Ultra-short baseline calibration method for handheld measuring rod

Abstract

The invention discloses an ultra-short baseline calibration method of a handheld measuring rod, which belongs to the field of underwater acoustic measurement, is used for ultra-short baseline calibration of the handheld measuring rod, and comprises the following steps: mounting a global navigation satellite system, an inertial navigation system and an ultra-short baseline acoustic transducer component on each of a carrier and the handheld measuring rod; the relative positions of the global navigation satellite system, the inertial navigation system and the ultra-short baseline acoustic transducer component are measured; the handheld measuring rod carries out calibration operation around the edge of the ship body, and the position of the ultra-short baseline acoustic beacon is calculated; an ultra-short baseline acoustic transducer is used for measuring an ultra-short baseline acoustic beacon, and a calibration observation model of an ultra-short baseline system is constructed for least square calculation. According to the method, the acoustic beacons are installed through the handheld rod, high-precision ultra-short baseline calibration is achieved through the nonlinear least square algorithm, no seabed control point exists, complex operation of acoustic beacon arrangement and recovery in a traditional method is avoided, and the time cost and the labor cost of calibration operation are greatly reduced.

Description

TECHNICAL FIELD

[0001] The application discloses a handheld measuring rod ultra-short baseline calibration method, and belongs to the field of underwater acoustic measurement. BACKGROUND

[0002] The ultra-short baseline underwater acoustic positioning system is core equipment for high-precision underwater target positioning, and is widely applied to underwater navigation, ocean engineering exploration, underwater target tracking and recovery and other fields. The positioning precision of the system is fundamentally determined by the calibration precision of the spatial relative position and attitude relationship between the acoustic transducer array and the carrier platform (usually integrated with an inertial navigation system and a global navigation satellite system). The relationship includes an accurate rod arm vector and an installation deviation angle, and is collectively referred to as an ultra-short baseline calibration parameter.

[0003] The existing ultra-short baseline calibration methods have significant technical limitations, which restrict the application convenience and precision. The traditional mainstream method relies on laying an acoustic beacon array with known accurate coordinates in a specific water area as a control field, or using a large operating ship to perform a complex 'figure-eight' or 'circular' dynamic navigation operation. These methods not only have strict requirements for the operating environment, and need open and calm special water areas, but also have a complicated and time-consuming process, and high calibration cost. More importantly, the calibration precision is easily disturbed by environmental factors such as sea conditions, sound speed profile changes, ship maneuverability limitations and multipath effects, resulting in unstable parameter calculation results and insufficient reliability.

[0004] In addition, after the ship is docked for maintenance or equipment is installed, the traditional dynamic calibration method is difficult to implement in a limited space such as a wharf, and cannot realize fast and convenient on-site calibration, thereby affecting the operating efficiency. Therefore, the industry urgently needs a new method for ultra-short baseline system calibration that can break away from the dependence on large control fields and complex ship maneuvers, and can quickly and accurately complete the calibration in a conventional environment such as the shore or wharf. SUMMARY

[0005] The application aims to provide a handheld measuring rod ultra-short baseline calibration method to solve the problems in the prior art that the beacon laying and recovery operation is complex and costly, the operation period is long and the efficiency is low, and the beacon is easily affected by the sea current and drifts during the calibration process of the traditional ultra-short baseline underwater acoustic positioning system.

[0006] A handheld measuring rod ultra-short baseline calibration method comprises the following steps: S1, installing a global navigation satellite system and an inertial navigation system on the top of a platform, determining the spatial relative position relationship of the global navigation satellite system and the inertial navigation system of the platform by using a range measuring instrument, installing an ultra-short baseline acoustic transducer on the bottom of the platform, and determining the spatial relative position relationship of the ultra-short baseline acoustic transducer and the inertial navigation system by using the range measuring instrument; S2. Install a global navigation satellite system and an inertial navigation system on the top of the handheld measuring rod, and use a range measuring instrument to determine the spatial relative position of the global navigation satellite system and the inertial navigation system on the handheld measuring rod. Install an ultra-short baseline acoustic beacon on the bottom of the handheld measuring rod, and use a range measuring instrument to determine the spatial relative position of the inertial navigation system and the ultra-short baseline acoustic beacon on the handheld measuring rod. S3. The handheld measuring rod is used to perform calibration around the edge of the ship. Based on the geocentric coordinate system, the coordinates of the ultra-short baseline acoustic beacon in the geocentric coordinate system are calculated using the observation data of the global navigation satellite system and inertial navigation system of the handheld measuring rod. S4. Use the ultra-short baseline acoustic transducer to perform direction finding and ranging on the ultra-short baseline acoustic beacon to obtain the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system. Use the observation data of the platform's global navigation satellite system and inertial navigation system to convert the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system to the coordinates of the geocentric and earth-fixed coordinate system. S5. Based on the coordinate results of the ultra-short baseline acoustic beacon in the geocentric-ground-fixed coordinate system from S3 and S4, construct the ultra-short baseline system calibration observation model. Use the translation and rotation parameters of the ultra-short baseline system calibration observation model as unknowns and perform least squares solution to obtain the ultra-short baseline calibration parameters.

[0007] S1 includes, S1.1, the platform is an ultra-short baseline acoustic transducer array mounting platform, the ranging instrument is a total station, and the translation vectors of the platform's global navigation satellite system and inertial navigation system. for: ; In the formula, for of Axis coordinates for of Axis coordinates for of Axis coordinates; Installation displacement deviation of ultra-short baseline acoustic transducers and inertial navigation systems for: ; In the formula, for of Axis coordinates for of Axis coordinates for of Axis coordinates; S1 comprises, S1.2, the mounting angle deviation of the ultra-short baseline acoustic transducer and the inertial navigation system is , is the mounting deviation angle in the roll direction, is the mounting deviation angle in the pitch direction, is the mounting deviation angle in the heading direction; the rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system is: ; wherein, is , is , , , , , , , is the rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system.

[0008] S2 comprises, S2.1, the rod arm vector of the global navigation satellite system and the inertial navigation system of the handheld measuring rod is: ; wherein, is the axis coordinate of , is the axis coordinate of , is the axis coordinate of ; S2 comprises, S2.2, the rod arm vector between the inertial navigation system and the ultra-short baseline acoustic beacon of the handheld measuring rod is: ; wherein, is the axis coordinate of , is the axis coordinate of , is the axis coordinate of .

[0009] S3 comprises, S3.1, the rotation matrix of the global navigation satellite system and the inertial navigation system of the handheld measuring rod obtained by circling the edge of the ship body for the calibration work of the handheld measuring rod : wherein is the roll angle of the handheld surveying pole inertial navigation system, is the pitch angle of the handheld surveying pole inertial navigation system, is the yaw angle of the handheld surveying pole inertial navigation system.

[0010] S3 comprises, S3.2, calculating the super short baseline acoustic beacon position from the handheld surveying pole global navigation satellite system and inertial navigation system observation data, comprising converting the inertial navigation system origin to the Earth-Centered Earth-Fixed coordinate system: wherein is the coordinate vector of the handheld surveying pole inertial navigation system origin in the Earth-Centered Earth-Fixed coordinate system, is the axis coordinate component of the handheld surveying pole inertial navigation system origin in the Earth-Centered Earth-Fixed coordinate system, is the axis coordinate component of the handheld surveying pole inertial navigation system origin in the Earth-Centered Earth-Fixed coordinate system, is the axis coordinate component of the handheld surveying pole inertial navigation system origin in the Earth-Centered Earth-Fixed coordinate system, with the first index being is the component of is the component of is the component of is the component of is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the Earth-Centered Earth-Fixed coordinate system coordinate of the global navigation satellite system antenna phase center; the global navigation satellite system observation data of the handheld surveying pole comprises the geodetic latitude, geodetic longitude and ellipsoidal height of the handheld surveying pole global navigation satellite system antenna phase center; the inertial navigation system observation data of the handheld surveying pole comprises ,​​​​​​​​​​​​ .

[0011] S3 comprises, S3.3, calculating the position of the ultra-short baseline acoustic beacon in the Earth-Centered Earth-Fixed system : ; wherein, is the axis coordinate, is the axis coordinate, is the axis coordinate, , is the th component of, is the th component of, is the th component of, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the Earth-Centered Earth-Fixed coordinate of the antenna phase center of the global navigation satellite system.

[0012] S4 comprises, S4.1, direction finding and ranging the ultra-short baseline acoustic beacon with the ultra-short baseline acoustic transducer, obtaining the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline transducer coordinate system: ; wherein, is the axis coordinate of the ultra-short baseline acoustic transducer coordinate system, is the axis coordinate of the ultra-short baseline acoustic transducer coordinate system, is the axis coordinate of the ultra-short baseline acoustic transducer coordinate system; is the slant range, is the horizontal azimuth angle, is the pitch angle, , , , .

[0013] S4 comprises, S4.2, transforming the coordinates of the super short baseline acoustic beacon into the Earth-Centered, Earth-Fixed coordinate system using the observation data of the global navigation satellite system and the inertial navigation system of the platform: ; wherein, is the coordinates of the super short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system calculated from the super short baseline acoustic transducer, is the axis coordinate of , is the axis coordinate of , is the axis coordinate of , , is the th component of , is the th component of , is the th component of , is the projection of the negative value of in the Earth-Centered, Earth-Fixed coordinate system, is the projection of the negative value of in the Earth-Centered, Earth-Fixed coordinate system, is the projection of the negative value of in the Earth-Centered, Earth-Fixed coordinate system, is the Earth-Centered, Earth-Fixed coordinate system coordinate of the phase center of the global navigation satellite system antenna, is the projection of the vector pointing from the super short baseline acoustic transducer to the super short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system axis direction, is the projection of the vector pointing from the super short baseline acoustic transducer to the super short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system axis direction, is the projection of the vector pointing from the super short baseline acoustic transducer to the super short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system axis direction, is the projection of the direction cosine matrix constructed from the platform inertial navigation system carrier coordinate system attitude angles and the geodetic latitude and longitude provided by the global navigation satellite system of the platform in axis direction, a direction cosine matrix constructed from the platform inertial navigation system carrier coordinate system attitude angles and the geodetic latitude and longitude provided by the platform global navigation satellite system in a projection onto the axis direction, a direction cosine matrix constructed from the platform inertial navigation system carrier coordinate system attitude angles and the geodetic latitude and longitude provided by the platform global navigation satellite system in a projection onto the axis direction, a vector in the platform inertial navigation system carrier coordinate system from the phase center of the ultra-short baseline acoustic transducer to the phase center of the beacon in a projection onto the axis coordinate, a vector in the platform inertial navigation system carrier coordinate system from the phase center of the ultra-short baseline acoustic transducer to the phase center of the beacon in a projection onto the axis coordinate, a vector in the platform inertial navigation system carrier coordinate system from the phase center of the ultra-short baseline acoustic transducer to the phase center of the beacon in a projection onto the axis coordinate; the platform global navigation satellite system observation data includes the geodetic latitude, geodetic longitude and ellipsoid height of the platform global navigation satellite system antenna phase center; the platform inertial navigation system observation data includes , , , is the platform inertial navigation system roll angle, is the platform inertial navigation system pitch angle, is the platform inertial navigation system yaw angle.

[0014] S5 includes, S5.1, constructing a calibration observation model of the ultra-short baseline system, including establishing a residual equation: ; In the formula, is the residual of the first epoch, ; Constructing an indirect adjustment model of the ultra-short baseline calibration method of the handheld measuring rod: ; ; ; ; ; In the formula, is the residual vector of the first epoch, is the partial derivative matrix of the first epoch, is the partial derivative matrix of the first the epoch to be estimated parameter vector, the difference between the hyper short baseline acoustic beacon at the first epoch and the hyper short baseline acoustic transducer positioning result, the difference between the hyper short baseline acoustic beacon at the second epoch and the hyper short baseline acoustic transducer positioning result, the difference between the hyper short baseline acoustic beacon at the second epoch and the hyper short baseline acoustic transducer positioning result,

[0015] the partial derivative symbol. ; wherein, I is a unit matrix, T is a transpose symbol; the normal equation is: ; the to-be-estimated parameter is: ; the iteration formula is: ; wherein, n is the iteration number, is the translation parameter obtained in the n-th iteration, is the rotation parameter obtained in the n-th iteration, is the translation parameter obtained in the n-th iteration, is the rotation parameter obtained in the n-th iteration, is the translation parameter obtained in the n-th iteration, is the rotation parameter obtained in the n-th iteration, is the translation parameter obtained in the n-th iteration, is the rotation parameter obtained in the n-th iteration, ; the termination condition of the iteration calculation is: ; wherein, is a preset convergence threshold; the hyper short baseline calibration parameter is obtained through the calculation.

[0016] Compared with the prior art, the present application has the following beneficial effects: the present application realizes high-precision hyper short baseline calibration through the handheld rod-mounted acoustic beacon and the nonlinear least square algorithm, avoids the complex operation of acoustic beacon deployment and recovery in the traditional method without seabed control points, and greatly reduces the time cost and labor cost of calibration operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a flowchart of the method of the present application; Figure 2 is the target of the method of the present application Shaft arm error optimization effect diagram Figure 3 For the method of the present invention is directed to Shaft arm error optimization effect diagram Figure 4 For the method of the present invention is directed to Shaft arm error optimization effect diagram Figure 5 For the method of the present invention is directed to Shaft installation angle error optimization effect diagram Figure 6 For the method of the present invention is directed to Shaft installation angle error optimization effect diagram Figure 7 For the method of the present invention is directed to Shaft installation angle error optimization effect diagram Figure 8 For the installation calibration parameters obtained by the traditional method and the method of the present invention are compared. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present invention.

[0019] A handheld measuring rod ultra-short baseline calibration method, comprising: S1, installing a global navigation satellite system and an inertial navigation system on the top of the platform, determining the spatial relative position relationship of the global navigation satellite system and the inertial navigation system of the platform by using a range measuring instrument, installing an ultra-short baseline acoustic transducer on the bottom of the platform, and determining the spatial relative position relationship of the ultra-short baseline acoustic transducer and the inertial navigation system by using a range measuring instrument; S2, installing a global navigation satellite system and an inertial navigation system on the top of the handheld measuring rod, determining the spatial relative position relationship of the global navigation satellite system and the inertial navigation system of the handheld measuring rod by using a range measuring instrument, installing an ultra-short baseline acoustic beacon on the bottom of the handheld measuring rod, and determining the spatial relative position relationship of the inertial navigation system and the ultra-short baseline acoustic beacon of the handheld measuring rod by using a range measuring instrument; S3, the handheld measuring rod is wound around the edge of the ship body to perform calibration operation, based on the geocentric coordinate system, the observation data of the global navigation satellite system and the inertial navigation system of the handheld measuring rod are used to calculate the coordinates of the ultra-short baseline acoustic beacon in the geocentric coordinate system; S4, direction finding and ranging of the ultra-short baseline acoustic beacon by the ultra-short baseline acoustic transducer, obtaining the coordinates of the ultra-short baseline acoustic beacon in the coordinate system of the ultra-short baseline acoustic transducer, and converting the coordinates of the ultra-short baseline acoustic beacon in the coordinate system of the ultra-short baseline acoustic transducer into coordinates in the geocentric and terrestrial coordinate system by using the observation data of the global navigation satellite system and the inertial navigation system of the platform; S5, constructing an ultra-short baseline system calibration observation model based on the coordinates of the ultra-short baseline acoustic beacon in the geocentric and terrestrial coordinate system obtained in S3 and S4, taking the translation and rotation parameters of the ultra-short baseline system calibration observation model as unknowns to perform least squares calculation, and obtaining the ultra-short baseline calibration parameters.

[0020] S1 includes S1.1, the platform is an ultra-short baseline acoustic transducer array installation platform, and the distance measuring instrument is a total station. The translation vector of the global navigation satellite system and the inertial navigation system of the platform is ; In the formula, is the axis coordinate of , is the axis coordinate of , is the axis coordinate of ; The installation displacement deviation of the ultra-short baseline acoustic transducer and the inertial navigation system is ; In the formula, is the axis coordinate of , is the axis coordinate of ; S1 includes S1.2, the installation angle deviation of the ultra-short baseline acoustic transducer and the inertial navigation system is , is the installation deviation angle in the roll direction, is the installation deviation angle in the pitch direction, is the installation deviation angle in the heading direction; The rotation matrix from the coordinate system of the ultra-short baseline acoustic transducer to the coordinate system of the inertial navigation system is ; In the formula, is For , , , , , , , is the rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system.

[0021] S2 comprises, S2.1, the pole arm vector between the global navigation satellite system and the inertial navigation system of the handheld measuring pole is: ; wherein, is the axis coordinate, is the axis coordinate, is the axis coordinate; S2 comprises, S2.2, the pole arm vector between the inertial navigation system of the handheld measuring pole and the ultra-short baseline acoustic beacon is: ; wherein, is the axis coordinate, is the axis coordinate, is the axis coordinate.

[0022] S3 comprises, S3.1, the hand-held measuring pole circumferential calibration work along the hull edge, obtaining the rotation matrix of the global navigation satellite system and the inertial navigation system of the handheld measuring pole : ; wherein, , , , , , , is the roll angle of the inertial navigation system of the handheld measuring pole, is the pitch angle of the inertial navigation system of the handheld measuring pole, is the yaw angle of the inertial navigation system of the handheld measuring pole.

[0023] S3 comprises, S3.2, calculating the position of the ultra-short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system from the observation data of the global navigation satellite system and the inertial navigation system of the handheld surveying rod, including converting the origin of the inertial navigation system to the Earth-Centered, Earth-Fixed coordinate system: ; wherein, is the coordinate vector of the origin of the inertial navigation system of the handheld surveying rod in the Earth-Centered, Earth-Fixed coordinate system, is the axis coordinate component of the origin of the inertial navigation system of the handheld surveying rod in the Earth-Centered, Earth-Fixed coordinate system, is the axis coordinate component of the origin of the inertial navigation system of the handheld surveying rod in the Earth-Centered, Earth-Fixed coordinate system, is the axis coordinate component of the origin of the inertial navigation system of the handheld surveying rod in the Earth-Centered, Earth-Fixed coordinate system, with the first index being , , is the component of , is the component of , is the component of , is the projection of in the Earth-Centered, Earth-Fixed coordinate system, is the projection of in the Earth-Centered, Earth-Fixed coordinate system, is the projection of in the Earth-Centered, Earth-Fixed coordinate system, is the Earth-Centered, Earth-Fixed coordinate system coordinate of the phase center of the global navigation satellite system antenna; the global navigation satellite system observation data of the handheld surveying rod comprises the geodetic latitude, the geodetic longitude and the ellipsoid height of the phase center of the global navigation satellite system antenna of the handheld surveying rod; the inertial navigation system observation data of the handheld surveying rod comprises , , .

[0024] S3 comprises, S3.3, calculating the position of the ultra-short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system : ; wherein, is the axis coordinate of , is the axis coordinate of , is the axis coordinate, , the first component, the first component, the first component, the first component, the first component, the projection in the Earth-Centered Earth-Fixed coordinate system, the projection in the Earth-Centered Earth-Fixed coordinate system, the projection in the Earth-Centered Earth-Fixed coordinate system, the projection in the Earth-Centered Earth-Fixed coordinate system, the projection in the Earth-Centered Earth-Fixed coordinate system, the projection in the Earth-Centered Earth-Fixed coordinate system,

[0025] S4 comprises, S4.1, direction finding and ranging of the ultra-short baseline acoustic beacon by the ultra-short baseline acoustic transducer, to obtain the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline transducer coordinate system: ; wherein, is the axis coordinate of the ultra-short baseline acoustic transducer coordinate system, is the axis coordinate of the ultra-short baseline acoustic transducer coordinate system, is the axis coordinate of the ultra-short baseline acoustic transducer coordinate system; is the slant range, is the horizontal azimuth angle, is the pitch angle, , , , .

[0026] S4 comprises, S4.2, converting the coordinates of the ultra-short baseline acoustic beacon to the Earth-Centered Earth-Fixed coordinate system by using the observation data of the global navigation satellite system and the inertial navigation system of the platform: ; wherein, The coordinates of the ultra-short baseline acoustic beacon in the geocentric-ground-fixed coordinate system are calculated from the ultra-short baseline acoustic transducer. for of Axis coordinates for of Axis coordinates for of Axis coordinates , for The Item component, for The Item component, for The Item component, for The negative value of the projection in the geocentric Earth-fixed coordinate system for The negative value of the projection in the geocentric Earth-fixed coordinate system for The negative value of the projection in the geocentric Earth-fixed coordinate system The coordinates of the phase center of the global navigation satellite system antenna are in the geocentric and geofixed coordinate system. The vector pointing from the USMR acoustic transducer to the USMR acoustic beacon in the geocentric Earth-fixed coordinate system Projection along the axial direction The vector pointing from the USMR acoustic transducer to the USMR acoustic beacon in the geocentric Earth-fixed coordinate system Projection along the axial direction, The vector pointing from the USMR acoustic transducer to the USMR acoustic beacon in the geocentric Earth-fixed coordinate system Projection along the axial direction The direction cosine matrix is ​​constructed from the attitude angles of the platform's inertial navigation system carrier coordinate system and the geodetic latitude and longitude provided by the platform's global navigation satellite system. Projection along the axial direction The direction cosine matrix is ​​constructed from the attitude angles of the platform's inertial navigation system carrier coordinate system and the geodetic latitude and longitude provided by the platform's global navigation satellite system. Projection along the axial direction The direction cosine matrix is ​​constructed from the attitude angles of the platform's inertial navigation system carrier coordinate system and the geodetic latitude and longitude provided by the platform's global navigation satellite system. Projection along the axial direction, The vector pointing from the phase center of the ultra-short baseline acoustic transducer to the phase center of the beacon in the platform inertial navigation system's carrier coordinate system. Axial coordinate projection, vector of the phase center of the ultra-short baseline acoustic transducer pointing to the phase center of the beacon in the platform inertial navigation system carrier coordinate system Axial coordinate projection, vector of the phase center of the ultra-short baseline acoustic transducer pointing to the phase center of the beacon in the platform inertial navigation system carrier coordinate system Axial coordinate projection; the global navigation satellite system observation data of the platform includes geodetic latitude, geodetic longitude and ellipsoid height of the platform global navigation satellite system antenna phase center; the inertial navigation system observation data of the platform includes , , , is the roll angle of the platform inertial navigation system, is the pitch angle of the platform inertial navigation system, is the yaw angle of the platform inertial navigation system.

[0027] S5 includes, S5.1, constructing a calibration observation model of an ultra-short baseline system, including establishing a residual equation: ; In the formula, is the residual of the first epoch, ; Constructing an indirect adjustment model of the ultra-short baseline calibration method of the handheld measuring rod: ; ; ; ; ; In the formula, is the residual vector of the first epoch, is the partial derivative matrix of the first epoch, is the to-be-estimated parameter vector of the first epoch, is the difference between the positioning result of the ultra-short baseline acoustic beacon and the ultra-short baseline acoustic transducer at the first epoch, is the vector composed of the difference between adjacent epochs, is the partial derivative symbol.

[0028] ​S5 comprises S5.2, least square solving translation and rotation parameters of the ultra-short baseline system as unknowns, including obtaining calibration parameters of the ultra-short baseline underwater acoustic positioning system by using nonlinear least square iterative solving, and according to the least square principle, satisfies: ; wherein, is a unit matrix, is a transpose symbol; the normal equation is: ; the to-be-estimated parameter is: ; the iterative formula is: ; wherein, is the number of iterations, is the obtained in the i th iteration, is the obtained in the i th iteration, is the obtained in the i th iteration, is the obtained in the i th iteration; the termination condition of the iterative calculation is: ; ; wherein, is a preset convergence threshold; calibration parameters of the ultra-short baseline are obtained by solving.

[0029] The analysis of the above formula is as follows: ; ; wherein: ; ; ; ; ; ; ; ; ; ; ;​​​​ ; ; ; ; wherein is the geodetic latitude of the antenna phase center of the handheld measuring pole global navigation satellite system, is the geodetic longitude of the global navigation satellite system phase center of the handheld measuring pole, is the ellipsoidal height of the global navigation satellite system antenna phase center of the handheld measuring pole, is the earth ellipsoid semi-major axis, is the first eccentricity, , , , , , , , , , , , is the substitution variable, , , , .

[0030] For the solution of is as follows: ; wherein: ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; wherein , , , , , , , , , , , , , , , , , , , , , , , are substitution variables.

[0031] For the solution of is as follows: ; wherein: ; ; ; ; ; ; ; ; ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； ； wherein is the geodetic latitude of the platform GNSS antenna phase center, is the geodetic longitude of the platform GNSS phase center, is the ellipsoidal height of the platform GNSS antenna phase center, is a substitution variable,

[0032] The application is further described in connection with the accompanying drawings. The specific process of the application is shown in Figure 1 ​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​As shown in the drawings, the ship is taken as a mounting platform of an ultra-short baseline acoustic transducer array, the ultra-short baseline beacon and the ultra-short baseline acoustic transducer measure the observation values such as the slant range and the azimuth information, the spatial relative relationship of the ship-borne inertial navigation system and the ship-borne global navigation satellite system is accurately determined, the instantaneous attitude of the carrier is measured by the ship-borne inertial navigation system, and the phase center position of the ship-borne antenna is measured by the global navigation satellite system; the spatial relative relationship of the inertial navigation system and the global navigation satellite system of the handheld measuring rod is accurately determined, the instantaneous attitude of the handheld measuring rod is measured by the inertial navigation system, and the phase center position of the handheld measuring rod antenna is measured by the global navigation satellite system; the observation values such as the slant range and the azimuth information, the instantaneous attitude of the carrier, and the phase center position of the ship-borne antenna are input into the ship-borne system to calculate the absolute position of the beacon, the instantaneous attitude of the handheld measuring rod and the phase center position of the handheld measuring rod antenna are input into the handheld measuring system to calculate the absolute position of the beacon, the observation equation is constructed, the indirect adjustment model is constructed after input, and the ultra-short baseline calibration parameters are obtained after iterative solution.

[0033] An experiment analysis is conducted by using the ultra-short baseline calibration method of the handheld measuring rod. Firstly, the global navigation satellite system and the inertial navigation system are installed on the carrier, and the spatial relative position relationship between the global navigation satellite system and the inertial navigation system is accurately determined; secondly, the global navigation satellite system and the inertial navigation system are installed at the top of the handheld measuring rod, and the spatial relative position relationship between the global navigation satellite system and the inertial navigation system is accurately determined; thirdly, the handheld measuring rod is calibrated along the edge of the ship body, and the position of the ultra-short baseline acoustic beacon can be accurately calculated by the observation data of the global navigation satellite system and the inertial navigation system during the process; finally, the ultra-short baseline acoustic transducer measures the direction and range of the ultra-short baseline acoustic beacon, the calibration observation model of the ultra-short baseline system is constructed, the translation and rotation parameters of the ultra-short baseline system are taken as unknowns, and the least square solution is calculated. As shown in the drawings, Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown in the drawings, based on the least square nonlinear parameter optimization algorithm, the correction number of the installation calibration parameter is smoothly decreased, and finally asymptotically reaches 0, which shows that the ultra-short baseline calibration method of the handheld measuring rod is effective; as shown in the drawings, Figure 8 The installation calibration parameters obtained by the traditional method and the method of the application are compared with the true value respectively, and it is found that the overall precision of the installation calibration parameters obtained by the method of the application is improved, and in the drawings, The difference between the traditional method and the method of the application; therefore, the application proposes a kind of handheld measuring rod's ultra-short baseline calibration method effectively solves the problems of complex and high cost, long operation cycle and low efficiency, beacon drift by current influence and other problems by beacon layout and recovery operation.

[0034] The above examples are only used to illustrate the technical solutions of the present application, but not to limit it. Although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some or all of the technical features can be replaced by equivalents, without changing the essence of the corresponding technical solutions out of the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of calibrating a handheld measuring pole using an ultra-short baseline, the method comprising: Comprise: S1, install global navigation satellite system and inertial navigation system on the top of the platform, determine the spatial relative position relationship of the global navigation satellite system and the inertial navigation system of the platform by the range measuring instrument, install the ultra-short baseline acoustic transducer on the bottom of the platform, and determine the spatial relative position relationship of the ultra-short baseline acoustic transducer and the inertial navigation system by the range measuring instrument; S2, install global navigation satellite system and inertial navigation system on the top of the handheld measuring rod, determine the spatial relative position relationship of the global navigation satellite system and the inertial navigation system of the handheld measuring rod by the range measuring instrument, install the ultra-short baseline acoustic beacon on the bottom of the handheld measuring rod, and determine the spatial relative position relationship of the inertial navigation system and the ultra-short baseline acoustic beacon of the handheld measuring rod by the range measuring instrument; S3, the handheld measuring rod is calibrated along the edge of the ship body, and the observation data of the global navigation satellite system and the inertial navigation system of the handheld measuring rod are used to calculate the coordinates of the ultra-short baseline acoustic beacon in the earth fixed coordinate system; S4, the ultra-short baseline acoustic beacon is measured by the ultra-short baseline acoustic transducer, the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system are obtained, and the observation data of the global navigation satellite system and the inertial navigation system of the platform are used to convert the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system into the coordinates in the earth fixed coordinate system; S5, based on the coordinates of the ultra-short baseline acoustic beacon in the earth fixed coordinate system obtained by S3 and S4, a ultra-short baseline system calibration observation model is constructed, the translation and rotation parameters of the ultra-short baseline system calibration observation model are taken as unknowns for least squares solution, and the ultra-short baseline calibration parameters are obtained.

2. The method of calibrating a handheld pole according to claim 1, wherein, S1 comprises, S1.1, the platform is an ultra-short baseline acoustic transducer array installation platform, the range finding instrument is a total station, the translation vector of the global navigation satellite system and the inertial navigation system of the platform is: ； wherein is of the formula axis coordinates, is of the formula axis coordinates, is of the formula axis coordinates; Mounting displacement bias of ultra-short baseline acoustic transducers and inertial navigation systems is: ； wherein is of the form axis coordinates, is of the form axis coordinates, is of the form axis coordinates; S1 comprises, S1.2, the mounting angle deviation of the ultra-short baseline acoustic transducer and the inertial navigation system is , is a roll direction mounting deviation angle, is a pitch direction mounting deviation angle, is a heading direction mounting deviation angle; The rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system is: ； wherein is , is , , , , , , , is a rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system.

3. The method of calibrating a handheld pole according to claim 2, wherein, S2 comprises, S2.1, a pole arm vector of the handheld measuring pole's global navigation satellite system and inertial navigation system is: ； wherein is of the formula axis coordinates, is of the formula axis coordinates, is of the formula axis coordinates; S2 comprises, S2.2, a pole arm vector between the inertial navigation system of the handheld pole and the ultra-short baseline acoustic beacon is: ； wherein is wherein is is is is is is is 4. The method of claim 3, wherein, S3 comprises, S3.1, a hand-held measuring rod is calibrated along the edge of the hull around the coil marking operation, the hand-held measuring rod of the global navigation satellite system and the rotation matrix of the inertial navigation system : ； wherein , , , , , , is the roll angle of the handheld measurement pole inertial navigation system, is the pitch angle of the handheld measurement pole inertial navigation system, is the yaw angle of the handheld measurement pole inertial navigation system.

5. The method of calibrating a handheld pole according to claim 4, wherein, S3 comprises S3.2, calculating the position of the ultra-short baseline acoustic beacon according to the observation data of the global navigation satellite system and the inertial navigation system of the handheld measuring rod, including converting the origin of the inertial navigation system to the earth fixed coordinate system: ； wherein is the coordinate vector of the origin of the handheld surveying rod inertial navigation system in the Earth-Centered Earth-Fixed coordinate system, is the coordinate vector of the origin of the handheld surveying rod inertial navigation system in the Earth-Centered Earth-Fixed coordinate system is the axis coordinate component, is the coordinate vector of the origin of the handheld surveying rod inertial navigation system in the Earth-Centered Earth-Fixed coordinate system is the axis coordinate component, is the coordinate vector of the origin of the handheld surveying rod inertial navigation system in the Earth-Centered Earth-Fixed coordinate system is the axis coordinate component, with the first index being , , is the component of , is the component of , is the component of , is the component of , is the component of is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the projection of in the Earth-Centered Earth-Fixed coordinate system, is the Earth-Centered Earth-Fixed coordinate of the antenna phase center of the global navigation satellite system; the global navigation satellite system observation data of the handheld surveying rod comprises the geodetic latitude, the geodetic longitude and the ellipsoid height of the antenna phase center of the handheld surveying rod global navigation satellite system; the inertial navigation system observation data of the handheld surveying rod comprises , , .

6. The method of calibrating a handheld pole according to claim 5, wherein, S3 comprises, S3.3, calculating the position of the super short baseline acoustic beacon in the Earth-Centered, Earth-Fixed frame : ； wherein is the axis coordinate, is the axis coordinate, is the axis coordinate, , is the th component of is the th component of is the th component of is the projection of is the projection of is the projection of is the projection of is the projection of is the projection of is the geodetic coordinate of the GNSS antenna phase center.

7. The method of calibrating a handheld pole according to claim 6, wherein, S4 comprises S4.1, measuring the direction and distance of the ultra-short baseline acoustic beacon by the ultra-short baseline acoustic transducer, and obtaining the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline transducer coordinate system: ； wherein is the axis coordinate of the short baseline acoustic transducer coordinate system is the axis coordinate of the short baseline acoustic transducer coordinate system is the axis coordinate of the short baseline acoustic transducer coordinate system is the axis coordinate of the short baseline acoustic transducer coordinate system is the axis coordinate of the short baseline acoustic transducer coordinate system is the axis coordinate of the short baseline acoustic transducer coordinate system is the slant range is the azimuth angle is the pitch angle , , , .

8. The method of calibrating a handheld pole according to claim 7, wherein, S4 comprises S4.2, converting the coordinates of the ultra-short baseline acoustic beacon to the earth fixed coordinate system by the observation data of the global navigation satellite system and the inertial navigation system of the platform: ； wherein is the coordinate of the ultra-short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system as extrapolated from the ultra-short baseline acoustic transducer, is the is the axis coordinate, is the is the axis coordinate, is the is the axis coordinate, , is the is the component of the is the component of the component of the component of the is the component of the is the projection of the negative value of in the Earth-Centered, Earth-Fixed coordinate system, is the projection of the negative value of in the Earth-Centered, Earth-Fixed coordinate system, is the projection of the negative value of in the Earth-Centered, Earth-Fixed coordinate system, is the Earth-Centered, Earth-Fixed coordinate of the antenna phase center of the Global Navigation Satellite System, is the projection of the vector from the ultra-short baseline acoustic transducer to the ultra-short baseline acoustic beacon in the axis direction of the Earth-Centered, Earth-Fixed coordinate system, is the projection of the vector from the ultra-short baseline acoustic transducer to the ultra-short baseline acoustic beacon in the axis direction of the Earth-Centered, Earth-Fixed coordinate system, is the projection of the vector from the ultra-short baseline acoustic transducer to the ultra-short baseline acoustic beacon in the axis direction of the Earth-Centered, Earth-Fixed coordinate system, is the projection of the direction cosine matrix constructed from the platform inertial navigation system carrier coordinate system attitude angles and the platform's Global Navigation Satellite System provided geodetic latitude and longitude in the axis direction, is the projection of the direction cosine matrix constructed from the platform inertial navigation system carrier coordinate system attitude angles and the platform's Global Navigation Satellite System provided geodetic latitude and longitude in the axis direction, is the projection of the direction cosine matrix constructed from the platform inertial navigation system carrier coordinate system attitude angles and the platform's Global Navigation Satellite System provided geodetic latitude and longitude in the axis direction, a vector from a phase center of an ultra-short baseline acoustic transducer to a phase center of a beacon in a platform inertial navigation system carrier coordinate system axis coordinate projection, a vector from a phase center of an ultra-short baseline acoustic transducer to a phase center of a beacon in a platform inertial navigation system carrier coordinate system axis coordinate projection, a vector from a phase center of an ultra-short baseline acoustic transducer to a phase center of a beacon in a platform inertial navigation system carrier coordinate system axis coordinate projection; the platform global navigation satellite system observation data includes geodetic latitude, geodetic longitude, and ellipsoidal height of a platform global navigation satellite system antenna phase center; the platform inertial navigation system observation data includes , , , is a platform inertial navigation system roll angle, is a platform inertial navigation system pitch angle, is a platform inertial navigation system yaw angle.

9. The method of claim 8, wherein, S5 comprises S5.1, constructing the calibration observation model of the ultra-short baseline system, including establishing the residual equation: ； In the formula, For the first The residual of each epoch, ; An indirect adjustment model of the ultra-short baseline calibration method of the handheld measuring rod is constructed: ； ； ； ； ； wherein is the residual vector for the epoch, is the partial derivative matrix for the epoch, is the parameter vector to be estimated for the epoch, is the difference between the ultra-short baseline acoustic beacon and ultra-short baseline acoustic transducer positioning results at the epoch, is the vector resulting from the difference between the adjacent epochs, is the partial derivative sign.

10. The method of claim 9, wherein, S5 comprises S5.2, least square solving the translation and rotation parameters of the ultra-short baseline system as unknowns, including obtaining the calibration parameters of the ultra-short baseline underwater acoustic positioning system by using nonlinear least square iterative solving, according to the least square principle, satisfies: ； wherein is the identity matrix, is the transpose symbol; The normal equation is: ； The parameters to be estimated are: ； The iteration formula is: ； wherein is the iteration number, is the iteration number, is the iteration number, , is the iteration number, is the iteration number, , is the iteration number, is the iteration number, ; The termination condition of the iteration calculation is: ； In the formula, is a preset convergence threshold value; The ultra-short baseline calibration parameters are obtained by calculation.

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