| 用于AUV定位的等效声速剖面改进算法研究 |
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| 引用本文： | 孙文舟,殷晓冬,李树军,孟凡军.用于AUV定位的等效声速剖面改进算法研究[J].海洋测绘,2017(3):40-44. |
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| 作者姓名： | 孙文舟 殷晓冬 李树军 孟凡军 |
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| 作者单位： | ;1.海军大连舰艇学院海洋测绘系 |
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| 基金项目： | 国家自然科学基金(41571441) |
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| 摘 要： | 以自主式水下机器人为载体,搭载多种测量设备的深海工程作业的方式,目前已经得到了广泛的应用。而基于AUV完成各类水下任务的前提是能否精确的进行定位,传统的声学定位方法因过于依赖声速剖面而导致定位精度不高且造成实际操作过程复杂化,在各种声线改进的方法中,等效声速剖面法的计算过程较为简单,且对实际声速剖面的依赖程度较低,然而最大的问题是相对面积误差的求解过于复杂。结合AUV自身特点,提出了超短基线与等效声速剖面法相结合的水下AUV定位方法,并改进了等效声速剖面法。实验结果表明,改进后的方法计算精度得到提高且相对面积误差的求解更加简单,另外也改进了原始方法误差随水深及掠射角变化而增加的问题,具有良好的工程应用价值。
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| 关 键 词： | AUV定位 声线跟踪 超短基线 等效声速剖面法 最小二乘法 相对面积误差 |
AUV Positioning Based on Equivalent Sound Speed Profile Improved Algorithm |
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| SUN Wenzhou,YIN Xiaodong,LI Shujun,MENG Fanjunx.AUV Positioning Based on Equivalent Sound Speed Profile Improved Algorithm[J].Hydrographic Surveying and Charting,2017(3):40-44. |
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| Authors: | SUN Wenzhou YIN Xiaodong LI Shujun MENG Fanjunx |
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| Institution: | SUN Wenzhou,YIN Xiaodong,LI Shujun,MENG Fanjun(Department of Hydrography and Cartography,Dalian Naval Academy,Dalian 116018 ,China |
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| Abstract: | Autonomous underwater vehicle equipped with a variety of measuring facility is widely used in thedeep-sea engineering operation.However,accurate positioning is a prerequisite for the AUV to perform variousunderwater operations.Conventional acoustic localization methods are inaccuracy because of the velocity profileis uncertain,and it will bring about the complication of the actual operation process.Among the various methodsof improving the speed of sound profile,the calculation process of the equivalent velocity profile method isrelatively simple,and hardly depends on the actual velocity profile.However,the biggest problem is that therelative size of the solution is too complex.Based on the characteristics of AUV,an AUV positioning methodcombining USBL and equivalent Sound Speed Profile Method is proposed in this paper, and improves thealgorithm.The accuracy of this method is greatly improved and the error solution of the relative area is moresimpler,the problem that the original method error increases with the change of the water depth value and thegrazing angle is solved,and the methool has good engineering application value. |
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