Calibration method for ultra-short baseline acoustic positioning system

A technology of ultra-short baseline and calibration method, which is applied in the direction of radio wave measurement system, positioning, measurement device, etc., and can solve problems such as systematic position deviation

Inactive Publication Date: 2009-09-02
THE FIRST INST OF OCEANOGRAPHY SOA
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Problems solved by technology

Therefore, these systematic errors must be calibrated out before working with an ultra-short baseline hydroacoustic positioning system, otherwise, large systematic position deviations will occur

Method used

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  • Calibration method for ultra-short baseline acoustic positioning system
  • Calibration method for ultra-short baseline acoustic positioning system
  • Calibration method for ultra-short baseline acoustic positioning system

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specific Embodiment

[0083] According to the calibration method of the present invention, enumerate the specific embodiment that tests in certain sea area as follows:

[0084] 1) Set each deviation to 0, fix the transponder on the bottom of the sea, and the ship sails around the transponder, and adopt the step a. described in the calibration method of the present invention to collect and store the data measured by GPS, IMU, and ultra-short baseline for a total of 326 Group.

[0085] 2) After the data collection is completed, calculate the calibration data according to the b.-c. steps described in this calibration method, and the results are shown in Table 1.

[0086] 3) In order to prove the scientificity of the calibration method, output the geolocation data of the transponder calculated without calibration according to the d. step described in this calibration method, as shown in Table 2; according to the d. step described in this calibration method, the output has been calibrated The calculate...

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Abstract

The invention discloses a calibration method for an ultrashort baseline acoustic positioning system. The positioning system includes: a main processor, a transceiver unit, a control unit, an ultra-short baseline sound head fixedly installed below the water surface of the measurement hull, an underwater target transponder, an external GPS system and an inertial measurement IMU installed above the water surface of the measurement hull device. The calibration method includes: a. storage step, b. input calculation step, c. call calculation step, d. output step; use GPS data, hull attitude data and acoustic head to the geometric distance of the transponder to calculate the transponder's position, the position deviation between the sound head and the GPS antenna; the computer program called is used to calculate the orientation error of the sound head, so as to generate a new computer program suitable for calibrating systematic errors in the main processor, and realize the underwater High-precision positioning of towed objects.

Description

technical field [0001] The invention relates to the improvement of detection equipment of a marine survey and measurement ship, in particular to a calibration method for an Ultra Short Base Line Acoustic Positioning System (Ultra Short Base Line Acoustic Positioning System), which belongs to the technical field of marine resource detection. Background technique [0002] In ocean surveys in the prior art, an ultra-short baseline hydroacoustic positioning system is often used to locate underwater towed bodies or other targets. The system includes: an ultra-short baseline sound head fixed below the water surface of the hull of the survey ship, a main processor, a transceiver unit, a control unit, an external GPS antenna positioning system installed above the water surface of the hull, and an inertial measurement device—IMU (Inertial Measurement Unit). )Wait. Due to the positional deviation between the ultra-short baseline sound head and the GPS antenna, it is impossible to com...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/18
Inventor 吴永亭刘焱雄周兴华唐秋华丁继胜杨龙
Owner THE FIRST INST OF OCEANOGRAPHY SOA
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