摘要
针对全海深载人潜水器定位中,多基元超短基线定位系统中水听器安装偏差导致的定位精度下降问题,提出了一种定位校正方法。从超短基线定位的基本原理出发,分析基元在x、y方向的安装偏差对定位结果解算的影响,来提高超短基线定位精度。利用上述分析结果,提出相位校正与Toeplitz校正相结合的校正方法,从而提高定位精度。通过仿真和实验证明,本文算法操作简单、易于实现、效果显著,有效提高了定位精度。
A positioning correction method is proposed to solve the problem of decreased positioning accuracy caused by the hydrophone installation deviation in the multi-element ultra-short baseline positioning system of full-ocean-depth manned submersible.Based on the basic principle of ultra-short baseline positioning,the influence of the primitive installation errors in x and y directions on the positioning result is analyzed to improve the ultra-short baseline positioning accuracy.Using the above analysis results,a method combining phase correction and Toeplitz correction is proposed to improve the positioning accuracy.Simulation and experiment show that the proposed algorithm is simple,easy to implement,and effective,and can effectively improve the positioning accuracy.
作者
熊长静
杨波
汪伟
刘烨瑶
李欣国
潘锋
XIONG Changjing;YANG Bo;WANG Wei;LIU Yeyao;LI Xinguo;PAN Feng(The Ocean Acoustic Technology Laboratory,Institute of Acoustics,Chinese Academy of Sciences,Beijing 100190,China;University of Chinese Academy of Sciences,Beijing 101408,China)
出处
《机器人》
EI
CSCD
北大核心
2024年第3期351-360,共10页
Robot
基金
国家重点研发计划(2021YFC2801303)。
关键词
超短基线定位
波达方向估计算法
总体最小二乘-旋转不变子空间算法
Toeplitz校正
相位校正
ultra-short baseline positioning(USBL)
direction of arrival(DOA)estimation algorithm
total least squares-estimation of signal parameters via rotational invariance technique(TLS-ESPRIT)
Toeplitz correction
phase correction
