水下定位声线扰动分析与分段指数权函数设计

doi:10.11947/j.AGCS.2021.20200424

摘要/Abstract

摘要： 声速误差是水下声学定位的重要误差来源，主要包括声速测量本身的不确定性及声速时空变化误差。本文基于常梯度声线跟踪模型，导出入射角、声速梯度及深度变化产生的声线扰动数学模型。已有研究表明，对于相同的水深和声速梯度，入射角越大其扰动对声线影响越大，声线弯曲影响越明显。依据导出的入射角扰动对声线扰动的函数响应关系，构建了入射角相关的水下定位分段指数函数随机模型。试验结果表明：分段指数函数随机模型的定位结果相较于等权模型、指数模型有明显改善，与分段余弦随机模型定位结果相当，但本文随机模型会保留更多观测信息。

关键词: 入射角, 声线传播, 水下定位, 随机模型

Abstract: The sound velocity error is an important error source of underwater positioning, which mainly includes the uncertainty of sound velocity measurement and the sound velocity error caused by the temporal-spatial variation of the sound speed field. Based on the constant gradient sound ray tracking model, we derive a mathematical model for the sound ray disturbance analysis about the incident angle, sound velocity gradient and water depth. The results show that, for the same water depth and sound velocity error, the greater the incident angle is, the greater the impact of incident angle perturbation on the sound ray, and the greater the impact of sound ray bending will be. According to the derived function response relation between incident angle disturbance and acoustic ray disturbance, a piecewise exponential function stochastic model of underwater positioning based on incident angle correlation is established. The positioning results of the piecewise-exponential function random model are compared with the equal weight model. The piecewise-cosine weighting model is also validated, but the random model in this article will retain more observation information.

Key words: incident angle, sound ray propagation, underwater positioning, random model

中图分类号:

P229

王薪普, 薛树强, 曲国庆, 刘以旭, 杨文龙. 水下定位声线扰动分析与分段指数权函数设计[J]. 测绘学报, 2021, 50(7): 982-989.

WANG Xinpu, XUE Shuqiang, QU Guoqing, LIU Yixu, YANG Wenlong. Disturbance analysis of underwater positioning acoustic ray and design of piecewise exponential weight function[J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(7): 982-989.

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