长基线声学定位系统跟踪解算优化方法

针对现有长基线定位解算算法忽略阵型标定误差的问题,本文提出了一种结合声信标的标定误差和测距误差的待定目标解算方法。该方法利用观测数据的先验误差将观测数据连同带求解量一并构建平差解算模型,可以对待定目标位置解算进行优化求解。采用该方法对现有测量船只的跟踪定位实验进行数据处理,得到的跟踪定位轨迹平滑连续,和传统方法相比更接近于GPS输出结果,在深水环境下效果提升明显。理论分析和实验结果表明采用该方法能够获得更优化的位置估计结果及全局误差,能够应用于高精度长基线定位系统中。 

An optimized estimation method in long baseline acoustic positioning systems

To solve the problem that traditional long baseline (LBL) positioning system ignored the calibration errors or underwater beacon array errors, this paper proposes a method combining calibration errors of undersea beacons and distance measurement errors together. This method uses a priori error model of observations to build up the error adjusting equations, with which the target position can be optimized. This method is used to process actual shallow water data, the position trajectory is continuous and smooth. Compared with traditional method, this method has the estimation more approaching to GPS outputs. Theory analysis and experiment results show that using this method can achieve more optimized estimation than traditional method. This method can meet the requirement for high-precision long baseline acoustic positioning systems.