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[1]张 旭*,孙 翱,韩 旭,等. 一种适用于水下垂向运动目标的长基线水声定位方法[J].南京大学学报(自然科学),2017,53(4):629.[doi:10.13232/j.cnki.jnju.2017.04.002]
 Zhang Xu*,Sun Ao,Han Xu,et al. A method of long baseline acoustic positioning for underwater vertical moving target[J].Journal of Nanjing University(Natural Sciences),2017,53(4):629.[doi:10.13232/j.cnki.jnju.2017.04.002]
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 一种适用于水下垂向运动目标的长基线水声定位方法()
     

《南京大学学报(自然科学)》[ISSN:0469-5097/CN:32-1169/N]

卷:
53
期数:
2017年第4期
页码:
629
栏目:
出版日期:
2017-08-03

文章信息/Info

Title:
 A method of long baseline acoustic positioning for underwater vertical moving target
作者:
张 旭12*孙 翱1韩 旭12辛 健1
 1.中国人民解放军91550部队,大连,116023;2.中国人民解放军92493部队博士后科研工作站,大连,116023
Author(s):
 Zhang Xu12*Sun Ao1Han Xu12Xin Jian1
 1.Unit 91550 of PLA,Dalian,116023,China;
2.Postdoctoral Scientific Research Work Station in 92493 Unit of PLA,Dalian,116023,China
关键词:
 长基线定位水下垂向运动目标测量阵精度分析
Keywords:
 long baseline positioningunderwater vertical moving targetmeasurement arrayprecision analysis
分类号:
TJ760.6
DOI:
10.13232/j.cnki.jnju.2017.04.002
文献标志码:
A
摘要:
 水下垂向运动航行体具有速度快、历时短、工况复杂等特点,其运动轨迹的高精度测量一直是工程上的瓶颈问题.针对此类工况提出了一种有合作目标条件下的长基线水声定位测量方法,测量模型基于多元测距体制建立,以合作声信标的性能为约束条件,通过一阶展开将非线性方程组的最优估计问题转化为超定线性方程组的最小二乘估计问题,并采用牛顿迭代法进行数值求解.通过仿真分析得出了多个共面海底阵元和单个海面浮体阵元构成的测量阵的误差分布规律,并对有限区域内三种典型阵元构型方案进行了比对.计算结果表明,测量阵水平方向定位精度明显优于垂直方向,6元阵,8元阵和15元阵在阵内水平方向标准差量级分别为0.5 m,0.3 m和0.2 m,垂直方向标准差量级分别为3.5 m,1.5 m和1.0m,阵外水平方向标准差优于0.3 m区域相对于阵内区域的比值约为0.3~1.9,阵外垂直方向标准差优于1.5 m区域相对于阵内区域的比值约为0.2~1.1.理论分析和仿真结果表明,该方法能够有效建立复杂工况下测试区域精度分布对基阵构型、数量变化的响应关系,可为相关测量系统的设计和测试方案的制定提供参考.从测试需要和工程实现两方面因素考虑,三种阵元构型中呈“XX”型分布的8元阵是一种相对合理的方案.
Abstract:
 On account of high speed,transient state and complex working conditions of underwater vertical moving vehicle,its trajectory measurement has become a complex problem in practice for many years.This paper presents a method of long baseline acoustic positioning for underwater vertical moving vehicle with a cooperative acoustic target.A measurement model was developed based on multi-range measuring system,which was restricted by the properties of cooperative acoustic beacon.The problem of solving non-linear equations to obtain the optical value was transformed into a least-squares estimation problem of overdetermined linear equations by using Taylor expansion formula in first order,and a Newton iteration method was adopted for numerical calculation.A simulation algorithm was designed to investigate the error distribution properties based on a measuring array which was composed of several seabed coplanar receivers and a surface float receiver,and a detailed comparison was made between three typical arrays in the same area.The simulation results show that the precision inside array in horizon is clearly better than that in vertical.The horizontal standard deviations of 6-receivers array,8-receivers array and 15-receivers array are 0.5 m,0.3 m and 0.2 m separately,while the vertical ones are 3.5 m,1.5 m and 1.0 m,the ratio of outside array areas whose standard deviation is less than 0.3 m to inside array areas is about 0.3~1.9 in horizon,and the ratio of outside array areas whose standard deviation is less than 1.5 m to inside array areas is about 0.2~1.1 in vertical.The solution method establishes the relationship of precision distribution to different measuring arrays in a complex condition,which would be possible to use for measuring system design and scheme making.Weighing the precision and feasibility,the 8-receivers array with a structure of “XX” is considered as a more reasonable scheme compared with 6-receivers array and 15-receivers array.

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备注/Memo

备注/Memo:
 收稿日期:2016-07-29
*通讯联系人,E-mail:x_zhang04@aliyun.com
更新日期/Last Update: 2017-08-01