深海自治式水下航行器组合导航/定位误差分析与建模
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摘要
在深海海洋油气资源勘探开发中,导航定位数据是各个测量参数的基准信息,测量载体的定位精度在一定程度上决定了其搭载的传感器探测精度。以COSL Explorer型深水自治式水下航行器为研究对象,分析其组合导航/定位系统的特点,得出包含超短基线水下定位、多普勒计程仪与惯性系统组合导航、海水中声速影响的深水自治式水下航行器导航/定位误差模型,并对该模型参数进行等误差剖面分析,得到该载体导航/定位误差分布趋势。并针对不同航速、不同定位斜距、不同时间间隔下的组合导航定位误差进行预报,为自主航行器在大海深、大范围工程勘察测量时参数设置提供理论依据。
In deep-sea oil and gas exploration and development,navigation and positioning data are the baseline information of various measurement parameters. The positioning accuracy of a carrier for underwater measurements determines,to a certain extent,the detection accuracy of the sensors it carries. The characteristics of the integrated navigation and positioning system of COSL Explorer deep-sea autonomous underwater vehicle are analyzed,and a navigation/positioning error model of the AUV is established,which involves the ultra-short baseline underwater positioning,the Doppler Velocity Log,the inertial system and the influence of sound velocity in the seawater. The equal error profile analysis is made of the parameters of this model and the distribution trend of navigation/positioning error is obtained. The errors of the integrated navigation/positioning under the cases of different navigational speeds,different positioning oblique distances and different time intervals are forecasted,thus providing a theoretical basis for the parameter settings of AUV when carrying out large-scale engineering surveys in the deep-sea.
In deep-sea oil and gas exploration and development,navigation and positioning data are the baseline information of various measurement parameters. The positioning accuracy of a carrier for underwater measurements determines,to a certain extent,the detection accuracy of the sensors it carries. The characteristics of the integrated navigation and positioning system of COSL Explorer deep-sea autonomous underwater vehicle are analyzed,and a navigation/positioning error model of the AUV is established,which involves the ultra-short baseline underwater positioning,the Doppler Velocity Log,the inertial system and the influence of sound velocity in the seawater. The equal error profile analysis is made of the parameters of this model and the distribution trend of navigation/positioning error is obtained. The errors of the integrated navigation/positioning under the cases of different navigational speeds,different positioning oblique distances and different time intervals are forecasted,thus providing a theoretical basis for the parameter settings of AUV when carrying out large-scale engineering surveys in the deep-sea.
引文
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[2]TANG M Q,BI Y L.Technical comparison of deep-tow and AUV in deep water route survey[J].Hydrographic Surveying and Charting,2008,28(6):79-82.汤民强,毕永良.深海路由勘察中深拖与AUV的技术对比[J].海洋测绘,2008,28(6):79-82.
[3]DUAN B S.Wet modal analysis of deepwater AUV system[J].Coastal Engineering,2016,35(4):51-57.段宝生.深水AUV系统湿模态分析[J].海岸工程,2016,35(4):51-57.
[4]WANG Y H,SHAO S,WANG S X,et al.Measurement error analysis of multibeam echosounder system mounted on the deep-sea autonomous underwater vehicle[J].Ocean Engineering,2014,91:111-121.
[5]ZHANG H M.Underwater navigation and positioning technology[M].Wuhan:Wuhan University Press.张红梅.水下导航定位技术[M].武汉:武汉大学出版社,2010.
[6]LI J,XU D M,SONG B W,et al.Development and prospect of AUV navigation technology[J].Shipbuilding of China,2004,45(3):70-77.李俊,徐德民,宋保维,等.自主式水下潜器导航技术发展现状与展望[J].中国造船,2004,45(3):70-77.
[7]AUDRIC M.GAPS,a new concept for USBL[Global Acoustic Positioning System for Ultra Short Base Line positioning][C]∥Oceans'04 MTTS/IEEE TECHNO-OCEAN.Japan:IEEE,2004,2:786-788.
[8]WANG X F.New application of federated filter in INS/GPS/DVL integrated navigation system for AUV[J].Torpedo Technology,2010,18(4):287-290.王小峰.水下航行器INS/GPS/DVL组合导航方法[J].鱼雷技术,2010,18(4):287-290.
[9]NAPOLITANO F,CRETOLLIER F,PELLETIER H.GAPS,combined USBL+INS+GPS tracking system for fast deployable&high accuracy multiple target positioning[C]∥Oceans.Europe:IEEE,2005,2:1415-1420.