顾及双程声径的常梯度声线跟踪水下定位算法

doi:10.11947/j.AGCS.2022.20210234

摘要/Abstract

摘要： 高精度水下声学定位通常采用声线跟踪定位算法，但传统的声线跟踪方法一般针对单程声径进行声线弯曲改正，未能顾及船载换能器在声信号往返过程中发生的位移，导致海底应答器定位解算时引入系统性偏差，从而降低海底点定位精度。针对此问题，本文提出一种顾及双程声径的分层常梯度声线跟踪水下定位算法。该方法结合水下声信号实际传播路径，根据换能器在声信号发射和接收时刻的位置，构建双程声径水下定位模型，采用顾及双程声径的分层常梯度声线跟踪算法进行解算。采用圆走航观测与交叉十字观测的海上实测数据对方法进行了验证，结果表明，本文方法能显著提高水下定位精度。

关键词: 水下声学定位, 双程声径, 声速剖面, 最小二乘法, 声线跟踪

Abstract: The acoustic ray tracing algorithm is typically adopted for high precision underwater positioning. However, the traditional acoustic ray tracing method is usually based on the one-way acoustic propagation path without the consideration of the displacement of shipborne transducer during the process of acoustic signal propagation. Therefore, the systematic deviation will be introduced in the positioning for seafloor transponder, which will limit the positioning accuracy of seafloor points. To solve this problem, a layered constant gradient acoustic ray tracing underwater positioning algorithm considering round-trip acoustic path is proposed in this paper. Combined with the actual propagation path of underwater acoustic signal, the round-trip acoustic path underwater positioning model is established according to the position of the transducer at the time of acoustic signal emission and reception, and the layered constant gradient acoustic ray tracing algorithm is applied to solve the foresaid problem. Experiments were carried out on the two observation patterns of circular tracing line and cross lines. The results show that the proposed method can effectively improve the underwater positioning accuracy on the premise of ensuring the calculation efficiency.

Key words: underwater acoustic positioning, round-trip acoustic path, acoustic velocity profile, least square method, acoustic ray-tracing

中图分类号:

P228

闫凤池, 王振杰, 赵爽, 聂志喜, 孙振, 李伟嘉. 顾及双程声径的常梯度声线跟踪水下定位算法[J]. 测绘学报, 2022, 51(1): 31-40.

YAN Fengchi, WANG Zhenjie, ZHAO Shuang, NIE Zhixi, SUN Zhen, LI Weijia. A layered constant gradient acoustic ray tracing underwater positioning algorithm considering round-trip acoustic path[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(1): 31-40.

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