声线跟踪吃水深度误差对海底控制点定位影响

doi:10.11947/j.AGCS.2025.20230117

摘要/Abstract

摘要：

声学水下定位技术是获取海底控制点三维绝对坐标的重要手段，其中测量船底换能器吃水深度会影响声线跟踪的起算深度，吃水深度误差会引起斜距值计算相应系统误差，进而影响海底控制点定位解算结果。本文首先通过声速剖面面积差研究了吃水深度误差与声学测距误差的关系，并分析了吃水深度误差引起的声学测距误差随梯度的变化规律，其次分析了典型深海声速剖面结构下，吃水深度误差引起的声学测距误差随深度和初始入射角的变化规律，以及对圆走航定位结果的影响。仿真试验表明，吃水深度误差可能导致厘米级甚至分米级的测距误差。3000 m水深实测数据表明，吃水深度误差可能造成垂向解分米级的偏差，且圆走航半径越大垂向解的偏差越大。

关键词: 海底控制点, 声学测距, 声线跟踪法, 声速剖面面积差, 测距系统误差

Abstract:

Acoustic underwater positioning technology is an important means of obtaining three-dimensional absolute coordinates of seabed control points. The accuracy of the initial depth calculation for acoustic ray tracing is affected by the draft depth error of the ship-borne transducer. The draft depth error causes corresponding system errors in slant range calculations, thereby affecting the positioning results of seafloor control points. This paper first studies the relationship between draft depth error and acoustic ranging error through the area difference of sound velocity profiles. It analyzes the variation pattern of acoustic ranging error caused by draft depth error with respect to gradients. Secondly, it analyzes the variation patterns of acoustic ranging error caused by draft depth error with respect to depth and initial incident angle under typical deep-sea sound velocity profile structures, as well as their impact on circular track positioning method. Simulation experiments indicate that draft depth errors can lead to centimeter or even decimeter-level ranging errors. Real measured data at a depth of 3000 m shows that draft depth errors cause decimeter-level deviations in vertical solutions, and the larger the radius of circular track, the greater the deviation in the vertical solution.

Key words: seafloor control points, acoustic ranging, acoustic ray tracing, sound velocity profile area difference, ranging systematic errors

中图分类号:

P229.3

孙文舟, 曾安敏, 乔正明. 声线跟踪吃水深度误差对海底控制点定位影响[J]. 测绘学报, 2025, 54(5): 831-839.

Wenzhou SUN, Anmin ZENG, Zhengming QIAO. Influence of draft depth error of acoustic ray tracing on underwater positioning[J]. Acta Geodaetica et Cartographica Sinica, 2025, 54(5): 831-839.

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吃水深度	小圆			大圆
吃水深度	E	N	U	E	N	U
表层起算	－42.293 3	－110.085 7	－3 094.494 9	－42.892 7	－111.810 7	－3 093.748 9
吃水深度处	－42.298 9	－110.086 2	－3 094.387 9	－42.896 3	－111.015 6	－3 093.458 0
坐标差	－0.005 6	－0.000 4	0.107 0	0.003 9	－0.000 8	0.290 8