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

doi:10.11947/j.AGCS.2018.20170026

Abstract

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

CLC Number:

P229

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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