System error iterative identification for underwater positioning based on spectral clustering

The observation error model of the underwater acous-tic positioning system is an important factor to influence the positioning accuracy of the underwater target.For the position inconsistency error caused by considering the underwater tar-get as a mass point,as well as the observation system error,the traditional error model best estimation trajectory(EMBET)with little observed data and too many parameters can lead to the ill-condition of the parameter model.In this paper,a multi-station fusion system error model based on the optimal polynomial con-straint is constructed,and the corresponding observation sys-tem error identification based on improved spectral clustering is designed.Firstly,the reduced parameter unified modeling for the underwater target position parameters and the system error is achieved through the polynomial optimization.Then a multi-sta-tion non-oriented graph network is established,which can address the problem of the inaccurate identification for the sys-tem errors.Moreover,the similarity matrix of the spectral cluster-ing is improved,and the iterative identification for the system errors based on the improved spectral clustering is proposed.Finally,the comprehensive measured data of long baseline lake test and sea test show that the proposed method can accu-rately identify the system errors,and moreover can improve the positioning accuracy for the underwater target positioning.

An improved positioning model of deep-seafloor datum point at large incidence angle

The inhomogeneous sound speed in seawater causes refraction of sound waves,and the elimination of the refraction effect is essential to the accuracy of underwater acoustic positioning.The raytracing method is an indispensable tool for effectively handling problems.However,this method has a conflict between localization accuracy and computational quantity.The equivalent sound speed profile(ESSP)method uses a simple sound speed profile(SSP)instead of the actual complex SSP,which can improve positioning precision but with residual error.The residual error is especially non-negligible in deep water and at large beam incidence angles.By analyzing the residual error of the ESSP method through a simulation,an empirical formula of error is presented.The data collected in the sailing circle mode(large incidence angle)of the South China Sea are used for verification.The experiments show that compared to the ESSP method,the improved algorithm has higher positioning precision and is more efficient than the ray-tracing method.

New Three-Dimensional Assessment Model and Optimization of Acoustic Positioning System

This paper addresses the problem of assessing and optimizing the acoustic positioning system for underwater target localization with range measurement.We present a new three-dimensional assessment model to evaluate the optimal geometric beacon formation whether meets user requirements.For mathematical tractability,it is assumed that the measurements of the range between the target and beacons are corrupted with white Gaussian noise with variance,which is distance-dependent.Then,the relationship between DOP parameters and positioning accuracy can be derived by adopting dilution of precision(DOP)parameters in the assessment model.In addition,the optimal geometric beacon formation yielding the best performance can be achieved via minimizing the values of geometric dilution of precision(GDOP)in the case where the target position is known and fixed.Next,in order to ensure that the estimated positioning accuracy on the region of interest satisfies the precision required by the user,geometric positioning accuracy(GPA),horizontal positioning accuracy(HPA)and vertical positioning accuracy(VPA)are utilized to assess the optimal geometric beacon formation.Simulation examples are designed to illustrate the exactness of the conclusion.Unlike other work that only uses GDOP to optimize the formation and cannot assess the performance of the specified size,this new three-dimensional assessment model can evaluate the optimal geometric beacon formation for each dimension of any point in three-dimensional space,which can provide guidance to optimize the performance of each specified dimension.

A rigorous real-time acoustic positioning method for ocean bottom seismic exploration

The conventional technique for positioning seafloor geophones in ocean bottom seismic exploration encounters several challenges,including the significant impact of outliers on positioning results,underutilization of high-precision observations,and low efficiency in real-time data processing.These issues inevitably affect the quality of seismic exploration outcomes.To address these challenges and enhance the accuracy of geophone positioning,this paper proposes a rigorous real-time acoustic positioning method for geophones based on sequential adjustment and Baarda's outlier detection approach.The proposed method comprises three key steps:grouping the original acoustic observations,constructing the intra-group acoustic positioning model,and synthesizing the positioning results across the different groups.The validity and practicality of this approach are confirmed through a simulation experiment as well as the field experiment conducted in the Bohai Sea,China.The results demonstrate that the proposed method effectively eliminates outliers in the original observations and maximizes the utilization of high-quality observations.Compared to traditional acoustic positioning methods,it significantly reduces positioning errors from meters to decimeters,and in some cases can achieve centimeter-level precision.When the sound velocity profile in the operating sea area is measured,the method can attain the posterior standard deviation at the millimeter level and positioning errors within 10 cm.When the sound velocity profile is unknown,the method can achieve the posterior standard deviation at centimeter-level and positioning errors of approximately 20 cm.

Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements

Although advances in research into autonomous underwater vehicles(AUVs)have been made to extend their working depth and endurance,underwater experiments and missions remain to be restricted by the positioning performance of AUVs.With the Global Navigation Satellite System(GNSS)precluded due to the rapid attenuation of radio signals in underwater environments,acoustic positioning methods serve as an effective substitution.A long-range continuous and precise positioning solution for AUVs in deep ocean is proposed in this study,relying on acoustic signals from beacons at the same depth and aided by onboard inertial sensors.A signal system is investigated to provide time of arrival(TOA)estimation in a resolution of milliseconds.Without pre-knowledge or local measurement of the accurate sound speed,an AUV is enabled to continuously locate its horizontal position based on rough ranges estimated by an iterative least square(ILS)based algorithm.For better accuracy and robustness,range deviations are compensated with a reference point of known position and outliers in the trajectory are eliminated by an implementation of the extended Kalman filter(EKF)coupled with the state-acceptance filter.The solution is evaluated in simulation experiments with environmental information measured on the spot,providing an average position error from ground truth below 10 m with a standard deviation below 5 m.

Analysis and implementation of cross sync period underwater acoustical positioning techniques for underwater targets

The sampling rate of an underwater acoustical synchronous positioning system for the track of an underwater target will be decreasing during the process of positioning while the target moves away, resulting in the reduction of raw data and insufficient use of the processing ability of the positioning system. For a long time, this problem has remained unsolved, and it is even pushed forward recently because of the rapid development of modern electronic tech- niques. Based on the thorough study and investigation of the problem, we developed a new synchronous positioning technique called 'Cross Sync Period' underwater acoustical positioning. It can increase the sampling rate of an underwater acoustical positioning system for the track of an underwater target at long range significantly Besides, a new algorithm specially designed for the detection of the propagation time delay of the positioning signals called 'Mod-ulo Algorithm' was also developed, which makes the implementation of the 'cross sync period'underwater acoustical positioning technique easier and more efficient. These techniques have been successfully applied in a real positioning system. The system can position 5 underwater targets at the maximum range of 6 km simultaneously without any ambiguity of target distances with the working period of 0.4 s. The 'cross sync period' underwater acoustical positioning technique applied in the system was performed in lake and searun tests, and satisfactory re-sults were obtained.

Seafloor geodetic network establishment and key technologies

Seafloor geodetic network construction involves the development of geodetic station shelter, network configuration design, location selection and layout, surveying strategy, observation model establishment and optimization, data processing strategy and so on. This paper tries to present main technological problems involved in the seafloor geodetic network construction, and seek the technically feasible solutions. Basic conceptions of developing seafloor geodetic station shelters for shallow sea and deep-sea are described respectively. The overall criteria of seafloor geodetic network construction for submarine navigation and those of network design for crustal motion monitoring are both proposed. In order to enhance application performances of the seafloor geodetic network, the seafloor network configuration should prefer a symmetrical network structure. The sea surface tracking line measurements for determining the seafloor geodetic station position should also adopt an approximately symmetrical configuration, and we recommend circle tracking line observations combined with cross-shaped line(or double cross-shape line) observations for the seafloor positioning mode. As to the offset correction between the Global Navigation Satellite System antenna phase center and the acoustic transducer, it is recommended to combine the calibration through external measurements and model parameter estimation. Besides, it is suggested to correct the sound speed error with a combination of observation value correction and parameterized model correction, and to mainly use the model correction to reduce the influence of acoustic ray error on the seafloor positioning. Following the proposed basic designs, experiments are performed in shallow sea area and deep-sea area respectively. Based on the developed seafloor geodetic shelter and sufficient verification in the shallow sea experiment, a long-term seafloor geodetic station in the deep-sea area of 3000 m depth was established for the first time, and the preliminary positioning result shows that the internal precision of this station is better than 5 cm.

solitary waves shock waves dust charge variation dusty plasma

The nonlinear propagation of dust acoustic waves is investigated in four-component plasmas consisting of positively charged dust grains, trapped ions, nonthermal electrons, and photoelectron due to ultraviolet irradiation.We use generalized viscoelastic hydrodynamic model for strongly coupled dust grain. In the weak nonlinearity limit, a modified Kadomstev–Petviashvili（KP） equation and a modified KP-Burger equation, which have a damping term coming from nonadiabatic charge variation, have been derived in the kinetic regime and hydrodynamic regime, respectively. With the increasing of UV photon flux, the hydrodynamic regime changes to kinetic regime. The approximate analytical line soliton and shock solutions are investigated in the kinetic regime and hydrodynamic regime, respectively.