Sound ray correction method based on ultra-short baseline underwater acoustic positioning system

An underwater acoustic positioning and ultra-short baseline technology, applied in radio wave measurement systems, instruments, etc., can solve problems such as deviation of ultra-short baseline underwater acoustic positioning results, reduced positioning accuracy, and outliers, etc. Improve positioning accuracy and avoid the effect of offset

Pending Publication Date: 2022-04-26
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

Therefore, the sound ray bending will cause the deviation of the ultra-short baseline underwater acoustic positioning resu

Method used

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  • Sound ray correction method based on ultra-short baseline underwater acoustic positioning system
  • Sound ray correction method based on ultra-short baseline underwater acoustic positioning system
  • Sound ray correction method based on ultra-short baseline underwater acoustic positioning system

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Embodiment 1

[0055] A lake is selected for an ultra-short baseline hydroacoustic positioning experiment, and the experimental data required for this algorithm are collected. The transducer is fixedly installed on the survey ship, and the central coordinate axis of the transducer matrix is ​​kept parallel to the center of gravity coordinate axis of the survey ship as far as possible. The transponder is placed at a fixed underwater depth, and the position of the transponder is kept as fixed as possible. The survey ship sails along the preset circular track, and the direction of the bow of the ship is kept as unchanged as possible. The phase difference φ and ψ of the transponder to the adjacent array elements of the x-axis and y-axis are measured by the acoustic positioning method, and the high-precision differential GPS The geographic coordinates (x c ,y c,z c ), while recording the measurement delay, the initial grazing angle of the sound ray, and the instantaneous attitude of the survey ...

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Abstract

The invention relates to a sound ray correction method, in particular to a sound ray correction method based on an ultra-short baseline underwater acoustic positioning system, which comprises the following steps: acquiring data of conductivity S, temperature T and depth D of seawater at different depths, calculating to obtain sound velocity at the corresponding depth, and drawing a sound velocity profile; performing cubic spline interpolation on the sound velocity profile obtained by calculation by using an interp1 function in Matlab, and increasing data density; performing equal-depth layering on the sound velocity profile, and classifying 5m into one layer; the grazing angle of each layer of sound rays, the sound velocity gradient of each layer, the sound velocity of each layer, the corrected sound ray horizontal distance and the sound ray propagation time delay are calculated and solved through an improved sound ray tracking algorithm based on quadratic polynomial fitting; according to the obtained sound ray propagation time delay and the measurement time delay estimated by the system signal processing equipment, the difference value between the sound ray propagation time delay and the measurement time delay is calculated; and judging whether the delay difference meets a set approximation degree requirement or not, and deciding to stop exiting or continue iteration.

Description

technical field [0001] The invention relates to a sound ray correction method, in particular to a sound ray correction method based on an ultra-short baseline underwater acoustic positioning system. Background technique [0002] Ultra-short Baseline (USBL) underwater acoustic positioning system is an important classification of acoustic underwater positioning system, it appeared late, but because of its low cost, strong portability, high flexibility and simple operation, etc. It has been widely used in marine engineering, marine mineral resources, underwater archaeology, marine national defense construction and other fields. The ultra-short baseline underwater acoustic positioning system uses the delay difference between the acoustic beacon transmitting signal and the receiving array element and the measurement of the slant distance from the beacon to the array center to achieve target positioning. [0003] In a complex hydrological environment, temperature, salinity, stati...

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Application Information

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IPC IPC(8): G01S7/52
CPCG01S7/52004
Inventor 罗宇程梦迪施剑宋熙昭李诗文
Owner SHANDONG UNIV OF SCI & TECH
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