Ultrashort baseline installation angle error gross error resistance calibration method based on angle measurement transformation

Abstract

The invention relates to a system error calibration method of an ultrashort baseline positioning system. In order to effectively reduce influences of water refraction and measurement gross errors on positional accuracy of the ultrashort baseline positioning system, environment parameter data and ultrashort baseline measurement data are measured so that an intrinsic sound ray between a transponder and an ultrashort baseline array and the included angle between the intrinsic sound ray and a coordinate plane can be calculated, an ultrashort baseline installation angle error angle measurement transformation calibration model is constructed by means of included angle vectors between the intrinsic sound ray and the array and between the intrinsic sound ray and an earth plane, and a gross error resistance least square is adopted to estimate an ultrashort baseline installation angle error according to an observation residual error design gross error resistance weight matrix in the least square solution model equation process. Ultrashort baseline installation angle error solution deviation caused by environment parameter gradient changes in water can be effectively compensated, influences of the gross errors on calibration solution are reduced through gross error resistance weights, and calibration accuracy and consistency of installation angle errors are improved.

Description

technical field [0001] The invention relates to an anti-gross error calibration method for an ultra-short baseline installation angle error based on angle measurement transformation. Background technique [0002] Due to the installation of the acoustic transducer in the ultra-short baseline positioning system, there is an angular deviation between the basic array coordinate system and the shipborne compass coordinate system, which will seriously affect the positioning accuracy of the system. Therefore, the installation angle error must be checked before the system is used. calibration. During the calibration process, due to the refraction effect of the water layer caused by the gradient change of the environmental parameters in the water body, there is a difference between the sound ray angle vector measured by the ultra-short baseline positioning system and the target’s real azimuth angle vector, resulting in inaccurate calibration of the installation angle error. In addit...

AI Technical Summary

Problems solved by technology

During the calibration process, due to the refraction effect of the water layer caused by the gradient change of the environmental parameters in the water body, there is a difference between the sound ray angle vector measured by the ultra-short baseline positioning system and the target’s real azimuth angle vector, resulting in inaccurate calibration of the installation angle error

In addition, the data collected during the calibration process will produce gross errors due to random interference, and the use of data polluted by gross errors for calibration will seriously affect the consistency of calibration results

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