Energy converter installation position calibration method based on observation track optimization analysis

Abstract

The invention discloses a transducer installation position calibration method based on observation track optimization analysis, and relates to the technical field of marine survey, and the method comprises the following steps: constructing a joint estimation model of the installation position of a shipborne transducer and the position of a seabed transponder, and directly using the sound propagation time measurement between the seabed and the sea surface as an observed quantity; dimension expansion estimation is carried out on the installation position of the shipborne transducer; calculating an installation position error parameter by using a ray acoustic propagation model in combination with coordinate conversion calculation; according to the method, track optimization key influence factors are analyzed, a square track design of a bidirectional course angle is put forward, finally, shipborne transducer installation position error compensation and seabed transponder positioning result output are achieved, through the method, the shipborne transducer installation position error can be compensated, and the seabed transponder positioning precision can be improved.

Description

Technical Field

[0001] The invention relates to the field of ocean measurement technology, and in particular to a transducer installation position calibration method based on observation track optimization analysis. Background Art

[0002] The Global Navigation Satellite System (GNSS) has provided precise positioning and navigation services for the surface and near-Earth space. However, electromagnetic waves are severely attenuated in seawater, making it impossible to achieve ocean positioning and navigation. The absorption and attenuation of sound waves in the ocean is only one ten-thousandth of that of electromagnetic waves, making it an important tool for underwater information transmission. In order to achieve global integrated navigation and positioning services for the air, land, and sea, high-precision positioning of seabed transponders is required. High-precision positioning of seabed transponders is mainly achieved by combining high-precision GNSS on the ocean surface with an acoustic positioning system inside the ocean, which is called GNSS combined acoustic positioning (GNSS / A). This positioning process is based on GNSS as the position reference, with the help of position transfer from the sea surface carrier motion platform, combined with acoustic positioning technology.

[0003] The accurate position of the acoustic center of the transducer is the key prerequisite for ensuring high-precision positioning of the seabed transponder. After the shipborne GNSS antenna on the ocean surface obtains the precise position, the coordinate conversion is performed using the shipborne attitude sensor and the relative position measurement between the GNSS antenna and the acoustic transducer installed on the bottom of the survey ship to complete the position transfer of the shipborne transducer. In 2018, Yokota et al. published a paper entitled "Seafloor erustal deformation dataalong the subduction zones around Japan obtained by GNSS-A observations" in the journal Scientific Data. The GNSS antenna and the acoustic transducer are fixed at a specific position of the moving carrier, and the relative position between the two is usually determined in advance using a total station. Some research teams also fix the GNSS antenna and the acoustic transducer on a vertical metal rod to directly measure the vertical deviation between the two. However, in most GNSS / A positioning systems, the GNSS antenna and the acoustic transducer are installed on-site. At this time, it is impossible to accurately measure the relative position of the two in the shipborne coordinate system, so the acoustic center position of the transducer will inevitably have errors. In addition, there is a certain error between the installation position of the acoustic transducer and the equivalent center position of the actual acoustic signal. Therefore, the error in the installation position of the transducer becomes a key error source that needs to be solved in the high-precision positioning of the seabed transponder.

[0004] In addition, most current studies have failed to fully consider the spatial constraints of the survey ship's motion in the GNSS / A positioning system. In 2013, Sato et al. published a paper titled "Improvement of GPS / acoustic seafloor positioning precision through controlling the ship's trackline" in the journal "Journal of Geodesy". The study showed that the accuracy of seafloor position parameter estimation can be improved by controlling the distribution of the survey ship's observation track. Chen et al. published a paper titled "Improving GNSS-acoustic positioning by optimizing the ship's tracklines and observation combinations" in the journal "Journal of Geodesy". This study is based on the work of Sato et al. and uses Fisher matrix information to give the optimal circular observation track design that minimizes the error in seafloor position parameter estimation. However, the above observation track optimization analysis does not fully consider the optimal joint estimation of the seafloor position and installation position error parameters.

[0005] In summary, the following defects still exist in the prior art: the error between the installation position of the acoustic transducer in the GNSS / A positioning system and the equivalent center position of the actual acoustic signal will affect the high-precision positioning of the seabed transponder; most of the current observation track optimization analysis does not fully consider the optimal joint estimation of the seabed position and installation position error parameters, which in turn affects the positioning accuracy of the seabed transponder. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a transducer installation position calibration method based on observation track optimization analysis, comprising the following steps:

[0007] S1. The shipborne transducer transmits an acoustic signal to the seafloor transponder to obtain the acoustic propagation time measurement between the two. The relative position of the shipborne transducer installation and the position of the seafloor transponder are used as model parameters for dimension expansion estimation. The acoustic propagation time measurement is used as a direct observation to establish the observation equation.

[0008] S2. Use coordinate conversion calculation to convert the relative installation position of the shipborne transducer into the geodetic coordinates of the shipborne transducer, and then calculate the sound line propagation time through the shipborne transducer position, the seabed transponder position and the sound velocity profile data based on the ray acoustic propagation model;

[0009] S3. Analyze the key factors that affect the relative position calculation of the shipborne transducer installation, conduct track optimization analysis of the survey ship, and propose a square track design with two-way heading angles;

[0010] S4. Realize the compensation of the installation position error of the shipborne transducer and output the positioning result of the seabed transponder.

[0011] The technical solution further defined in the present invention is:

[0012] Furthermore, in step S1, the seabed transponder is positioned by combining the global navigation satellite system GNSS on the ocean surface with the acoustic positioning system inside the ocean. The GNSS is used as the position reference, the position is transferred by the sea surface carrier motion platform, and the positioning process is performed in combination with the acoustic positioning technology. On the ocean surface, the GNSS receiver uses the observation data of a group of navigation satellites, combined with the observation data of the shore-based reference station, to continuously position and navigate the survey ship on the ocean surface. The observation data of the navigation satellite includes pseudorange, ephemeris and satellite launch time.

[0013] As described above, in the transducer installation position calibration method based on observation track optimization analysis, in step S1, if the relative installation positions of the GNSS antenna and the shipborne transducer in the x-direction and the y-direction are d x and d y , the positions of the seafloor transponder in the x-direction, y-direction and z-direction are x, y and z respectively, and the model parameter for the dimension-expanded estimation of the relative installation position of the shipborne transducer is m = [xyzd x d y ] T , the observation model established using the sound propagation time measurement t is expressed as:

[0014] h(m, X, c(z)) = t

[0015] Where X = [XYZ] T represents the three-dimensional position of the shipborne transducer in the geodetic coordinate system, c(z) represents the sound velocity profile measurement, and h represents the forward model using the ray acoustic propagation model.

[0016] As described above, in a transducer installation position calibration method based on observation track optimization analysis, in step S1, the forward model h is the sound line propagation time t between the seabed transponder position and the shipborne transducer position. If the three-dimensional position of the seabed transponder is x = [xyz] T , the three-dimensional position of the shipborne transducer is X = [XYZ] T According to Snell's refraction law, the sound ray propagation time t and horizontal distance r are calculated as follows:

[0017]

[0018] Wherein, z is the immersion depth of the shipborne transducer, Z is the immersion depth of the seabed transponder, and n represents the sound line parameter, whose size is calculated by the Gauss-Newton method through the horizontal distance r.

[0019] As described above, in a transducer installation position calibration method based on observation track optimization analysis, in step S2, a shipborne transducer position conversion calculation is performed, using the GNSS antenna position installed on the measurement ship Attitude sensor measurement The relative position between the GNSS antenna and the shipborne transducer installed on the bottom of the survey ship is measured and the coordinate conversion calculation is performed to obtain the shipborne transducer position X = [XYZ] T , where ψ, θ, They represent the heading angle, pitch angle and roll angle of the survey ship respectively.

[0020] As described above, in a transducer installation position calibration method based on observation track optimization analysis, in step S2, the GNSS antenna position measurement is determined based on the geodetic coordinate system [A], the N axis of the geodetic coordinate system [A] points to the north direction, and the E axis points to the east direction; the relative position DX between the GNSS antenna and the shipborne transducer is directly measured. x d y d z ] T , whose size is determined based on the ship carrier coordinate system [B]. The origin of the ship carrier coordinate system [B] is located at the acoustic center of the shipborne transducer, the X axis points to the bow direction of the carrier, and the Y axis points to the starboard direction of the carrier;

[0021] If the rotation matrix from the ship carrier coordinate system [B] to the earth coordinate system [A] is R BA (θ), the calculation formula of the shipborne transducer position coordinate X is:

[0022]

[0023] Among them, the rotation matrix R BA The calculation formula of (Θ) and the attitude angle of the measuring ship The specific calculation formula is:

[0024]

[0025] Among them, R0, R1(ψ), R2(θ) and Computes a matrix for a coordinate transformation.

[0026] As described above, in the transducer installation position calibration method based on observation track optimization analysis, in step S2, R0, R1(ψ), R2(θ) and The calculation formulas are:

[0027]

[0028] As described above, in the transducer installation position calibration method based on observation track optimization analysis, in step S2, a linear approximate calculation is performed on the forward model h at the initial value point m0:

[0029] h(m)≈h(m0)+H(m-m0)

[0030] Where h represents the forward model using the ray acoustic propagation model, m represents the model parameters estimated by the expanded dimension, and H represents the Jacobian matrix calculated by the partial derivatives;

[0031] The iterative result m1 using the initial value m0 of the relative position parameter of the seabed transponder position and the shipborne transducer installation is:

[0032] m1=m0+(H T H) -1 H T (th(m0)).

[0033] As described above, in the transducer installation position calibration method based on observation track optimization analysis, in step S2, H represents the Jacobian matrix calculated by partial derivatives, Juzhong and The calculation formulas are:

[0034]

[0035] Combined with the shipborne transducer position coordinate conversion calculation formula Get the matrix H and The calculation formulas are:

[0036]

[0037] As described above, in a transducer installation position calibration method based on observation track optimization analysis, in step S3, the error of the entire model parameter solution is reduced by weakening the correlation between the seabed transponder position parameter and the installation position parameter; and The calculation formula for the error coefficient of the seabed transponder positioning caused by the relative position error of the ship-borne transducer installation is and for:

[0038]

[0039]

[0040] According to Snell's law n = cosy(z) / c(z), γ(z) represents the grazing angle of the sound ray at depth z. for:

[0041]

[0042] By analyzing As a result of the relationship, the transponder position error caused by the installation position error is not only related to the attitude angle of the survey ship, the relative azimuth of the survey ship and the transponder, but also to the sound ray grazing angle γ(z) and the sound ray parameter n.

[0043] The beneficial effects of the present invention are:

[0044] (1) In the present invention, by analyzing The result of the relationship shows that the transponder position error caused by the installation position error is not only related to the attitude angle of the survey ship, the relative azimuth of the survey ship and the transponder, but also to the sound ray grazing angle γ(z) and the sound ray parameter n. Therefore, the square track that makes the sound ray grazing angle and the sound ray parameter have a significant range of variation is the track that meets the optimization conditions.

[0045] (2) In the present invention, in order to further improve the positioning accuracy of the seabed transponder, observations in the opposite direction of navigation are added to the original observation track, and a two-way optimized observation track of clockwise square and counterclockwise square combination is adopted to improve the estimation accuracy of the relative position of the transducer installation, thereby improving the positioning accuracy of the seabed transponder. This solves the problem that the error between the installation position of the acoustic transducer and the equivalent center position of the actual acoustic signal in the existing GNSS / A positioning system affects the seabed positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the overall process of the present invention;

[0047] Figure 2 The ocean sound speed profile data in the embodiment of the present invention;

[0048] Figure 3 Figure 1 is a schematic diagram of the Monte Carlo simulation calculation results of 10,000 times of the model parameters of the one-way square track and the two-way square track in the embodiment of the present invention, wherein (a) shows the x and y results of the one-way square track; (b) shows the x and y results of the two-way square track; (c) shows the z and installation position d of the one-way square track x Results; Figure (d) shows the z and installation position d of the two-way square track x Results; Figure (e) shows the z and installation position d of the one-way square track y Results; Figure (f) shows the z and installation position d of the two-way square track y result. DETAILED DESCRIPTION

[0049] This embodiment provides a transducer installation position calibration method based on observation track optimization analysis, such as Figure 1 As shown, the following steps are included:

[0050] S1. The shipborne transducer transmits an acoustic signal to the seabed transponder to obtain the sound propagation time measurement between the two. The relative position of the shipborne transducer installation and the seabed transponder position are used as model parameters for dimension expansion estimation. The sound propagation time measurement is used as a direct observation to establish the observation equation.

[0051] The high-precision positioning of seabed transponders is mainly achieved by the high-precision Global Navigation Satellite System (GNSS) on the ocean surface combined with the acoustic positioning system inside the ocean. The positioning process is based on GNSS as the position reference, with the help of the position transmission of the sea surface carrier motion platform, combined with acoustic positioning technology.

[0052] On the ocean surface, shipborne GNSS receivers use a group of observation data such as pseudorange, ephemeris and satellite launch time of navigation satellites, combined with observation data from shore-based reference stations, to provide continuous high-precision positioning and navigation services for survey ships on the ocean surface. After the GNSS antenna on the survey ship on the ocean surface obtains precise position coordinates, it uses the survey ship's attitude sensor and the relative position measurement between the GNSS antenna and the acoustic transducer installed on the bottom of the survey ship to perform coordinate conversion and complete the position transfer of the shipborne transducer. Inside the ocean, since electromagnetic wave signals decay rapidly in the ocean medium, only sound waves can be used to transmit information. The seabed reference measures the sound propagation time and ocean sound speed with the shipborne transducer to achieve high-precision positioning of the seabed reference and complete the transfer of GNSS reference information to the ocean interior.

[0053] If the relative installation positions of the GNSS antenna and the shipborne transducer in the x-direction and y-direction are d x and d y , the positions of the seafloor transponder in the x-direction, y-direction and z-direction are x, y and z respectively, and the model parameter for the dimension-expanded estimation of the relative installation position of the shipborne transducer is m = [xyzd x d y ] T At this time, the observation model directly based on the sound propagation time measurement t is expressed as:

[0054] h(m, X, c(z)) = t

[0055] Where X = [XYZ] Trepresents the three-dimensional position of the shipborne transducer in the geodetic coordinate system, c(z) represents the sound velocity profile measurement, and h represents the forward model using the ray acoustic propagation model.

[0056] The forward model h is the sound line propagation time t between the seabed transponder position and the shipborne transducer position. If the three-dimensional position of the seabed transponder is x = [xyz] T , the three-dimensional position of the shipborne transducer is X = [XYZ] T According to Snell's refraction law, the sound ray propagation time t and horizontal distance r are calculated as follows:

[0057]

[0058] Wherein, z is the immersion depth of the shipborne transducer, Z is the immersion depth of the seabed transponder, and n represents the sound line parameter, whose size is calculated by the Gauss-Newton method through the horizontal distance r.

[0059] S2. Use coordinate conversion calculation to convert the relative position of the shipborne transducer installation into the geodetic coordinates of the shipborne transducer. Then, based on the ray acoustic propagation model, calculate the sound line propagation time through the shipborne transducer position, the seabed transponder position and the sound speed profile data.

[0060] Shipboard transducer position X = [XYZ] T The position of the GNSS antenna installed on the survey vessel can be used Attitude sensor measurement (ψ, θ, The coordinates are converted from the heading angle, pitch angle and roll angle of the survey ship and the relative position between the GNSS antenna and the shipborne transducer installed at the bottom of the survey ship.

[0061] The GNSS antenna position measurement is based on the geodetic coordinate system [A], where the N axis points to the north and the E axis points to the east. The three-dimensional relative position DX of the GNSS antenna and the shipborne transducer is [d x d y d z ] T For direct measurement, its size is determined based on the ship carrier coordinate system [B]. The origin of the ship carrier coordinate system [B] is located at the acoustic center of the shipborne transducer, the X axis points to the bow direction of the carrier, and the Y axis points to the starboard direction of the carrier; therefore, if the rotation matrix from the ship carrier coordinate system [B] to the earth coordinate system [A] is R BA (θ), the calculation formula of the shipborne transducer position coordinate X is:

[0062]

[0063] Among them, the rotation matrix RBA The calculation formula of (Θ) and the attitude angle of the measuring ship The specific calculation formula is:

[0064]

[0065] Among them, R0, R1(ψ), R2(θ) and Computes a matrix for a coordinate transformation.

[0066] According to the coordinate transformation theory, the matrices R0, R1(ψ), R2(θ) and The calculation formulas are:

[0067]

[0068] Since using the forward model h of the ray acoustic propagation model to solve the installation relative position and the position parameter m of the seabed transponder is a nonlinear calculation problem, h is linearized and approximately calculated at the initial value point m0 ​​as follows:

[0069] h(m)≈h(m0)+H(m-m0)

[0070] Where h represents the forward model using the ray acoustic propagation model, m represents the dimensionally expanded estimated model parameters, and H represents the Jacobian matrix calculated from the partial derivatives.

[0071] matrix Juzhong and The calculation formulas are:

[0072]

[0073] Combined with the shipborne transducer position coordinate conversion calculation formula Get the matrix H and The calculation formulas are:

[0074]

[0075] The iterative result m1 using the initial value m0 of the relative position parameter of the seabed transponder position and the shipborne transducer installation is:

[0076] m1=m0+(H T H) -1 H T (th(m0)).

[0077] S3. Analyze the key factors that affect the relative position calculation of the shipborne transducer installation, conduct track optimization analysis of the survey ship, and propose a square track design with two-way heading angles.

[0078] In order to improve the positioning accuracy of the seabed transponder and obtain an unbiased solution to the positioning model, it is necessary to optimize the observation track. Since the solution of the seabed transponder position parameters and the relative position parameters of the shipborne transducer installation are both based on sound propagation time observations, the key to improving the solution accuracy lies in reducing the correlation between the seabed transponder position parameters and the installation position parameters, and reducing the error in the solution of the entire model parameters.

[0079] according to and The calculation formula for the error coefficient of the seabed transponder positioning caused by the relative position error of the ship-borne transducer installation is and for:

[0080]

[0081] According to Snell's law n = cosγ(z) / c(z), γ(z) represents the grazing angle of the sound ray at depth z. for:

[0082]

[0083] By analyzing As a result of the relationship, the transponder position error caused by the installation position error is not only related to the attitude angle of the survey ship, the relative azimuth of the survey ship and the transponder, but also related to the sound ray grazing angle γ(z) and the sound ray parameter n. Therefore, the square track that makes the sound ray grazing angle and the sound ray parameter have a significant variation range is the track that meets the optimization conditions.

[0084] In order to further improve the positioning accuracy of the seabed transponder, this embodiment also adds observations in the opposite direction of navigation on the basis of the original observation track, and adopts a two-way optimized observation track of a combination of clockwise square and counterclockwise square to improve the estimation accuracy of the relative position of the transducer installation, thereby improving the positioning accuracy of the seabed transponder.

[0085] S4. Realize the compensation of the installation position error of the shipborne transducer and output the positioning result of the seabed transponder.

[0086] When using simulation calculation to optimize the observation track, the one-way observation track is a square with a side length of 3000m parallel to the x-axis and y-axis. The navigation direction of the survey ship is clockwise, and the coordinate system is established with the center of the observation track as the coordinate origin. The ship speed is 1m / s, and the acoustic measurement cycle is 30s; the two-way observation track takes a group of clockwise square observation tracks and a group of counterclockwise observation tracks. In order to make the number of acoustic observations of the one-way and two-way observation tracks the same, the acoustic measurement cycle of the two-way observation track is 60s, and the other directions are the same; the true value of the seabed transponder position is [200, 0, 1600]m, and the sound velocity profile data is as follows: Figure 2As shown in FIG. 1 , the sound propagation time observation error is a zero-mean Gaussian white noise, and the error standard deviation is 100 μs.

[0087] like Figure 3 As shown in Figure 1, the model parameters of the one-way square track and the two-way square track are calculated by 10,000 Monte Carlo simulations. Figure 3 The error range of the horizontal positioning result of the one-way square track shown in (a) is obviously larger than Figure 3 (b) shows the bidirectional square track result. The x and y results of the unidirectional square track have a certain correlation. The bidirectional optimized square track weakens the correlation between the x and y parameters and obtains a higher precision positioning result. Figure 3 (c) and Figure 3 (e) The installation position of the one-way square track shown in d x and d y The error range of the results is significantly greater than Figure 3 (d) shows the two-way square track result. Although Figure 3 (c) and Figure 3 (e) The vertical positioning result error range of the one-way square track and Figure 3 (d) and Figure 3 The two-way square track results shown in (f) are equivalent, but the vertical positioning results of the one-way square track are different from those of the installation position d. x and d y The results show an obvious correlation trend. The bidirectional optimization square track weakens the correlation between the two parameters and obtains a better installation position estimation result. Therefore, by adding observation data with opposite heading angles to the one-way observation track, the estimation accuracy of the error of the seabed transponder position and installation position can be improved.

[0088] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. A transducer installation position calibration method based on observation track optimization analysis, characterized in that: The following steps are involved: S1. The shipborne transducer transmits an acoustic signal to the seafloor transponder to obtain the acoustic propagation time measurement between the two. The relative position of the shipborne transducer installation and the position of the seafloor transponder are used as model parameters for dimension expansion estimation. The acoustic propagation time measurement is used as a direct observation to establish the observation equation. S2. Use coordinate conversion calculation to convert the relative installation position of the shipborne transducer into the geodetic coordinates of the shipborne transducer, and then calculate the sound line propagation time through the shipborne transducer position, the seabed transponder position and the sound velocity profile data based on the ray acoustic propagation model; S3. Analyze the key factors that affect the relative position calculation of the shipborne transducer installation, conduct track optimization analysis of the survey ship, and propose a square track design with two-way heading angles; S4. Compensate for the installation position error of the shipborne transducer and output the positioning result of the seabed transponder.

2. The transducer installation position calibration method based on observation track optimization analysis according to claim 1 is characterized in that: In the step S1, the seabed transponder is positioned by combining the global navigation satellite system GNSS on the ocean surface with the acoustic positioning system inside the ocean, and the positioning process is performed by using the GNSS as the position reference, with the help of the position transfer of the sea surface carrier motion platform and the acoustic positioning technology; On the ocean surface, GNSS receivers use observation data from a group of navigation satellites, combined with observation data from shore-based reference stations, to continuously position and navigate survey ships on the ocean surface. The observation data from navigation satellites includes pseudorange, ephemeris, and satellite launch time.

3. The transducer installation position calibration method based on observation track optimization analysis according to claim 2 is characterized in that: In step S1, if the relative installation positions of the GNSS antenna and the shipborne transducer in the x-direction and the y-direction are d x and d y , the positions of the seafloor transponder in the x-direction, y-direction and z-direction are x, y and z respectively, and the model parameter for the dimension-expanded estimation of the relative installation position of the shipborne transducer is m = [xyzd x d y ] T , the observation model established using the sound propagation time measurement t is expressed as: h(m, X, c(z)) = t Where X = [XYZ] T represents the three-dimensional position of the shipborne transducer in the geodetic coordinate system, c(z) represents the sound velocity profile measurement, and h represents the forward model using the ray acoustic propagation model.

4. The method for calibrating the transducer installation position based on observation track optimization analysis according to claim 3, characterized in that: In step S1, the forward model h is calculated for the sound line propagation time t between the position of the seabed transponder and the position of the shipborne transducer. If the three-dimensional position of the seabed transponder is x=[xyz] T , the three-dimensional position of the shipborne transducer is X = [XYZ] T According to Snell's refraction law, the sound ray propagation time t and horizontal distance r are calculated as follows: Wherein, z is the immersion depth of the shipborne transducer, Z is the immersion depth of the seabed transponder, and n represents the sound line parameter, whose size is calculated by the Gauss-Newton method through the horizontal distance r.

5. The transducer installation position calibration method based on observation track optimization analysis according to claim 1 is characterized in that: In step S2, the shipborne transducer position conversion calculation is performed, using the GNSS antenna position installed on the survey ship. Attitude sensor measurement The relative position between the GNSS antenna and the shipborne transducer installed on the bottom of the survey ship is measured and the coordinate conversion calculation is performed to obtain the shipborne transducer position X = [XYZ] T ,in, They represent the heading angle, pitch angle and roll angle of the survey ship respectively.

6. The method for calibrating the transducer installation position based on observation track optimization analysis according to claim 5, characterized in that: In step S2, the GNSS antenna position measurement is determined based on the geodetic coordinate system [A], where the N axis of the geodetic coordinate system [A] points to the north direction and the E axis points to the east direction; the relative position DX of the GNSS antenna and the shipborne transducer is directly measured. x d y d z ] T , whose size is determined based on the ship carrier coordinate system [B]. The origin of the ship carrier coordinate system [B] is located at the acoustic center of the shipborne transducer, the X axis points to the bow direction of the carrier, and the Y axis points to the starboard direction of the carrier; If the rotation matrix from the ship carrier coordinate system [B] to the earth coordinate system [A] is R BA (θ), the calculation formula of the shipborne transducer position coordinate X is: Among them, the rotation matrix R BA The calculation formula of (Θ) and the attitude angle of the measuring ship The specific calculation formula is: Among them, R0, R1(ψ), R2(θ) and Computes a matrix for a coordinate transformation.

7. The method for calibrating the transducer installation position based on observation track optimization analysis according to claim 6, characterized in that: In step S2, R0, R1(ψ), R2(θ) and The calculation formulas are:

8. The transducer installation position calibration method based on observation track optimization analysis according to claim 1 is characterized in that: In step S2, a linear approximate calculation is performed on the forward model h at the initial value point m0: h(m)≈h(m0)+H(m-m0) Where h represents the forward model using the ray acoustic propagation model, m represents the model parameters estimated by the expanded dimension, and H represents the Jacobian matrix calculated by the partial derivatives; The iterative result m1 using the initial value m0 of the relative position parameter of the seabed transponder position and the shipborne transducer installation is: m1=m0+(H T H) -1 H T (t-h(m0))。 9. The method for calibrating the transducer installation position based on observation track optimization analysis according to claim 8, characterized in that: In step S2, H represents the Jacobian matrix calculated by partial derivatives, in and The calculation formulas are: Combined with the shipborne transducer position coordinate conversion calculation formula Get the matrix H and The calculation formulas are:

10. The transducer installation position calibration method based on observation track optimization analysis according to claim 9, characterized in that: In step S3, the error of the whole model parameter solution is reduced by weakening the correlation between the seabed transponder position parameter and the installation position parameter; and The calculation formula for the error coefficient of the seabed transponder positioning caused by the relative position error of the ship-borne transducer installation is and for: According to Snell's law n = cosγ(z) / c(z), γ(z) represents the grazing angle of the sound ray at depth z. for: By analyzing As a result of the relationship, the transponder position error caused by the installation position error is not only related to the attitude angle of the survey ship, the relative azimuth of the survey ship and the transponder, but also to the sound ray grazing angle γ(z) and the sound ray parameter n.

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