单海底应答器声学导航及应答器绝对位置校准

An algorithm of the acoustic navigation with a single seabed transponder and the calibration of transponder＇s absolute position

给出了一种局部海域潜器高精度声学定位导航方法。该方法利用安装在潜器上的超短基线（USBL）定位系统和锚定于海底的单只应答器构成定位导航系统,为潜器在局部海域提供高精度定位导航,系统复杂性和操作难度低,可靠性高。为提高应答器绝对位置的校准精度,提出了一种声线弯曲修正方法。2006年中国南海试验表明,试验系统可对锚定于3700m海深的海底应答器精确校准,并且利用校准后的应答器为对安装有精度为0.5%斜距的超短基线的水面船进行导航,导航精度为25m。

An algorithm of high precision acoustic navigation in local sea areas for submersible vechicles is proposed. The acoustic navigation system consists of the ultra-short baseline acoustic positioning system mounted on a submersible vehicle and a single transponder moored on the seabed, with the characteristics of lower complexity, easier operation, and higher reliability. To improve the precision of calibrating the transponder＇ s absolute position, a new correction method of acoustic ray bending is given. The trial results from the South China sea in 2006 show that the absolute position of the transponder on the seabed with the depth of 3700m can be calibrated precisely, and the calibrated transponder can be used in providing high precise navigation for the surface ship equipped with the ultra-short baseline with the precision of 0.5% of slant range. The navigation precision reached 25m.