BDS,从GNSS网固定误差和比例误差看,GPS和BDS的基线长度重复性精度达到10-9～10-8量级,基线东西和南北分量重复性达到10-9量级,基线垂直分量重复性精度达到10-7～10-8量级。在GPS和BDS基线结果互差方面,GPS解算得到的基线长度均要大于BDS,二者平均差值为10.7 mm;东西分量差值最小,其次是南北分量,垂直分量差异最大,南北分量、东西分量和垂直分量差值平均值分别为-8.5 mm、-3.7 mm和10.6 mm。南北分量、东西分量、垂直分量和基线长度差值平均值最大值分别为23.6 mm、20.9 mm、30.4 mm和22.1 mm。总体... 相似文献
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多波束测深系统作业的基本前提是测船保持匀速直线运动状态,而实际作业中非匀速运动状态下的多波束测量普遍存在,此时常用的基于加速度测量原理的测姿设备会受到影响。为此,在多波束测姿误差分析的基础上,针对直线加速、U型转弯两种情况下的测姿误差进行研究,通过INS测姿与GNSS三天线测姿的数据比较,对非匀速直线运动状态下姿态误差的影响特点及程度进行了分析。实验证明当测船做直线加速运动时,会使纵摇角产生较大误差;当测船转弯时,会使横摇角产生较大误差,这对指导多波束实际测量具有一定的参考价值。 相似文献
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Alan G. Evans 《Marine Geodesy》2013,36(1):43-52
This paper proposes the use of change‐in‐phase measurements of a multiple‐satellite‐tracking NAVSTAR Global Positioning System (GPS) receiver and an antenna periodically moving in a platform's plane to determine the platform's orientation. Available test data are used to demonstrate the orientation‐determination capability of GPS using the proposed procedure. The expected accuracy using satellite multiplexing receivers currently completing development is also discussed. 相似文献
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The accuracy of GPS/Acoustic positioning is crucial for monitoring seafloor crustal deformation. However, the slant range residual is currently the only indicator used to evaluate the precision of positioning seafloor transponders. This study employs a unique Seafloor Acoustic Transponder System (SATS) to evaluate the accuracy of GPS/Acoustic seafloor positioning. The SATS has three transponders and an attitude sensor in a single unit, which provides true lengths of transponder baselines and true attitude of the SATS to ensure assessment reliability and validity. The proposed approach was tested through a GPS/Acoustic experiment, in which an off-the-shelf acoustic system was used to collect range measurements. Using GPS/Acoustic geodetic observations, the positions of three transponders on the SATS were estimated by an optimization technique combined with ray-tracing calculations. The accuracy of the GPS/Acoustic seafloor positioning is assessed by comparing the true baselines and attitude with the results derived from the position estimates of the three transponders. A sensitivity analysis is conducted to investigate the robustness of the GPS/Acoustic positioning results to changes of sound speed. Experimental results demonstrate that the use of the SATS can help to assess the validity of the GPS and acoustic travel time measurements in the GPS/Acoustic seafloor positioning. 相似文献