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

A technology of ultra-short baseline and installation angle, which is applied in measuring devices, radio wave measurement systems, special data processing applications, etc., and can solve problems such as installation angle error, inaccurate calibration, and affecting the consistency of calibration results

Active Publication Date: 2014-07-16
HARBIN ENG UNIV
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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 angl...

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

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specific Embodiment approach 1

[0036] Specific implementation mode one: below in conjunction with attached Figure 1~2 Give an example to describe the present invention in more detail:

[0037] attached figure 1 It is a schematic diagram of the data acquisition process of the ultra-short baseline installation angle error anti-gross error calibration method based on angle measurement transformation. as attached figure 1 Shown: After collecting the sound velocity profile in the working water area, the surface ship equipped with the ultra-short baseline system to be calibrated sails around the transponder anchored at the bottom, records the GPS coordinates and compass data of the ship during the voyage, and measures the transponder synchronously , to complete the calibration of the absolute coordinates of the response earth.

[0038] Extraction of measured transponder's matrix coordinates from ultra-short baseline positioning data The distance R between the matrix and the transponder and the sound velocit...

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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...

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Application Information

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IPC IPC(8): G06F19/00G01C25/00G01S7/52
Inventor 郑翠娥孙大军李昭张居成张殿伦勇俊李想王永恒韩云峰
Owner HARBIN ENG UNIV
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