摘要
针对长基线定位系统需多只海底应答器而引起的系统复杂的问题,给出了一种通过在海底布放单只应答器对安装有超短基线定位系统的水下潜器进行声学导航的方法,分析了系统的性能,并进行了湖试和海试验证.试验结果表明,利用单只海底应答器可以对安装有超短基线的水面船实现亚米级精度的声学导航,该方法可用于水下潜器的声学自主导航.
Long baseline positioning systems are relatively complex because multiple transponders need to be deployed on the seabed. We propose a new acoustic navigation method for submerged vehicles mounted with ultra-short baseline positioning systems deploying a single transponder on the seabed. Using surface ships the performance of the system was analyzed in lake and sea trials. The results showed that the rootmean-square error of acoustic navigation for ultra-short baseline positioning systems with a single seabed transponder is less than one meter. This method can be applied in autonomous acoustic navigation of submerged vehicles.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2007年第12期1348-1351,共4页
Journal of Harbin Engineering University
基金
国家"863"基金资助项目(2002AA613010)
关键词
导航
超短基线
水下潜器
navigation
ultra-short baseline(USBL)
submerged vehicle