舰载POS MV数据采集与处理技术的水上定位性能

Positioning performance of shipborne POS MV data acquisition and processing technology on water

为提高水运工程复杂作业环境舰载水下声学设备的定位能力,研究了舰载POS MV系统组成单元及搭载的Applanix IN-Fusion GNSS INS组合定位基本原理。基于POSPac MMS构建了4种POS数据后处理模式选择策略及方法流程,形成了舰载POS数据采集与处理核心技术体系。依托温岭航道疏浚工程扫测项目开展离岸35 km持续2.17 h的POS MV WaveMaster数据采集及处理工程实践。研究结果表明:1)POS MV在非星站差分情况下,其实时定位平面、高程精度均为米级,横纵摇、艏向平均精度分别为0.026°、0.029°。2)在POSPac MMS的PP-RTX和SingleBase后处理模式下,平面、高程定位精度提高至2~3 cm,横摇、艏向平均精度分别提高至0.012°、0.015°,真垂荡数据中误差稳定在0.01 m。3)POS MV可以实时获取稳定、有效的惯导数据,辅助后处理技术能够为水运工程提供准确的位置和姿态信息。

To improve the positioning ability of shipborne underwater acoustic equipment in complex operating environments of port and waterway engineering,this paper investigates the components of the shipborne position and orientation system for marine vessels(POS MV)and the basic principle of integrated global navigation satellite system inertial navigation system(GNSS INS)positioning by the onboard Applanix IN-Fusion.Specifically,it develops four kinds of mode selection strategies for POS data post-processing and the procedures of corresponding methods on the basis of POSPac MMS and fosters the core technology system for shipborne POS data acquisition and processing.Then,relying on the scanning survey project of the Wenling Waterway dredging project,the paper presents the engineering practice of POS MV WaveMaster data acquisition and processing conducted 35 km offshore for 2.17 h.The results suggest the following conclusions:1)In the case of non-satellite difference,the real-time plane and elevation positioning accuracy of POS MV are both at meter level,and its average roll,pitch,and heading positioning accuracy are 0.026°,0.026°,and 0.029°,respectively.2)In the Post-processing Real Time eXtended(PP-RTX)and SingleBase post-processing modes of POSPac MMS,the plane and elevation positioning accuracy increase to 2-3 cm,and the average roll and heading positioning accuracy rise to 0.012°and 0.015°,respectively,with a stable mean square error in true heave data of 0.01 m.3)POS MV can obtain stable and effective inertial navigation data in real time,and auxiliary post-processing technology can provide accurate position and attitude information for port and waterway engineering.