Differential positioning algorithm for deep-sea control points on constraint of depth difference and horizontal distance constraint

doi:10.11947/j.AGCS.2019.20180514

Abstract

Abstract: To solve the problem of seafloor control point (transponder) absolute positioning with a large deviation of the vertical solution, this paper proposes a differential localization algorithm with depth difference and horizontal distance constraint between underwater control points. Firstly, the variation of sound velocity profile is studied. Based on this conclusion, the influence of uncertain sound velocity profile on the ranging error is analyzed. Secondly, according to the change law of ranging error, the corresponding measuring line is designed. And an underwater differential localization algorithm for this survey strategy is proposed. Finally, simulation experiments show that the deviation of the vertical solution is reduced from more than 30 cm to about 10 cm. It implies that the new method can effectively reduce the deviation of the vertical solution of the control point positioning compared with the traditional method (circular sailing).

Key words: seafloor control points, differential localization algorithm, sailing circle, acoustic ranging system error, sound velocity profile

CLC Number:

P229

SUN Wenzhou, YIN Xiaodong, ZENG Anmin, BAO Jingyang. Differential positioning algorithm for deep-sea control points on constraint of depth difference and horizontal distance constraint[J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(9): 1190-1196.

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