A layered constant gradient acoustic ray tracing underwater positioning algorithm considering round-trip acoustic path

doi:10.11947/j.AGCS.2022.20210234

Abstract

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

CLC Number:

P228

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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