双缓动平台时延下的纯方位定位测角误差分析

Bearing error analysis of bearing-only positioning under time-delay of double quasi-stationary platforms

水下双缓动平台协同探测可实现对水声目标纯方位定位和跟踪。针对双探测平台接收目标信号因传播时延导致探测时间未配准、方位测量偏差的问题,根据缓动平台的实际应用场景,建立目标运动模型和二维探测空间几何分布,构建一种基于不同时延条件的方位测量误差分析模型,并详细分析得出目标和双平台不同分布场景下的最大测角误差结果,该模型物理意义明确、直观简单,仿真和实测实验结果验证测角误差模型的准确性,并得出双平台探测时延下目标方位测角的误差分布规律。

The cooperative detection of underwater double quasi-stationary platforms can realize bearings-only positioning and tracking of underwater acoustic targets.Aiming at the problem that the detection time is not matched and the bearing measurement error is caused by the acoustic wave propagation delay of the target signal received by the two detection platforms,according to the actual application scenario of the quasi-stationary platform,the target motion model and the two-dimensional geometric distribution of the detection space are established,and a bearing measurement error analysis model based on different time delay conditions is constructed.The maximum bearing measurement error results under different distribution scenarios of target and dual-platform are analyzed in detail.The physical meaning of the model is clear,intuitive and simple.The simulation and measured experiment results verify the accuracy of the bearing measurement error model,and the error distribution law of target bearing measurement under dual-platform detection delay is obtained.