| 基于最小二乘法的超短基线水声定位系统校准方法 |
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| 作者姓名： | 余白石 王占勇 |
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| 作者单位： | 中国船舶重工集团有限公司第七一○研究所,湖北宜昌443003;中国船舶重工集团有限公司第七一○研究所,湖北宜昌443003 |
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| 基金项目： | 装备预研船舶重工联合基金项目( 6141B040302 )、中船集团公司科技创新项目( 201807K )资助。 |
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| 摘 要： | 超短基线水声定位系统是海洋工程及水下无人系统中应用较广泛的精密仪器设备，为了提高对水下目标的定位精度，在使用前需对其进行校准。描述了一种基于最小二乘法迭代修正的超短基线水声定位系统校准方法，该方法以最小二乘法为基本原理，通过多次迭代修正的方式，修正基阵与GPS天线之间的平移偏差以及基阵与罗经之间的旋转偏差，从而提高系统的测量精度，最终通过湖上试验验证了该方法的有效性。
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| 关 键 词： | 最小二乘法 超短基线 水声定位 校准方法 |
A Calibration Method of USBL Acoustic Positioning System Based on Least Square Method |
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| Authors: | Yu Baishi Wang Zhanyong |
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| Institution: | No.710. R&D Institute,CSIC,Yichang 443003 ,China |
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| Abstract: | The USBL acoustic positioning system is a precision instrument which is widely used in marineengineering and underwater unmanned systems. In order to improve the positioning accuracy for underwater targets,the system needs to be calibrated before using. This paper describes a calibration method of USBL acoustic positioning system based on iterative correction of least square method. Through the means of multiple iterativecorrection, this method adopts the least square method as the basic principle to calibrate the translate deviationbetween the base array and the GPS antenna and the rotation deviation between the base array and the compass ,thereby improving the measurement accuracy of the system. Finally, the effectiveness of the method was verified bylake trials. |
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