声学多普勒速度仪安装误差校准方法

Study on the calibration of installation errors in an acoustic Doppler velocity log

在安装使用声学多普勒速度仪前,准确估计声学基阵与载体间的安装偏角是影响速度仪输出精度的关键问题,针对该问题,提出了一种任意航迹下的航迹校准法.该方法基于最小二乘算法,通过姿态补偿建立GPS轨迹与速度仪航迹间的观测方程,实现安装误差的精确校准.通过仿真实验分析了航迹偏差、测量设备精度以及横纵摇安装偏角对安装误差校准性能的影响.最后进行了海试试验,并将航迹校准法与平均速度法进行了比较.试验结果表明:在任意航迹下,航迹校准法的校准精度能够达到0.05°,降低了校准试验条件要求;实现单航次校准成功,提高了校准效率.

The precision of misalignment angle between acoustic array and carrier is a key problem that affects the performance of an acoustic Doppler velocity log.In order to accurately estimate this angle before installing an acoustic Doppler velocity log,an arbitrary trajectory calibrating method was proposed.Based on the least square algorithm,this method established the observation equation between GPS and Doppler velocity log trajectory through attitude compensating,and the realization of achieving accurate calibration of misalignment error.This paper,analyzed the influence of track deviation,measuring equipment accuracy,roll angle,and pitch angle on the calibrating performance utilizing computer simulation.A sea trial was conducted and the trajectory calibrating method was compared with the average velocity calibrating method.The results show that the precision of the trajectory calibrating method was found able to reach 0.05° in any trajectory,which simplified the calibrating test conditions.The results indicate calibration was achieved by conducting only one sail using the trajectory calibrating method,which increased the calibration efficiency as well.