Array element position calibration measurement point interval optimization method of hydroacoustic positioning and navigation system

Abstract

The invention discloses an array element position calibration measurement point interval optimization method of a hydroacoustic positioning and navigation system. In the method provided by the invention, an array element position accurate calibration optimization model, a relational expression of time delay measurement error and sending and receiving distance and an array element position calibration time delay estimation error transfer function are established; a differential evolution algorithm is used for solving, and to-be-measured array element position estimation results and errors are obtained. Array element position calibration accuracy is obtained through a statistical method; and an optimal measurement point interval is obtained through screening of all the results. With the method provided by the invention, model mismatch errors caused by surveying vessel movement are eliminated; the relational expression of time delay measurement error and sending and receiving distance isestablished, change of the measurement time delay error with change of the sending and receiving distance is considered, and relative to the conventional method of using fixed time delay measurement error, error analysis of the method is consistent with reality better. By array element position calibration measurement point interval optimization of the hydroacoustic positioning and navigation system, the optimal measurement point interval is obtained, and further improvement of calibration accuracy of the array element position is facilitated.

Description

technical field [0001] The invention relates to the technical field of underwater acoustic positioning, and relates to an optimization method for calibrating and measuring point spacing of an array element position of an underwater acoustic positioning navigation system. Background technique [0002] Since sound waves are the most effective carrier for underwater information transmission, and underwater acoustic positioning and navigation technology has the advantages of taking into account deep and shallow seas, all-weather, real-time, high reliability, and error does not accumulate over time, so underwater acoustic positioning and navigation technology has the advantages of underwater positioning technology. occupies an important position. [0003] The underwater array element is the star station node of the underwater acoustic positioning and navigation system, and its calibration accuracy is directly related to the working performance of the underwater acoustic positioni...

AI Technical Summary

Problems solved by technology

In the traditional absolute calibration process, the general survey ship sails in a circular track centered around the point where the array element to be measured is placed, during which it conducts uninterrupted inquiry and response with the array element at a fixed period, and records the position information of the survey ship and the query-response time. Extend the information, and then select the relevant information on the three measurement points that are equilateral triangles to use the spherical intersection model to solve. When the depth of the array element to be measured is known, the spherical intersection model degenerates into a circular intersection model. The model of this method is simple. The amount of calculation is small, but the model mismatch problem caused by the different receiving and transmitting positions caused by the movement of the measuring ship is ignored. The faster the moving speed of the measuring ship, the greater the model mismatch error and the lower the accuracy of array element position calibration

Moreover, the optimal selection of the measurement point spacing is not considered in the measurement process, which in turn affects the calibration accuracy and calibration efficiency of the array element position

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