基于深度约束的声速估算方法*

高精度的声速剖面数据是提高水下定位精度的关键。在无法精确获得声速剖面数据的情况下，该文提出了一种基于深度约束，同时根据浮标与水下目标的空间几何距离进行有效声速估算的方法。通过仿真模拟，将该文提出的方法与加权平均声速法、泰勒级数展开法和等效声速剖面法的定位结果进行对比分析。结果表明，新方法不需要依靠声速剖面数据，通过深度约束可有效地估算出声速值，其定位精度与等效声速结果相当，极大地提高了无声速剖面数据下的水下定位精度。

Sound speed estimation method based on depth constraint

High precision sound speed profile data is the key to improving the accuracy of underwater positioning. In this article, an effective sound speed estimation method based on the depth constraint is proposed when sound speed data profile cannot be obtained. Through experiments, the proposed method is compared to the weighted average sound speed method, Taylor series expansion method and equivalent sound speed profile method. The result reveals that the new method does not need the sound speed profile data, and the sound speed can be effectively estimated. The positioning''s accuracy is equal to the result of equivalent sound speed profile method, what means this method can improve the underwater positioning accuracy effectively without sound speed profile data.