六自由度水下USBL定位计量装置设计与测试

Design and test of 6-degree of freedom underwater USBL positioning and metering device

该文基于4-DoF空间至6-DoF空间量值传递数学模型和目标声信号模拟技术,设计并研制了6-DoF水下超短基线定位计量装置。该装置由消声水池、水池4-DoF测控系统、4-DoF扩展安装装置、目标模拟声信标机、水听器、数据控制器,以及标准钢卷尺、万能角度尺、声速剖面仪等标准器具构成,具有6-DoF水下定位计量能力,同时解决了小尺度水池中大定位距离的定位计量问题。经测量不确定度分析评定得出,该装置的相对合成标准不确定度为0.34%,测试试验验证了装置各项功能和工作的稳定性,且装置满足《超短基线水声定位仪(JJG(交通)152-2020)》计量检定要求。该装置在声呐系统计量实验课程建设、实验教学、高校计量认证等方面具有示范辐射作用。

Based on the mathematical model of magnitude transmission from 4-degrees of freedom(4-DoF)space to 6-DoF space and the target acoustic signal simulation technology,a 6-DoF underwater ultra-short baseline positioning and measurement device is designed and developed.The device consists of an anechoic pool,a 4-DoF measurement and control system for the pool,a 4-DoF expansion installation device,a target analog acoustic beacon,a hydrophone,a data controller,and standard instruments such as standard steel tape,universal angle ruler,sound velocity profiler.It has the ability of 6-DoF underwater positioning and measurement,and solves the problem of positioning and measurement in the small-scale pool for large positioning distance.Through the analysis and evaluation of measurement uncertainty,it is concluded that the relative synthetic standard uncertainty of the device is 0.34%.The experiment verifies the stability and the various functions of the device,and meets the metrological verification requirements of Ultra-Short Baseline Hydroacoustic locator(JJG(Transportation)152-2020).At the same time,it plays an exemplary role in the construction of sonar system measurement experiment curriculum,experimental teaching,measurement certification in colleges and universities.