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Three-measuring point high precision alignment calibration method of seabed answering machine absolute location

An absolute position and transponder technology, which is applied in the field of absolute position calibration of submarine transponders, to achieve the effects of avoiding blindness, improving operation efficiency, and high-precision calibration

Inactive Publication Date: 2009-05-27
HARBIN ENG UNIV
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Problems solved by technology

However, this method needs to select at least three measuring points for measurement, and its calibration accuracy is closely related to the selection of measuring point positions

Method used

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  • Three-measuring point high precision alignment calibration method of seabed answering machine absolute location
  • Three-measuring point high precision alignment calibration method of seabed answering machine absolute location
  • Three-measuring point high precision alignment calibration method of seabed answering machine absolute location

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Embodiment Construction

[0018] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0019] combine figure 1 , the transponder anchor 1 is fixed on the seabed, and the ultra-short baseline 3 with high-precision GPS2 is installed on the side. The ultra-short baseline 3 measures the range of the transponder 1 at three measuring points on the water surface, and the position of the transponder can be obtained. The selection of the three measuring points is to guide the ship through the positioning results of the ultra-short baseline.

[0020] In order to realize the object of the present invention, a method for high-precision calibration of the absolute position of the submarine transponder with three measuring points is given. Such as figure 1 , assuming that the position of the transponder anchored on the seabed is X T , The surface ship with GPS conducted N times of question and answer with the submarine transponder at multiple points on the se...

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Abstract

The invention provides a three-measuring-point high-precision alignment calibration method for the absolute position of a submarine responder, which comprises the following steps: (1) using the single question and answer of the ultrashort baseline and the submarine responder to position the responder; (2) selecting three measuring points according to positioning result and the directional distribution property of positioning error, and positioning the submarine responder in the selected points under the guidance of the ultrashort baseline; (3) combing the coordinates of the three measuring points, listing a positioning equation based on the slope distance information measured at three times, and solving the absolute position of the submarine responder. The method can realize the high-precision calibration of the absolute position of the submarine responder. In addition, the method only requires respective single measurement at the three measuring points, thus avoiding the blindness of measuring point selection and improving working efficiency.

Description

(1) Technical field [0001] The invention relates to an underwater acoustic positioning method, and mainly relates to a method for calibrating the absolute position of a seabed transponder. (2) Background technology [0002] The existing methods for calibrating the absolute position of submarine transponders can be mainly divided into two categories. One is to directly calibrate the submarine transponder by using the base array with positioning capability installed on the surface ship. The matrix can be either an ultra-short baseline or a short baseline. The advantage of this type of method is that the operation efficiency is high, and the calibration result can be obtained only through a single measurement. The disadvantage of this method is that the accuracy of the calibration is relatively poor, and it is difficult to meet the requirements of high-precision calibration of the transponder position. This is due to the small size of the matrix. The other is to measure rel...

Claims

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Application Information

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IPC IPC(8): G01S5/18G01S5/28
Inventor 兰华林孙大军张殿伦卢逢春郑翠娥李想
Owner HARBIN ENG UNIV
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