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(自然科学版) ›› 2017, Vol. 53 ›› Issue (4): 629–.

一种适用于水下垂向运动目标的长基线水声定位方法

张　旭1，2*，孙　翱1，韩　旭1，2，辛　健1

出版日期:2017-08-01 发布日期:2017-08-01
作者简介: 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
基金资助:
收稿日期：2016－07－29
*通讯联系人，E－mail：x_zhang04@aliyun.com

A method of long baseline acoustic positioning for underwater vertical moving target

Zhang Xu1，2*，Sun Ao1，Han Xu1，2，Xin Jian1

Online:2017-08-01 Published:2017-08-01
About author: 1.Unit 91550 of PLA，Dalian，116023，China；
2．Postdoctoral Scientific Research Work Station in 92493 Unit of PLA，Dalian，116023，China

摘要/Abstract

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.

张　旭1，2*，孙　翱1，韩　旭1，2，辛　健1. 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(自然科学版), 2017, 53(4): 629–.

Zhang Xu1，2*，Sun Ao1，Han Xu1，2，Xin Jian1. A method of long baseline acoustic positioning for underwater vertical moving target[J]. Journal of Nanjing University(Natural Sciences), 2017, 53(4): 629–.

参考文献

[1]　娄汉泉，李　铁．海上靶场测控系统技术特点及应用．飞行器测控学报，2010，29(5)：6－10.(Lou H Q，Li T．Technical characteristics and application of TT&C systems for sea ranges.Journal of Spacecraft TT&C Technology，2010，29(5)：6－10.)
[2] Paull L，Saeedi S，Seto M，et al.AUV navigation and localization：A review.IEEE Journal of Oceanic Engineering，2014，39(1)：131－149.
[3] 孙大军，郑翠娥．水声导航、定位技术发展趋势探讨．海洋技术学报，2015，34(3)：64－68.(Sun D J，Zheng C E．Study on the development trend of underwater acoustic navigation and positioning technologies.Journal of Ocean Technology，2015，34(3)：64－68.)
[4] 李守军，包更生，吴水根．水声定位技术的发展现状与展望．海洋技术，2005，24(1)：130－135.(Li S J，Bao G S，Wu S G．A practical overview and prospect of acoustic positioning technology.Ocean Technology，2005，24(1)：130－135.)
[5] 顾晓辉，王晓鸣．用双直角三角形阵对声目标定位的研究．声学技术，2003，22(1)：44－47.(Gu X H，Wang X M．Location of acoustic target with dual right－triangles array.Technical Acoustics，2003，22(1)：44－47)
[6] 孙书学，顾晓辉，孙晓霞．用正四棱锥形阵对声目标定位研究．应用声学，2006，25(2)：102－108.(Sun S X，Gu X H，Sun X X．Study on localization of acoustic target with a rectangular pyramid array.Applied Acoustics，2006，25(2)：102－108.)　
[7] 祝龙石，庄志洪，张清泰．利用圆阵实现声目标的全空域被动定位．声学学报，1999，24(2)：204－209.(Zhu L S，Zhuang Z H，Zhang Q T．An omni－directional passive locatlization technology of acoustic target with plane circular array.Acta Acustica，1999，24(2)：204－209.)
[8] 贾云得，冷树林，刘万春等．四元被动声敏感阵列定位模型分析和仿真．兵工学报，2001，22(2)：206－209.(Jia Y D，Leng S L，Liu W C，et al.Modeling of passive acoustic sensing with four－sensor array for target localization.Acta Armamentarii，2001，22(2)：206－209.)
[9] 程　翔，张　河．高低四元阵定位算法及其精度分析．探测与控制学报，2006，28(4)：12－14，18.(Cheng X，Zhang H．Location algorithm and precision analyzing of high－low quaternion array.Journal of Detection & Control，2006，28(4)：12－14，18.)
[10] 金磊磊，马　艳．任意四元阵的定位盲区讨论及误差影响．探测与控制学报，2015，37(2)：90－94.(Jin L L，Ma Y．Discussion on blind area and error effect of arbitrary four－element array.Journal of Detection & Control，2015，37(2)：90－94.)
[11] 封金星，丁士圻，惠俊英．水下运动目标长基线定位解算研究．声学学报，1996，21(5)：832－837.(Feng J X，Ding S Q，Hui J Y．A solution of locating a moving object using long－base line acoustic system.Acta Acustica，1996，21(5)：832－837.)
[12] Lee P M，Jun B H．Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements.Ocean Engineering，2007，34(3－4)：416－425.　
[13] 宁津生，吴永亭，孙大军．长基线声学定位系统发展现状及其应用．海洋测绘，2014，34(1)：72－75.(Ning J S，Wu Y T，Sun D J．The development of LBL acoustic positioning system and its application.Hydrographic Surveying and Charting，2014，34(1)：72－75.)
[14] Tremois O，Le Cadre J P．Target motion analysis with multiple arrays：Performance analysis.IEEE Transactions on Aerospace and Electronic Systems，1996，32(3)：1030－1046.
[15] Lurton X．Swath bathymetry using phase difference：Theoretical analysis of acoustical measurement precision.IEEE Journal of Oceanic Engineering，2000，25(3)：351－363.

[16] 丁翠环，郭燕子，韩　硕．非同步长基线水声定位系统误差仿真分析．舰船电子工程，2013，33(3)：114－116.(Ding C H，Guo Y Z，Han S．Asynchronous long baseline underwater acoustical location system error emulation analysis.Ship Electronic Engineering，2013，33(3)：114－116.)
[17] 于　平，吴　波．长基线水声定位基阵阵形优化设计．舰船电子工程，2015，35(5)：125－129.(Yu P，Wu B．Optimal design of long baseline acoustic positioning.Ship Electronic Engineering，2015，35(5)：125－129.)
[18] 刘利生，吴　斌，吴正容等．外弹道测量精度分析与评定．北京：国防工业出版社，2010，123－188.(Liu L S，Wu B，Wu Z R，et al.Accuracy analysis and evaluation for exterior ballistic measure－ment.Beijing：National Defense Industry Press，2010，123－188.)

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed