A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle

doi:10.11947/j.AGCS.2020.20190518

Abstract

Abstract: The spatial and temporal variation of sound velocity in sea water can make sound waves refract along the propagation direction, and effective elimination of refraction artifacts is very important to improve the accuracy of underwater acoustic positioning. When the sound velocity profile is known, sound ray tracing is an effective method to reduce the refraction artifacts. The existing sound ray tracing methods require that the incident beam angle is known, while the underwater acoustic positioning systems based on the distance intersection principle usually do not directly measure the incident beam angle. A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle is proposed, which can trace sound ray and estimate target position respectively by iterative calculation, and the incident beam angle is determined by a search method. In order to improve the calculation efficiency, a transcendental equation solution method is proposed to determine the incident beam angle iteratively. The experimental results show that the proposed method effectively eliminate the effect of the refraction artifacts by using sound velocity profile, and the calculation efficiency of the transcendental equation solution method is better than the search method.

Key words: underwater acoustic positioning, constant gradient sound ray tracing, refraction artifacts, sound velocity profile, long baseline system, incident beam angles

CLC Number:

P228

XIN Mingzhen, YANG Fanlin, XUE Shuqiang, WANG Zhenjie, HAN Yunfeng. A constant gradient sound ray tracing underwater positioning algorithm considering incident beam angle[J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(12): 1535-1542.

References

[1] 杨元喜, 徐天河, 薛树强. 我国海洋大地测量基准与海洋导航技术研究进展与展望[J]. 测绘学报, 2017, 46(1):1-8. DOI:10.11947/j.AGCS.2017.20160519. YANG Yuanxi, XU Tianhe, XUE Shuqiang. Progresses and prospects in developing marine geodetic datum and marine navigation of China[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(1):1-8. DOI:10.11947/j.AGCS.2017.20160519.
[2] SPIESS F N, CHADWELL C D, HILDEBRAND J A, et al. Precise GPS/acoustic positioning of seafloor reference points for tectonic studies[J]. Physics of the Earth and Planetary Interiors, 1998, 108(2):101-112.
[3] BALLU V, AMMANN J, POT O, et al. A seafloor experiment to monitor vertical deformation at the Lucky Strike volcano, Mid-Atlantic Ridge[J]. Journal of Geodesy, 2009, 83(2):147-159.
[4] 阳凡林, 康志忠, 独知行, 等. 海洋导航定位技术及其应用与展望[J]. 海洋测绘, 2006, 26(1):71-74. YANG Fanlin, KANG Zhizhong, DU Zhixing, et al. On the marine navigation positioning technology and its application and perspective[J]. Hydrographic Surveying and Charting, 2006, 26(1):71-74.
[5] ALCOCER A, OLIVEIRA P, PASCOAL A. Underwater acoustic positioning systems based on buoys with GPS[C]//Proceedings of the 8th European Conference on Underwater Acoustics. Carvoeiro, Portugal:[s.n.], 2006.
[6] 刘焱雄, 彭琳, 吴永亭, 等. 超短基线水声定位系统校准方法研究[J]. 武汉大学学报(信息科学版), 2006, 31(7):610-612. LIU Yanxiong, PENG Lin, WU Yongting, et al. Calibration of transducer and transponder positions[J]. Geomatics and Information Science of Wuhan University, 2006, 31(7):610-612.
[7] 宁津生, 吴永亭, 孙大军. 长基线声学定位系统发展现状及其应用[J]. 海洋测绘, 2014, 34(1):72-75. NING Jinsheng, WU Yongting, SUN Dajun. The development of LBL acoustic positioning system and its application[J]. Hydrographic Surveying and Charting, 2014, 34(1):72-75.
[8] 吴永亭. LBL精密定位理论方法研究及软件系统研制[D]. 武汉:武汉大学, 2013. WU Yongting. Study on theory and method of precise LBL positioning and development of positioning software system[D]. Wuhan:Wuhan University, 2013.
[9] 薛树强, 杨元喜, 党亚民. 测距定位方程非线性平差的封闭牛顿迭代公式[J]. 测绘学报, 2014, 43(8):771-777. DOI:10.13485/j.cnki.11-2089.2014.0127. XUE Shuqiang, YANG Yuanxi, DANG Yamin. A closed-form of newton iterative formula for nonlinear adjustment of distance equations[J]. Acta Geodaetica et Cartographica Sinica, 2014, 43(8):771-777. DOI:10.13485/j.cnki.11-2089.2014.0127.
[10] 韩云峰, 郑翠娥, 孙大军. 长基线声学定位系统跟踪解算优化方法[J]. 声学学报, 2017, 42(1):14-20. HAN Yunfeng, ZHENG Cuie, SUN Dajun. An optimized estimation method in long baseline acoustic positioning systems[J]. Acta Acustica, 2017, 42(1):14-20.
[11] 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.
[12] 辛明真, 阳凡林, 闫循鹏, 等. 一种等效声速梯度的迭代计算方法[J]. 海洋测绘, 2015, 35(5):28-31, 42. XIN Mingzhen, YANG Fanlin, YAN Xunpeng, et al. An equivalent sound velocity profile iterative algorithm[J]. Hydrographic Surveying and Charting, 2015, 35(5):28-31, 42.
[13] 赵荻能, 吴自银, 周洁琼, 等. 声速剖面精简运算的改进D-P算法及其评估[J]. 测绘学报, 2014, 43(7):681-689. DOI:10.13485/j.cnki.11-2089.2014.0132. ZHAO Dineng, WU Ziyin, ZHOU Jieqiong, et al. A method for streamlining and assessing sound velocity profiles based on improved D-P algorithm[J]. Acta Geodaetica et Cartographica Sinica, 2014, 43(7):681-689. DOI:10.13485/j.cnki.11-2089.2014.0132.
[14] ZHENG Gen, ZHAO Jianhu, ZHANG Hongmei. An adaptive SVP simplification based on area difference[J]. Journal of Geodesy and Geoinformation Science, 2019, 2(4):53-63. DOI:10.11947/j.JGGS.2019.0406.
[15] ZHANG Kai, LI Yong, ZHAO Jianhu. Underwater navigation based on real-time simultaneous sound speed profile correction[J]. Marine Geodesy, 2016, 39(1):98-111.
[16] ZHAO Dineng, WU Ziyin, ZHOU Jieqiong, et al. A new method of automatic SVP optimization based on MOV algorithm[J]. Marine Geodesy, 2015, 38(3):225-240.
[17] 赵建虎, 周丰年, 张红梅, 等. 局域空间声速模型的建立方法研究[J]. 武汉大学学报(信息科学版), 2008, 33(2):199-202. ZHAO Jianhu, ZHOU Fengnian, ZHANG Hongmei, et al. Establishment of spatial model for sound velocity in local[J]. Geomatics and Information Science of Wuhan University, 2008, 33(2):199-202.
[18] YANG Fanlin, LU Xiushan, LI Jiabiao, et al. Precise positioning of underwater static objects without sound speed profile[J]. Marine Geodesy, 2011, 34(2):138-151.
[19] XU Peiliang, ANDO M, TADOKORO K. Precise, three-dimensional seafloor geodetic deformation measurements using difference techniques[J]. Earth, Planets and Space, 2005, 57(9):795-808.
[20] XIN Mingzhen, YANG Fanlin, LIU Hui, et al. Single-difference dynamic positioning method for GNSS-acoustic intelligent buoys systems[J]. Journal of Navigation, 2020, 73(3):646-657.
[21] 赵建虎, 邹亚靖, 吴永亭, 等. 深度约束的海底控制网点坐标确定方法[J]. 哈尔滨工业大学学报, 2016, 48(10):137-141. ZHAO Jianhu, ZOU Yajing, WU Yongting, et al. Determination of underwater control point coordinate based on constraint of water depth[J]. Journal of Harbin Institute of Technology, 2016, 48(10):137-141.
[22] XIN Mingzhen, YANG Fanlin, WANG Faxing, et al. A TOA/AOA underwater acoustic positioning system based on the equivalent sound speed[J]. Journal of Navigation, 2018, 71(6):1431-1440.
[23] 阳凡林, 李家彪, 吴自银, 等. 浅水多波束勘测数据精细处理方法[J]. 测绘学报, 2008, 37(4):444-450, 457. DOI:10.3321/j.issn:1001-1595.2008.04.008. YANG Fanlin, LI Jiabiao, WU Ziyin, et al. The methods of high quality post-processing for shallow multibeam data[J]. Acta Geodaetica et Cartographica Sinica, 2008, 37(4):444-450, 457. DOI:10.3321/j.issn:1001-1595.2008.04.008.
[24] KAMMERER E. New method for the removal of refraction artifacts in multibeam echosounder systems[D]. Fredericton:University of New Brunswick, 2000.
[25] 吴自银, 金翔龙, 郑玉龙, 等. 多波束测深边缘波束误差的综合校正[J]. 海洋学报, 2005, 27(4):88-94. WU Ziyin, JIN Xianglong, ZHENG Yulong, et al. Integrated error correction of multi-beam marginal sounding beam[J]. Acta Oceanologica Sinica, 2005, 27(4):88-94.
[26] 陆秀平, 边少锋, 黄谟涛, 等. 常梯度声线跟踪中平均声速的改进算法[J]. 武汉大学学报(信息科学版), 2012, 37(5):590-593. LU Xiuping, BIAN Shaofeng, HUANG Motao, et al. An improved method for calculating average sound speed in constant gradient sound ray tracing technology[J]. Geomatics and Information Science of Wuhan University, 2012, 37(5):590-593.
[27] GENG Xueyi, ZIELINSKI A. Precise multibeam acoustic bathymetry[J]. Marine Geodesy, 1999, 22(3):157-167.
[28] 吴德明. 一种用于声线修正的迭代法[J]. 声学学报, 1992, 17(2):104-110. WU Deming. An iteration method for correcting the located coordinates of an underwater target[J]. Acta Acustica, 1992, 17(2):104-110.