AUV海上GNSS数据质量分析与定位评估

GNSS observation quality analysis and positioning accuracy evaluation of AUV in marine environment

水下自主航行器(AUV)逐渐走向智能化、自主化、模块化和多功能化,已得到越来越广泛的关注和发展,然而关于AUV在海上环境的GNSS数据质量和定位性能尚不清楚。基于2022年8月天津滨海新区塘沽海面实测AUV数据,从可见卫星数、信噪比、数据完整性、伪距噪声和多路径效应5个方面对AUV海上GNSS数据质量进行分析,并对定位性能进行评估。结果表明:AUV的GNSS数据质量主要受到海上风浪和多路径的影响,卫星信号频繁中断,数据完整性较低,伪距噪声和多路径效应显著。AUV海上RTK的固定率为76.6%,伪距单点定位水平方向有96.83%的误差分布在2 m之内。

Autonomous Underwater Vehicle(AUV)is becoming more and more intelligent,autonomous,modular and multifunctional,and it has received extensive attention and development.However,it is unclear about the GNSS data quality and positioning performance of AUV in marine environment.Based on the AUV observation at Tanggu sea of Tianjin in August 2022,we analyze the GNSS observation quality of AUV from five aspects,i.e.,number of available satellites,singal-to-noise ratio,data integrity,pseudorange noise and multipath effect.Besides,the performance of AUV dynamic positioning in marine environment is evaluated.The results show that the GNSS observation quality of AUV is mainly affected by waves and multipath,GNSS signals are frequently interrupted,data integrity is low and pseudorange noise and multipath effect are significant.The RTK fixed rate of AUV is 76.6%,and the error in the horizontal direction of pseudorange single point positioning is 96.83%within 2 m.