海底控制点定位的半参数平差模型法
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摘要
针对圆走航确定海底控制点三维绝对坐标存在垂直解精确度差的问题,本文提出了基于半参数平差模型处理测距系统误差的方法,首先分析了声速变化对测距误差的影响,其次在圆走航观测方程的基础上建立了水下控制点三维坐标解算的半参数平差模型,分别给出了观测时长为测距误差长周期项整数倍与非整数倍时的解算方法。仿真试验表明,当内波存在且观测时长不足测距误差长周期项的整数倍时,该方法相比于差分法和最小二乘法可明显提高水下控制点垂直解的精确度。
This paper focuses on solving the problem of seafloor control point absolute positioning with low vertical accuracy based on the survey ship sailing circle.The method of dealing with the systematic error based on semi-parametric adjustment model was proposed.Firstly,the influence of sound speed change on ranging error is analyzed.Secondly,a semi-parametric adjustment model for determining three-dimensional coordinates of underwater control points was established.And respectively proposed solutions under two different conditions,the observation duration is an integral multiple or non-integer multiple of the long-period term of the ranging error.Simulation experiment results show that this method can obviously improve the accuracy of vertical solution of seafloor control point compared with difference technique and least square method when internal waves exist and observation duration is less than an integer multiple of the long-period term of the ranging error.
This paper focuses on solving the problem of seafloor control point absolute positioning with low vertical accuracy based on the survey ship sailing circle.The method of dealing with the systematic error based on semi-parametric adjustment model was proposed.Firstly,the influence of sound speed change on ranging error is analyzed.Secondly,a semi-parametric adjustment model for determining three-dimensional coordinates of underwater control points was established.And respectively proposed solutions under two different conditions,the observation duration is an integral multiple or non-integer multiple of the long-period term of the ranging error.Simulation experiment results show that this method can obviously improve the accuracy of vertical solution of seafloor control point compared with difference technique and least square method when internal waves exist and observation duration is less than an integer multiple of the long-period term of the ranging error.
引文
[1]杨元喜,徐天河,薛树强.我国海洋大地测量基准与海洋导航技术研究进展与展望[J].测绘学报,2017,46(1):1-8.DOI:10.11947/j.AGCS.2017.20160519.YANG Yuanxi,XU Tianhe,XUE Shuqiang.Progresses and prospects in developing marine geodetic datum and marine navigation of China[J].Acta Geodaetica et Cartographica Sinica,2017,46(1):1-8.DOI:10.11947/j.AGCS.2017.20160519.
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[13]YANG Fanlin,LU Xiushan,LI Jiabiao,et al.Precise positioning of underwater static objects without sound speed profile[J].Marine Geodesy,2011,34(2):138-151.
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[15]赵建虎,邹亚靖,吴永亭,等.深度约束的海底控制网点坐标确定方法[J].哈尔滨工业大学学报,2016,48(10):137-141.ZHAO Jianhu,ZOU Yajing,WU Yongting,et al.Determination of underwater control point coordinate based on constraint of water depth[J].Journal of Harbin Institute of Technology,2016,48(10):137-141.
[16]韩云峰,郑翠娥,孙大军.长基线定位系统高精度阵型标定方法[J].声学学报,2016,41(4):456-464.HAN Yunfeng,ZHENG Cui’e,SUN Dajun.A high precision calibration method for long baseline acoustic positioning systems[J].Acta Acustica,2016,41(4):456-464.
[17]赵建虎,陈鑫华,吴永亭,等.顾及波浪影响和深度约束的水下控制网点绝对坐标的精确确定[J].测绘学报,2018,47(3):413-421.DOI:10.11947/j.AGCS.2018.20170246.ZHAO Jianhu,CHEN Xinhua,WU Yongting,et al.Determination of absolute coordinate of underwater control point taking waves and depth’s constraint into account[J].Acta Geodaetica et Cartographica Sinica,2018,47(3):413-421.DOI:10.11947/j.AGCS.2018.20170246.
[18]OSADA Y,FUJIMOTO H,MIURA S,et al.Estimation and correction for the effect of sound velocity variation on GPS/acoustic seafloor positioning:an experiment off Hawaii Island[J].Earth,Planets and Space,2003,55(10):17-20.
[19]YAMADA T,ANDO M,TADOKORO K,et al.Error evaluation in acoustic positioning of a single transponder for seafloor crustal deformation measurements[J].Earth,Planets and Space,2002,54(9):871-881.
[20]刘智深,关定华.海洋物理学[M].济南:山东教育出版社,2004.LIU Zhishen,GUAN Dinghua.Ocean physics[M].Ji’nan:Shandong Education Press,2004.
[21]MUNK W H.Sound channel in an exponentially stratified ocean,with application to SOFAR[J].Journal of the Acoustical Society of America,1974,55(2):220-226.
[22]CHADWELL C D,SWEENEY A D.Acoustic ray-trace equations for seafloor geodesy[J].Marine Geodesy,2010,33(2-3):164-186.
[23]吕华庆.物理海洋学基础[M].北京:海军出版社,2012.LHuaqing.Marine physics basis[M].Beijing:Naval Press,2012.
[24]孙海燕,吴云.半参数回归与模型精化[J].武汉大学学报(信息科学版),2002,27(2):172-174,207.SUN Haiyan,WU Yun.Semiparametric regression and model refining[J].Geomatics and Information Science of Wuhan University,2002,27(2):172-174,207.
[25]丁士俊,陶本藻.半参数回归与平差模型[J].大地测量与地球动力学,2003,23(4):111-114.DING Shijun,TAO Benzao.Semiparametric regression and adjustment models[J].Journal of Geodesy and Geodynamics,2003,23(4):111-114.
[2]SPIESS F N,CHADWELL C D,HILDEBRAND J A,et al.Precise GPS/acoustic positioning of seafloor reference points for tectonic studies[J].Physics of the Earth and Planetary Interiors,1998,108(2):101-112.
[3]SPIESS F N.Suboceanic geodetic measurements[J].IEEETransactions on Geoscience and Remote Sensing,1985,GE-23(4):502-510.
[4]CHADWELL C D,SPIESS F N,HILDEBRAND J A,et al.Sea floor strain measurement using GPS and acoustics[M]∥SEGAWA J,FUJIMOTO H,OKUBO S.Gravity,Geoid and Marine Geodesy.Berlin:Springer,1997:682-689.
[5]FUJIMOTO H,KANAZAWA T,MURAKAMI H.Seafloor acoustic ranging and the effect of temperature variation[M]∥SEGAWA J,FUJIMOTO H,OKUBO S.Gravity,Geoid and Marine Geodesy.Berlin:Springer,1997:690-695.
[6]GORDON R G,STEIN S.Global tectonics and space geodesy[J].Science,1992,256(5055):333-342.
[7]WATANABE S I,ISHIKAWA T,YOKOTA Y.Non-volcanic crustal movements of the northernmost Philippine Sea Plate detected by the GPS-acoustic seafloor positioning[J].Earth,Planets and Space,2015,67(1):184-193.
[8]FUJITA M,ISHIKAWA T,MOCHIZUKI M,et al.GPS/acoustic seafloor geodetic observation:method of data analysis and its application[J].Earth,Planets and Space,2006,58(3):265-275.
[9]MATSUMOTO Y,FUJITA M.Combined GPS/acoustic seafloor geodetic observation system by Japan Coast Guard[J].Journal of the Geodetic Society of Japan,2006,52(4):273-283.
[10]GAGNON K,CHADWELL C D,NORABUENA E.Measuring the onset of locking in the Peru-Chile trench with GPS and acoustic measurements[J].Nature,2005,434(7030):205-208.
[11]KUSSAT N H,CHADWELL C D,ZIMMERMAN R.Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements[J].IEEE Journal of Oceanic Engineering,2005,30(1):153-164.
[12]XU Peiliang,ANDO M,TADOKORO K.Precise,threedimensional seafloor geodetic deformation measurements using difference techniques[J].Earth,Planets and Space,2005,57(9):795-808.
[13]YANG Fanlin,LU Xiushan,LI Jiabiao,et al.Precise positioning of underwater static objects without sound speed profile[J].Marine Geodesy,2011,34(2):138-151.
[14]ZHAO Jianhu,ZOU Yajing,ZHANG Hongmei,et al.Anew method for absolute datum transfer in seafloor control network measurement[J].Journal of Marine Science and Technology,2016,21(2):216-226.
[15]赵建虎,邹亚靖,吴永亭,等.深度约束的海底控制网点坐标确定方法[J].哈尔滨工业大学学报,2016,48(10):137-141.ZHAO Jianhu,ZOU Yajing,WU Yongting,et al.Determination of underwater control point coordinate based on constraint of water depth[J].Journal of Harbin Institute of Technology,2016,48(10):137-141.
[16]韩云峰,郑翠娥,孙大军.长基线定位系统高精度阵型标定方法[J].声学学报,2016,41(4):456-464.HAN Yunfeng,ZHENG Cui’e,SUN Dajun.A high precision calibration method for long baseline acoustic positioning systems[J].Acta Acustica,2016,41(4):456-464.
[17]赵建虎,陈鑫华,吴永亭,等.顾及波浪影响和深度约束的水下控制网点绝对坐标的精确确定[J].测绘学报,2018,47(3):413-421.DOI:10.11947/j.AGCS.2018.20170246.ZHAO Jianhu,CHEN Xinhua,WU Yongting,et al.Determination of absolute coordinate of underwater control point taking waves and depth’s constraint into account[J].Acta Geodaetica et Cartographica Sinica,2018,47(3):413-421.DOI:10.11947/j.AGCS.2018.20170246.
[18]OSADA Y,FUJIMOTO H,MIURA S,et al.Estimation and correction for the effect of sound velocity variation on GPS/acoustic seafloor positioning:an experiment off Hawaii Island[J].Earth,Planets and Space,2003,55(10):17-20.
[19]YAMADA T,ANDO M,TADOKORO K,et al.Error evaluation in acoustic positioning of a single transponder for seafloor crustal deformation measurements[J].Earth,Planets and Space,2002,54(9):871-881.
[20]刘智深,关定华.海洋物理学[M].济南:山东教育出版社,2004.LIU Zhishen,GUAN Dinghua.Ocean physics[M].Ji’nan:Shandong Education Press,2004.
[21]MUNK W H.Sound channel in an exponentially stratified ocean,with application to SOFAR[J].Journal of the Acoustical Society of America,1974,55(2):220-226.
[22]CHADWELL C D,SWEENEY A D.Acoustic ray-trace equations for seafloor geodesy[J].Marine Geodesy,2010,33(2-3):164-186.
[23]吕华庆.物理海洋学基础[M].北京:海军出版社,2012.LHuaqing.Marine physics basis[M].Beijing:Naval Press,2012.
[24]孙海燕,吴云.半参数回归与模型精化[J].武汉大学学报(信息科学版),2002,27(2):172-174,207.SUN Haiyan,WU Yun.Semiparametric regression and model refining[J].Geomatics and Information Science of Wuhan University,2002,27(2):172-174,207.
[25]丁士俊,陶本藻.半参数回归与平差模型[J].大地测量与地球动力学,2003,23(4):111-114.DING Shijun,TAO Benzao.Semiparametric regression and adjustment models[J].Journal of Geodesy and Geodynamics,2003,23(4):111-114.