顾及声线入射角的水下定位随机模型

doi:10.11947/j.AGCS.2018.20170026

测绘学报 ›› 2018, Vol. 47 ›› Issue (9): 1280-1289.doi: 10.11947/j.AGCS.2018.20170026

顾及声线入射角的水下定位随机模型

赵爽¹, 王振杰^1,2, 刘慧敏¹

1. 中国石油大学(华东)地球科学与技术学院, 山东青岛 266580;
2. 海洋国家实验室海洋矿产资源评价与探测技术功能实验室, 山东青岛 266071

收稿日期:2017-01-16 修回日期:2017-10-10 出版日期:2018-09-20 发布日期:2018-09-26
通讯作者: 王振杰 E-mail:sdwzj@upc.edu.cn
作者简介:赵爽(1992-),女,硕士生,研究方向为水下导航与定位。E-mail:sd_zhaoshuang@126.com
基金资助:
国家重点研发计划（2016YFB0501700；2016YFB0501705）；国家自然科学基金（41374008；41406115）；青岛海洋科学与技术国家实验室开放基金（QNLM2016ORP0401）；山东省自然科学基金青年基金（ZR2014DQ008）；中国石油科技创新基金（2015D-5006-0302）

Investigation on Underwater Positioning Stochastic Model Based on Sound Ray Incidence Angle

ZHAO Shuang¹, WANG Zhenjie^1,2, LIU Huimin¹

1. School of Geosciences in China University of Petroleum, Qingdao 266580, China;
2. Laboratory for Marine Mineral Resources, Qingdao National Laboratory for Marine Science and Technology, Qingdao 266071, China

Received:2017-01-16 Revised:2017-10-10 Online:2018-09-20 Published:2018-09-26
Supported by:
The National Key Research and Development Program of China (Nos. 2016YFB0501700;2016YFB0501705);The National Natural Science Foundation of China (Nos. 41374008;41406115);The Qingdao National Laboratory for Marine Science and Technology Foundation (No. QNLM2016ORP0401);The Shandong Natural Science Foundation Youth Fund Project of China (No. ZR2014DQ008);The Petro China Innovation Foundation (No. 2015D-5006-0302)

摘要/Abstract

摘要： 水下定位中广泛采用的等权随机模型，实现简单但与实际不符，影响水下定位精度。针对该问题，结合水下定位实际，考虑水声测量误差和声线弯曲误差影响，在分析随机模型不完善条件下参数估计性质的基础上，构建了4种基于声线入射角的水下定位随机模型。通过模拟算例和实测数据进行了验证。结果表明：所构建的4种入射角随机模型比等权模型在定位精度上具有一定优势，其中分段余弦模型定位结果最好；入射角阈值取值在40°~50°范围内时，定位精度最高；100 m以内水深环境下，基于声线入射角的随机模型改善了传统等权模型的定位结果。

关键词: 水下定位, 随机模型, 声线入射角, 等权模型

Abstract: The equal weight modelwidely used in underwater positioning is easy to implement.However,it does not meet with the reality and has an impact on the positioning accuracy.Aimed at this problem,combined with the underwater positioning reality,we take the effect of the underwater acoustic measurement error and the sound ray bending error into consideration.Based on the analysis of the parameter estimation properties on the condition of the incomplete stochastic model,we establish four stochastic models based on the sound ray incidence angle.Both the simulation data and practical data were used to test the effectiveness of our model.The results show that the established incidence angle stochastic models have advantages over the equal weight model,especially that the positioning result of using the segmental cosine model is the best.The positioning accuracy is the highest during the incidence angle within the scope of 40°~50°.The incidence angle stochastic model improve the positioning result of the traditional equal weight model.

Key words: underwater positioning, stochastic model, sound ray incidence angle, equal weight model

中图分类号:

P229

赵爽, 王振杰, 刘慧敏. 顾及声线入射角的水下定位随机模型[J]. 测绘学报, 2018, 47(9): 1280-1289.

ZHAO Shuang, WANG Zhenjie, LIU Huimin. Investigation on Underwater Positioning Stochastic Model Based on Sound Ray Incidence Angle[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(9): 1280-1289.

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顾及声线入射角的水下定位随机模型

Investigation on Underwater Positioning Stochastic Model Based on Sound Ray Incidence Angle

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