姿态稳定的深水多波束测深系统归位模型的误差分析

Error analysis of the attitude-stabled homing calculation model for deep-water multibeam echo sounding system

为了获得高质量的深水多波束测深数据,必须考虑归位计算过程中的误差影响。因此,提出了一种基于姿态稳定的深水多波束测深系统归位模型的误差分析方法。首先,建立发射全姿态稳定、接收横滚姿态稳定的波束归位模型,在此基础上,分析归位过程中的误差分量并推导误差传播公式,最终得到了深水多波束测深系统不确定度的计算模型。实验利用系统的传感器和设备相关指标进行计算,给出了典型波束角下的测深不确定度,对深水多波束测深系统的测深数据精度评估具有较好的参考价值。

To obtain high quality sounding data from the deep-water multibeam echo sounding system,the errors in the homing calculation process should be carefully considered.Therefore,in this paper an error analysis method of the at-titude-stabled homing calculation model for deep-water multibeam echo sounding system is presented.Firstly,a multibeam homing calculation model is established by combining the three dimensional attitude-stabled algorithm for transmitting beams and the roll-stabled algorithm for receiving beams.Then,the potential errors in the measurement process are analyzed and the error propagation equations are derived in detail based on the model.Finally,the calcula-tion model of uncertainty for the deep-water multibeam echo sounding system is obtained.In the experiment,the un-certainties of sounding point under typical beam angles are calculated by using the relevant indexes of sensor and posi-tioning equipment,which has a good reference value for the data accuracy evaluation of deep-water multibeam echo sounding system.