顾及波束入射角的常梯度声线跟踪水下定位算法

doi:10.11947/j.AGCS.2020.20190518

测绘学报 ›› 2020, Vol. 49 ›› Issue (12): 1535-1542.doi: 10.11947/j.AGCS.2020.20190518

顾及波束入射角的常梯度声线跟踪水下定位算法

辛明真¹, 阳凡林^1,2, 薛树强³, 王振杰⁴, 韩云峰⁵

1. 山东科技大学测绘科学与工程学院, 山东青岛 266590;
2. 自然资源部海洋测绘重点实验室, 山东青岛 266590;
3. 中国测绘科学研究院, 北京 100830;
4. 中国石油大学(华东)地球科学与技术学院, 山东青岛 266590;
5. 哈尔滨工程大学水声工程学院, 黑龙江哈尔滨 150001

收稿日期:2019-12-17 修回日期:2020-05-23 发布日期:2020-12-25
通讯作者: 阳凡林 E-mail:yang723@163.cm
作者简介:辛明真(1990-),男,博士生,研究方向为海洋定位导航。E-mail:xinmingzhen@yeah.net
基金资助:
国家重点研发计划（2016YFB0501700；2016YFB0501705）；国家自然科学基金（41930535）；山东省高等学校青创人才引育计划；国家留学基金（202008370264）

A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle

XIN Mingzhen¹, YANG Fanlin^1,2, XUE Shuqiang³, WANG Zhenjie⁴, HAN Yunfeng⁵

1. College of Geodesy and Geomatics, Shandong University of Science and Technology, Qingdao 266590, China;
2. Key Laboratory of Oceanic Surveying and Mapping, Ministry of Natural Resources, Qingdao 266590, China;
3. Chinese Academy of Surveying and Mapping, Beijing 100830, China;
4. School of Geosciences, China University of Petroleum(East China), Qingdao 266590, China;
5. College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China

Received:2019-12-17 Revised:2020-05-23 Published:2020-12-25
Supported by:
The National Key Research and Development Program of China (Nos. 2016YFB0501700;2016YFB0501705);The National Natural Science Foundation of China (No. 41930535);The Talent Introduction Plan for Youth Innovation Team in Universities of Shandong Province;The China Scholarship Council (No. 202008370264)

摘要/Abstract

摘要： 海水声速的时空变化会使声波沿传播方向发生折射，有效消除声波的折射效应对提高水下声学定位精度至关重要。在声速剖面已知的情况下，声线跟踪是削弱折射效应的有效方法。但现有的声线跟踪方法要求波束入射角为已知，而基于距离交会原理的水下声学定位系统通常未对波束入射角进行直接观测。针对上述问题，提出了顾及波束入射角的常梯度声线跟踪水下定位算法，采用搜索法确定波束入射角，通过对声线跟踪与定位解算的迭代计算，实现波束入射角和目标坐标的渐次修正。为进一步提高计算效率，提出了迭代求解超越方程的解算法。试验结果表明，本文方法有效利用声速剖面消除了声线折射效应的影响，且解算法计算效率优于搜索法。

关键词: 水下声学定位, 常梯度声线跟踪, 折射效应, 声速剖面, 长基线系统, 波束入射角

Abstract: The spatial and temporal variation of sound velocity in sea water can make sound waves refract along the propagation direction, and effective elimination of refraction artifacts is very important to improve the accuracy of underwater acoustic positioning. When the sound velocity profile is known, sound ray tracing is an effective method to reduce the refraction artifacts. The existing sound ray tracing methods require that the incident beam angle is known, while the underwater acoustic positioning systems based on the distance intersection principle usually do not directly measure the incident beam angle. A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle is proposed, which can trace sound ray and estimate target position respectively by iterative calculation, and the incident beam angle is determined by a search method. In order to improve the calculation efficiency, a transcendental equation solution method is proposed to determine the incident beam angle iteratively. The experimental results show that the proposed method effectively eliminate the effect of the refraction artifacts by using sound velocity profile, and the calculation efficiency of the transcendental equation solution method is better than the search method.

Key words: underwater acoustic positioning, constant gradient sound ray tracing, refraction artifacts, sound velocity profile, long baseline system, incident beam angles

中图分类号:

P228

辛明真, 阳凡林, 薛树强, 王振杰, 韩云峰. 顾及波束入射角的常梯度声线跟踪水下定位算法[J]. 测绘学报, 2020, 49(12): 1535-1542.

XIN Mingzhen, YANG Fanlin, XUE Shuqiang, WANG Zhenjie, HAN Yunfeng. A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle[J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(12): 1535-1542.

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顾及波束入射角的常梯度声线跟踪水下定位算法

A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle

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