A method for ultra-short baseline calibration of a handheld measuring rod

Abstract

The application discloses a kind of handheld surveying rod's ultra-short baseline calibration method, belong to the field of underwater acoustic measurement, for the ultra-short baseline calibration of handheld surveying rod, including installing global navigation satellite system, inertial navigation system and ultra-short baseline acoustic transducer component on carrier and handheld surveying rod, the relative position between global navigation satellite system, inertial navigation system and ultra-short baseline acoustic transducer component is determined;Handheld surveying rod is along the edge of ship body and is calibrated to circle calibration operation, the position of ultra-short baseline acoustic beacon is calculated;Ultra-short baseline acoustic transducer is used to determine ultra-short baseline acoustic beacon, and calibration observation model of ultra-short baseline system is constructed to carry out least square solution.The application is installed acoustic beacon by handheld rod and nonlinear least square algorithm, realizes the ultra-short baseline calibration of high accuracy, avoids the complex operation of acoustic beacon layout and recovery in traditional method without seabed control point, and greatly reduces the time cost and manpower cost of calibration operation.

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 the like. 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 on the operating environment, and need open and calm special water areas, but also have a complicated process, long time consumption and high calibration cost. More importantly, the calibration precision is extremely susceptible to environmental factors such as sea conditions, sound velocity 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 rapid and convenient on-site calibration, thereby affecting the operating efficiency. Therefore, the industry urgently needs a new method for calibrating an ultra-short baseline system, which can be free from the dependence on a large control field and complex ship maneuvering, and can be quickly and accurately calibrated in a conventional environment such as a nearshore area or a wharf. SUMMARY

[0005] The application aims to provide a handheld measuring rod ultra-short baseline calibration method, so as to solve the problems in the prior art that the beacon laying and recovery operation are complex and costly, the operation period is long and the efficiency is low, and the beacon is susceptible to the influence of sea currents and the like in the calibration process of a traditional ultra-short baseline underwater acoustic positioning system.

[0006] A handheld measuring rod ultra-short baseline calibration method comprises the following steps:

[0007] S1, a global navigation satellite system and an inertial navigation system are installed on the top of a platform, a spatial relative position relationship of the global navigation satellite system and the inertial navigation system of the platform is determined by using a distance measuring instrument, an ultra-short baseline acoustic transducer is installed on the bottom of the platform, and a spatial relative position relationship of the ultra-short baseline acoustic transducer and the inertial navigation system is determined by using the distance measuring instrument;

[0008] S2, installing a global navigation satellite system and an inertial navigation system at 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 the distance measuring instrument, and installing an ultra-short baseline acoustic beacon at the bottom of the handheld measuring rod, 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 the distance measuring instrument;

[0009] S3, performing calibration work along the edge of the ship body, calculating the coordinates of the ultra-short baseline acoustic beacon in the geocentric coordinate system based on the observation data of the global navigation satellite system and the inertial navigation system of the handheld measuring rod;

[0010] S4, using the ultra-short baseline acoustic transducer to measure the direction and distance of the ultra-short baseline acoustic beacon, obtaining the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system, and converting the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system into the coordinates in the geocentric coordinate system by using the observation data of the global navigation satellite system and the inertial navigation system of the platform;

[0011] S5, based on the coordinates of the ultra-short baseline acoustic beacon in the geocentric coordinate system obtained by S3 and S4, constructing an ultra-short baseline system calibration observation model, taking the translation and rotation parameters of the ultra-short baseline system calibration observation model as unknowns for least squares solution, and obtaining the ultra-short baseline calibration parameters.

[0012] S1 includes S1.1, the platform is an ultra-short baseline acoustic transducer array installation platform, 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 :

[0013] ;

[0014] In the formula, is the axis coordinate of , is the axis coordinate of , is the

[0015] axis coordinate of ;

[0016] ;

[0017] In the formula, is the Axis coordinates for of Axis coordinates for of Axis coordinates;

[0018] S1 includes S1.2, the installation angle deviation of the ultra-short baseline acoustic transducer and the inertial navigation system. , Install the deviation angle in the roll direction. Install the deviation angle in the pitch direction. Install deviation angles for the heading direction;

[0019] The rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system is:

[0020] ;

[0021] In the formula, for , for , , , , , , , is the rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system.

[0022] S2 includes S2.1, the lever arm vector of the handheld measuring rod's global navigation satellite system and inertial navigation system. for:

[0023] ;

[0024] In the formula, for of Axis coordinates for of Axis coordinates for of Axis coordinates;

[0025] S2 includes S2.2, the rod arm vector between the inertial navigation system of the handheld measuring rod and the ultra-short baseline acoustic beacon. for:

[0026] ;

[0027] In the formula, For , , , , , , , , ,

[0028] S3 comprises, S3.1, a hand-held measuring pole circumferential calibration operation along the hull edge, obtaining the rotation matrix of the global navigation satellite system and the inertial navigation system of the hand-held measuring pole , ,

[0029] , , ,

[0030] , , , , , , , is the roll angle of the inertial navigation system of the hand-held measuring pole, is the pitch angle of the inertial navigation system of the hand-held measuring pole, is the yaw angle of the inertial navigation system of the hand-held measuring pole.

[0031] S3 comprises, S3.2, calculating the ultra-short baseline acoustic beacon position according to the observation data of the global navigation satellite system and the inertial navigation system of the hand-held measuring pole, including converting the inertial navigation system origin to the Earth-Centered Earth-Fixed coordinate system:

[0032] ,

[0033] , is the coordinate vector of the inertial navigation system origin of the hand-held measuring pole in the Earth-Centered Earth-Fixed coordinate system, is the axis coordinate component of the inertial navigation system origin of the hand-held measuring pole in the Earth-Centered Earth-Fixed coordinate system, is the axis coordinate component of the inertial navigation system origin of the hand-held measuring pole in the Earth-Centered Earth-Fixed coordinate system, is the axis coordinate component of the inertial navigation system origin of the hand-held measuring pole in the Earth-Centered Earth-Fixed coordinate system, and the first index is , , is the th component of , is the th component of , is the the first component of the item, is the projection in the Earth-Centered Earth-Fixed coordinate system, is the projection in the Earth-Centered Earth-Fixed coordinate system, is the projection 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 rod comprises geodetic latitude, geodetic longitude and ellipsoid height of the handheld surveying rod global navigation satellite system antenna phase center; the inertial navigation system observation data of the handheld surveying rod comprises , , .

[0034] S3 comprises S3.3, calculating the position of the super-short baseline acoustic beacon in the Earth-Centered Earth-Fixed system :

[0035] ;

[0036] wherein, is the axis coordinate of the , the axis coordinate of the , the axis coordinate of the , is the first component of the item, is the first component of the item, is the first component of the item, is the projection in the Earth-Centered Earth-Fixed coordinate system, is the projection in the Earth-Centered Earth-Fixed coordinate system, is the projection in the Earth-Centered Earth-Fixed coordinate system, is the projection in the Earth-Centered Earth-Fixed coordinate system of the negative value of the is the projection in the Earth-Centered Earth-Fixed coordinate system of the negative value of the is the projection in the Earth-Centered Earth-Fixed coordinate system of the negative value of the is the Earth-Centered Earth-Fixed coordinate system coordinate of the global navigation satellite system antenna phase center.

[0037] 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:

[0038] ;

[0039] 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, is the pitch angle, , , , .

[0040] S4 comprises, S4.2, converting the coordinates of the ultra-short baseline acoustic beacon to the geocentric geodetic coordinate system by using the observation data of the global navigation satellite system and the inertial navigation system of the platform:

[0041] ;

[0042] wherein, is the coordinates of the ultra-short baseline acoustic beacon in the geocentric geodetic coordinate system calculated by the ultra-short baseline acoustic transducer, is the axis coordinate of the , is the axis coordinate of the , is the axis coordinate of the , , is the th component of the , is the th component of the , is the th component of the , is the projection of the negative value of the in the geocentric geodetic coordinate system, is the projection of the negative value of the in the geocentric geodetic coordinate system, is the projection of the negative value of the the projection of the negative value of the vector onto the x-axis of the ECEF coordinate system, is the ECEF coordinate of the antenna phase center of the GNSS antenna of the platform, is the vector from the phase center of the SBL acoustic transducer to the phase center of the SBL acoustic beacon in the ECEF coordinate system is the projection of the vector onto the x-axis of the ECEF coordinate system, is the vector from the phase center of the SBL acoustic transducer to the phase center of the SBL acoustic beacon in the ECEF coordinate system is the projection of the vector onto the x-axis of the ECEF coordinate system, is the vector from the phase center of the SBL acoustic transducer to the phase center of the SBL acoustic beacon in the ECEF coordinate system is the projection of the vector onto the x-axis of the ECEF coordinate system, is the direction cosine matrix constructed from the attitude angles of the platform INS body coordinate system and the geodetic latitude and longitude provided by the GNSS of the platform in the ECEF coordinate system is the projection of the direction cosine matrix onto the x-axis of the ECEF coordinate system, is the direction cosine matrix constructed from the attitude angles of the platform INS body coordinate system and the geodetic latitude and longitude provided by the GNSS of the platform in the ECEF coordinate system is the projection of the direction cosine matrix onto the x-axis of the ECEF coordinate system, is the direction cosine matrix constructed from the attitude angles of the platform INS body coordinate system and the geodetic latitude and longitude provided by the GNSS of the platform in the ECEF coordinate system is the projection of the direction cosine matrix onto the x-axis of the ECEF coordinate system, is the vector from the phase center of the SBL acoustic transducer to the phase center of the SBL acoustic beacon in the body coordinate system of the platform INS is the projection of the vector onto the x-axis of the body coordinate system of the platform INS, is the vector from the phase center of the SBL acoustic transducer to the phase center of the SBL acoustic beacon in the body coordinate system of the platform INS is the projection of the vector onto the x-axis of the body coordinate system of the platform INS, is the vector from the phase center of the SBL acoustic transducer to the phase center of the SBL acoustic beacon in the body coordinate system of the platform INS is the projection of the vector onto the x-axis of the body coordinate system of the platform INS; the GNSS observation data of the platform includes the geodetic latitude, the geodetic longitude and the ellipsoidal height of the phase center of the GNSS antenna of the platform; the INS observation data of the platform includes , , , is the roll angle of the platform INS, is the pitch angle of the platform INS, is the yaw angle of the platform INS.

[0043] S5 includes, S5.1, constructing a calibration observation model of the SBL system, including establishing a residual equation:

[0044] ;

[0045] wherein, is the residual of the i-th epoch,

[0046] An indirect adjustment model of the ultra-short baseline calibration method of the handheld measuring rod is constructed:

[0047]

[0048]

[0049]

[0050]

[0051]

[0052] wherein, is the residual vector of the i-th epoch, is the partial derivative matrix of the i-th epoch, is the to-be-estimated parameter vector of the i-th epoch, is the difference between the ultra-short baseline acoustic beacon and the ultra-short baseline acoustic transducer positioning result at the i-th epoch, is a vector composed of the differences between adjacent epochs, is a partial derivative symbol. S5 comprises S5.2, least square solving of 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 iteration, according to the least square principle, satisfying:

[0053] The normal equation is:

[0054]

[0055] wherein, is a unit matrix, is a transpose symbol;

[0056] The normal equation is:

[0057]

[0058] The to-be-estimated parameters are:

[0059]

[0060] The iteration formula is:​​​​​​​​​​​​​​

[0061] ;

[0062] In the formula, is the iteration number, is the iteration obtained , is the iteration obtained , is the iteration obtained ;

[0063] The termination condition of the iterative calculation is:

[0064] ;

[0065] In the formula, is a preset convergence threshold;

[0066] The ultra-short baseline calibration parameters are obtained by calculation.

[0067] Compared with the prior art, the present application has the following beneficial effects: the present application realizes high-precision ultra-short baseline calibration by installing an acoustic beacon on a handheld rod and using a nonlinear least squares algorithm, avoids the complex operation of acoustic beacon deployment and recovery in the traditional method without a seabed control point, and greatly reduces the time cost and labor cost of calibration operation. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 is a flowchart of the method of the present application;

[0069] Figure 2 is an optimization effect diagram of the shaft rod arm error for the method of the present application;

[0070] is an optimization effect diagram of the shaft rod arm error for the method of the present application; Figure 3 is an optimization effect diagram of the shaft rod arm error for the method of the present application;

[0071] Figure 4 is an optimization effect diagram of the shaft rod arm error for the method of the present application;

[0072] Figure 5 is an optimization effect diagram of the shaft installation angle error for the method of the present application;

[0073] is an optimization effect diagram of the shaft installation angle error for the method of the present application; Figure 6 is an optimization effect diagram of the shaft installation angle error for the method of the present application;

[0074] Figure 7 ​​​The method is for Optimization effect diagram of shaft installation angle error

[0075] Figure 8 Comparison diagram of installation calibration parameters obtained by the traditional method and the method of the application. DETAILED DESCRIPTION

[0076] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0077] A hand-held measuring rod ultra-short baseline calibration method, comprising:

[0078] 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 distance 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 distance measuring instrument;

[0079] S2, installing a global navigation satellite system and an inertial navigation system on the top of a hand-held measuring rod, determining the spatial relative position relationship of the global navigation satellite system and the inertial navigation system of the hand-held measuring rod by using a distance measuring instrument, installing an ultra-short baseline acoustic beacon on the bottom of the hand-held measuring rod, and determining the spatial relative position relationship of the inertial navigation system and the ultra-short baseline acoustic beacon of the hand-held measuring rod by using the distance measuring instrument;

[0080] S3, performing calibration operation along the edge of a ship body by the hand-held measuring rod, and calculating the coordinates of the ultra-short baseline acoustic beacon in the geocentric coordinate system based on the observation data of the global navigation satellite system and the inertial navigation system of the hand-held measuring rod;

[0081] S4, performing direction finding and distance measurement on the ultra-short baseline acoustic beacon by using the ultra-short baseline acoustic transducer to obtain the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system, and converting the coordinates of the ultra-short baseline acoustic beacon in the ultra-short baseline acoustic transducer coordinate system into the coordinates in the geocentric coordinate system by using the observation data of the global navigation satellite system and the inertial navigation system of the platform;

[0082] S5, constructing an ultra-short baseline system calibration observation model based on the coordinates of the ultra-short baseline acoustic beacon in the geocentric coordinate system obtained by S3 and S4, taking the translation and rotation parameters of the ultra-short baseline system calibration observation model as unknowns to perform least square calculation, and obtaining the ultra-short baseline calibration parameters.

[0083] S1 comprises, S1.1, the platform is an ultra-short baseline acoustic transducer array installation platform, the ranging instrument is a total station, the translation vector of the platform global navigation satellite system and inertial navigation system is:

[0084] ;

[0085] wherein, is the axis coordinate, is the axis coordinate, is the axis coordinate;

[0086] Installation displacement deviation of ultra-short baseline acoustic transducer and inertial navigation system is:

[0087] ;

[0088] wherein, is the axis coordinate, is the axis coordinate, is the axis coordinate;

[0089] S1 comprises, S1.2, the installation angle deviation of ultra-short baseline acoustic transducer and 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;

[0090] The rotation matrix from the ultra-short baseline acoustic transducer coordinate system to the inertial navigation system coordinate system is:

[0091] ;

[0092] wherein, is , is , , , , , , , is the rotation matrix from the handheld survey pole's global navigation satellite system and inertial navigation system coordinate system to the inertial navigation system coordinate system.

[0093] S2 comprises, S2.1, the pole arm vector between the handheld survey pole's global navigation satellite system and inertial navigation system is:

[0094] ;

[0095] wherein, is the axis coordinate, is the axis coordinate, is the axis coordinate;

[0096] S2 comprises, S2.2, the pole arm vector between the handheld survey pole's inertial navigation system and the ultra-short baseline acoustic beacons is:

[0097] ;

[0098] wherein, is the axis coordinate, is the axis coordinate, is the axis coordinate.

[0099] S3 comprises, S3.1, the handheld survey pole's global navigation satellite system and inertial navigation system rotation matrix from the handheld survey pole's circumnavigation of the ship's hull edge :

[0100] ;

[0101] wherein, , , , , , , is the handheld survey pole inertial navigation system roll angle, is the handheld survey pole inertial navigation system pitch angle, is the handheld survey pole inertial navigation system yaw angle.

[0102] S3 comprises, S3.2, calculating the position of the super 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:

[0103] ;

[0104] 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 , , .

[0105] S3 comprises, S3.3, calculating the position of the super short baseline acoustic beacon in the Earth-Centered, Earth-Fixed coordinate system :

[0106] ;

[0107] wherein, is the axis coordinate of , is of axis coordinates, is of axis coordinates, , is the first component of is the first component of is the first component of is the first component of is the projection of the projection of the projection of the projection of the projection of the projection of the projection of the projection of the projection of the projection of the projection of the projection of is the geocentric coordinate of the antenna phase center of the global navigation satellite system.

[0108] 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:

[0109] ;

[0110] 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, , , , .

[0111] S4 comprises, S4.2, converting the coordinates of the ultra-short baseline acoustic beacon to the geocentric coordinate system by using the observation data of the global navigation satellite system and the inertial navigation system of the platform:

[0112] ;

[0113] 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 axis coordinate of is the axis coordinate of is the axis coordinate of is the axis coordinate of is the , is the first component of is the second component of is the third component of is the projection of the negative value of in the axis of the Earth-Centered, Earth-Fixed coordinate system, is the projection of the negative value of in the axis of the Earth-Centered, Earth-Fixed coordinate system, is the projection of the negative value of in the axis of 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 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 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 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 geodetic latitude and longitude provided by the Global Navigation Satellite System of the platform in the axis, 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 the axis, 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 the 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, 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, 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; the platform's global navigation satellite system observation data includes the geodetic latitude, geodetic longitude, and ellipsoidal altitude of the platform's global navigation satellite system antenna phase center; the platform's inertial navigation system observation data includes... , , , It is the roll angle of the platform's inertial navigation system. It is the pitch angle of the platform's inertial navigation system. It is the yaw angle of the platform's inertial navigation system.

[0114] S5 includes, in S5.1, constructing a calibration observation model for the ultra-short baseline system, including establishing the residual equations:

[0115] ;

[0116] In the formula, For the first The residual of each epoch, ;

[0117] Constructing an indirect adjustment model for the ultra-short baseline calibration method using a handheld measuring rod:

[0118] ;

[0119] ;

[0120] ;

[0121] ;

[0122] ;

[0123] In the formula, For the first The residual vector of each epoch. For the first The partial derivative matrix of each epoch. For the first The vector of parameters to be estimated for each epoch. In the first the difference between the ultra-short baseline acoustic beacon of an epoch and the ultra-short baseline acoustic transducer positioning result, is the difference between the ultra-short baseline acoustic beacon of an adjacent epoch and the ultra-short baseline acoustic transducer positioning result, is the vector formed by the difference, is the partial derivative symbol.

[0124] 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:

[0125] ;

[0126] wherein, is the unit matrix, is the transpose symbol;

[0127] The normal equation is:

[0128] ;

[0129] The to-be-estimated parameter is:

[0130] ;

[0131] The iterative formula is:

[0132] ;

[0133] wherein, is the iteration number, is the obtained in the th iteration, is the obtained in the th iteration, is the obtained in the th iteration, is the obtained in the th iteration; The termination condition of the iterative calculation is:

[0134]

[0135] ; wherein,

[0136] is the preset convergence threshold; The ultra-short baseline calibration parameters are obtained by solving.

[0137] For the analysis of

[0138] , the following is:

[0139] ;​

[0140] wherein:

[0141] ;

[0142] ;

[0143] ;

[0144] ;

[0145] ;

[0146] ;

[0147] ;

[0148] ;

[0149] ;

[0150] ;

[0151] ;

[0152] ;

[0153] ;

[0154] ;

[0155] ;

[0156] wherein, is the geodetic latitude of the handheld measuring pole global navigation satellite system antenna phase center, is the geodetic longitude of the handheld measuring pole global navigation satellite system phase center, is the ellipsoidal height of the handheld measuring pole global navigation satellite system antenna phase center, is the earth ellipsoid major semi-axis, is the first eccentricity, , , , , , , , , , , , is the substitution variable, , , , .

[0157] For the analysis is as follows:

[0158] ;

[0159] Where:

[0160] ;

[0161] ;

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[0164] ;

[0165] ;

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[0184] ;

[0185] ;

[0186] ;

[0187] wherein , , , , , , , , , , , , , , , , , , , , , , , are substitution variables.

[0188] For the solution of is as follows:

[0189] ;

[0190] wherein:

[0191] ;

[0192] ;

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[0235] ;

[0236] 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, , , , , , , , , , , , , , , , , , , , , , , , , 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 substitute variable, , , , , , , , , , .

[0237] Further described below with reference to the accompanying drawings. The specific flow of the present application is shown in the figure Figure 1 as a ship as a platform for installing the ultra-short baseline acoustic transducer array, the ultra-short baseline beacon and the ultra-short baseline acoustic transducer measure the slant range, azimuth information and other observations, accurately determine the spatial relationship of the ship-borne inertial navigation system and the ship-borne global navigation satellite system, measure the instantaneous attitude of the carrier through the ship-borne inertial navigation system, measure the position of the antenna phase center of the ship-borne antenna through the global navigation satellite system; accurately determine the spatial relationship of the handheld survey rod inertial navigation system and the global navigation satellite system, measure the instantaneous attitude of the handheld survey rod through the inertial navigation system, measure the position of the antenna phase center of the handheld survey rod through the global navigation satellite system; input the slant range, azimuth information and other observations, the instantaneous attitude of the carrier, and the position of the antenna phase center of the ship-borne antenna into the ship-borne system to calculate the absolute position of the beacon, input the instantaneous attitude of the handheld survey rod and the position of the antenna phase center of the handheld survey rod into the handheld survey system to calculate the absolute position of the beacon, construct the observation equation, input the indirect adjustment model after construction, and obtain the ultra-short baseline calibration parameter after iterative solution.

[0238] An experiment analysis is conducted by using an ultra-short baseline calibration method of a handheld measuring rod. Firstly, a global navigation satellite system and an inertial navigation system are installed on a carrier, and an ultra-short baseline acoustic transducer is installed at the bottom of the carrier, so as to accurately determine the spatial relative position relationship between the global navigation satellite system and the inertial navigation system. Secondly, the global navigation satellite system and the inertial navigation system are installed at the top of the handheld measuring rod, and an ultra-short baseline acoustic beacon is installed at the bottom of the handheld measuring rod, so as to accurately determine the spatial relative position relationship between the global navigation satellite system and the inertial navigation system. 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 calibration process. Finally, the ultra-short baseline acoustic transducer measures the direction and distance of the ultra-short baseline acoustic beacon, and a calibration observation model of the ultra-short baseline system is constructed, and the translation and rotation parameters of the ultra-short baseline system are taken as unknowns to be solved by least squares. As shown in Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 , a nonlinear parameter optimization algorithm based on least squares is used to smooth the correction number of the installation calibration parameter, and the final asymptote is 0, which indicates that the ultra-short baseline calibration method of the handheld measuring rod is effective. As shown in Figure 8 , the installation calibration parameters obtained by the traditional method and the method of the present application are compared with the true value, and it is found that the overall accuracy of the installation calibration parameters obtained by the method of the present application is improved. The difference between the traditional method and the method of the present application is shown in . Therefore, the ultra-short baseline calibration method of the handheld measuring rod proposed in the present application effectively solves the problems of complex and high-cost beacon deployment and recovery operation, long operation period and low efficiency, and beacon drift caused by sea current.

[0239] The above embodiments 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 embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced by equivalents, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from 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 using the distance 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 using the distance 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 using the distance 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 using the distance 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; 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, ; An indirect adjustment model of the handheld measuring rod is constructed: ； ； ； ； ； In the formula, For the first The residual vector of each epoch. For the first The partial derivative matrix of each epoch. For the first The vector of parameters to be estimated for each epoch. In the first The difference between the localization results of the ultra-short baseline acoustic beacon and the ultra-short baseline acoustic transducer at each epoch. For adjacent epochs The vector formed by the difference of the two elements. The sign for partial derivatives; 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 solving.

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 is axis coordinates, is is axis coordinates, is is axis coordinates; Mounting displacement bias of ultra-short baseline acoustic transducers and inertial navigation systems is: ； wherein is wherein is the axis coordinate, is wherein is the axis coordinate, is wherein is the axis coordinate; S1 comprises, S1.2, a mounting angle bias of the ultra-short baseline acoustic transducers and the inertial navigation system is , is a roll direction mounting bias angle, is a pitch direction mounting bias angle, is a heading direction mounting bias 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 is is is is is is is is 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 wherein is is wherein 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 includes 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 geodetic latitude, geodetic longitude and 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 the negative of is the projection of the negative of is the projection of the negative 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 includes 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 claim 7, wherein, S4 includes S4.2, converting the coordinates of the ultra-short baseline acoustic beacon to the earth fixed coordinate system by using 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 of is the axis coordinate of is the axis coordinate of is the axis coordinate of , is the is the is the is the is the is the is the is the is 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 pointing 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 pointing 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 pointing 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 geodetic latitude and longitude provided by the Global Navigation Satellite System of the platform 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 geodetic latitude and longitude provided by the Global Navigation Satellite System of the platform 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 geodetic latitude and longitude provided by the Global Navigation Satellite System of the platform 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.

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