本文選題：聲學(xué)定位系統(tǒng) + 單信標(biāo)測(cè)距　； 參考：《南京大學(xué)學(xué)報(bào)(自然科學(xué))》2016年05期

【摘要】：基于單信標(biāo)測(cè)距的定位方法,是水下載體聲學(xué)定位技術(shù)的進(jìn)一步發(fā)展,但是國內(nèi)外的研究都是基于定位解算方法本身,研究過程中都是給定一個(gè)聲學(xué)定位系統(tǒng)測(cè)距誤差.本文針對(duì)其中的聲學(xué)測(cè)距進(jìn)行了研究,首次從水聲學(xué)原理方面著手分析了影響聲學(xué)測(cè)距的誤差源以及各誤差源對(duì)測(cè)距誤差和定位精度的影響程度.首先分析了聲信號(hào)傳播速度的影響,無論是聲速測(cè)量誤差還是聲線彎曲影響,測(cè)距誤差都表現(xiàn)為一種隨水平距離增加而增大的固定誤差,水平定位誤差在幾十厘米的水平;然后分析了聲信號(hào)傳播介質(zhì)的影響,環(huán)境噪聲、信號(hào)混響和多途會(huì)造成信號(hào)檢測(cè)與時(shí)延估計(jì)誤差,測(cè)距誤差的大小與時(shí)延估計(jì)誤差成正比,水平定位誤差與測(cè)時(shí)誤差引起的測(cè)距誤差大小相當(dāng);最后分析了聲信號(hào)發(fā)射接收異步的影響,測(cè)距誤差的大小既與載體航行速度成正比,也與發(fā)射點(diǎn)距信標(biāo)與航跡垂線的距離成正比,水平定位誤差的大小與載體航行速度成正比,載體航行速度1m·s-1的情況下水平定位誤差就達(dá)到了幾米的水平,必須針對(duì)發(fā)射接收異步的情況進(jìn)行補(bǔ)償.
[Abstract]:The localization method based on single beacon ranging is the further development of underwater vehicle acoustic positioning technology. However, the research at home and abroad is based on the localization calculation method itself, and in the process of research is given an acoustic positioning system ranging error. In this paper, the acoustic ranging is studied, and the error sources affecting acoustic ranging and the degree of influence of each error source on ranging error and positioning accuracy are analyzed for the first time from the point of view of the principle of underwater acoustics. Firstly, the influence of the sound signal propagation velocity is analyzed. Whether it is the sound speed measurement error or the sound line bending effect, the ranging error is a fixed error that increases with the increase of horizontal distance, and the horizontal positioning error is in the level of tens of centimeters. Then the influence of acoustic signal propagation medium is analyzed. Environmental noise, signal reverberation and multipath will cause signal detection and time delay estimation error, and the magnitude of ranging error is proportional to time delay estimation error. The horizontal positioning error is equivalent to the ranging error caused by the time measurement error. Finally, the influence of acoustic signal receiving asynchrony is analyzed. The ranging error is proportional to the carrier navigation speed. It is also proportional to the distance between the beacons and the track perpendicular, and the magnitude of the horizontal positioning error is proportional to the speed of the carrier. The horizontal positioning error of the carrier reaches the level of several meters at the speed of 1m s ~ (-1). Compensation must be made for asynchronous transmission and reception.
【作者單位】： 哈爾濱工程大學(xué)水聲工程學(xué)院;哈爾濱工程大學(xué)水聲技術(shù)重點(diǎn)實(shí)驗(yàn)室;
【基金】：國家自然科學(xué)基金(61531012) 國防基礎(chǔ)科學(xué)研究計(jì)劃(B2420133002)
【分類號(hào)】：TB56
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本文編號(hào)：2085709