摘要
针对长基线水声定位系统中信标位置漂移误差难以识别和估计的问题,分析了长基线水声定位系统中同步式测距系统时钟同步误差和应答式测距系统信标漂移误差的等效性,提出一种对有效声速系统误差进行修正的单信标测距定位算法。在此基础上提出一种在不掌握声场环境信息时可以有效识别信标漂移误差的长基线定位算法,利用有效声速分布范围对信标漂移误差进行识别,基于航迹融合后轨迹对固定信标位置漂移误差进行估计和修正。试验结果表明算法提高了长基线系统的定位精度和鲁棒性。
Beacon position drift error in long baseline acoustic positioning system is difficult to identify and estimate.The equivalence of clock synchronization error is analyzed in synchronous distance ranging system and the beacon drift error is analyzed in response distance ranging system.A single beacon location algorithm is proposed based on effective sound velocity correction.A long baseline positioning algorithm which can effectively identify the beacon drift error is put forward without acoustic environment information.The effective sound velocity distribution range is used to identify the beacon drift error.The fixed beacon position drift error is estimated and corrected with the fusion trajectory.Experiment results show that the algorithm improves the positioning accuracy and robustness of long baseline positioning system.
引文
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