Ultra-short baseline positioning device and array element position error correction method based on conical array

Abstract

The invention relates to an ultra-short baseline positioning device based on a conical array and an array element position error correction method. The ultra-short baseline positioning device comprises four array elements which are arranged in a conical array structure, wherein three array elements are in the same plane and are arranged into an equilateral triangle, and the other one array element is arranged right above the center of the three array elements. The array elements are spherical, and the radius of the array elements is smaller than the wavelength corresponding to the center frequency. The array element position error correction method comprises the following steps: deriving out a target pitch angle expression through a mathematical method, and using an offset method to calculate the target horizontal azimuth angle according to the delay relationship of the array elements; and using a acoustic method and a curve fitting method to calculate the corrected horizontal azimuth angle and pitch angle. The problem of direction finding deviation caused by ultra-short baseline array element position error is solved skillfully.

Description

technical field [0001] The invention belongs to the technical field of underwater acoustic positioning, and in particular relates to an ultra-short baseline positioning device and an array element position error correction method for accurately positioning an underwater target in three dimensions. Background technique [0002] With the development and utilization of marine resources, more and more marine instruments have been developed to perform underwater detection or detection tasks, such as ROV, AUV, submersibles, etc., when performing tasks (such as underwater connections), It is necessary to know their precise position underwater in order to complete their guidance operation, so the ultra-short baseline positioning system comes in handy. The ultra-short baseline positioning system has high positioning accuracy, small size, and is easy to carry and install, so it has great application potential and prospects. [0003] The traditional ultra-short baseline matrix mostly ...

AI Technical Summary

Problems solved by technology

[0004] In addition, due to the limitation of processing technology, there are inevitably installation errors in the position of the array elements, and the ultra-short baseline system is a precise measurement system, and the existence of error in the position of the array elements may lead to large direction-finding deviations. Therefore, it is necessary to Correct the azimuth angle measurement deviation caused by the element position error

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