平臺運動對聲學導航圓交匯模型的影響及誤差分析
doi: 10.11999/JEIT190438 cstr: 32379.14.JEIT190438
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1.
哈爾濱工程大學水聲技術(shù)重點實驗室 哈爾濱 150001
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2.
工業(yè)和信息化部海洋信息獲取與安全工信部重點實驗室(哈爾濱工程大學) 哈爾濱 150001
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哈爾濱工程大學水聲工程學院 哈爾濱 150001
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青島海納水下信息技術(shù)有限公司 青島 266400
Influence of Platform Movement on Acoustic Navigation Circle Intersection Model and Error Analysis
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Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China
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Key Laboratory of Marine Information Acquisition and Security, Harbin Engineering University, Ministry of Industry and Information Technology, Harbin 150001, China
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3.
College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China
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4.
Qingdao Haina Underwater Information Technology Co., Ltd., Qingdao 266400, China
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摘要:
聲學導航技術(shù)被廣泛應(yīng)用于水下機動平臺的自主導航。常用的聲學導航模型多為圓交匯模型，該模型結(jié)構(gòu)簡單，計算方便，但未考慮平臺運動影響，是一種靜止模型。平臺運動條件下，平臺接收各水下聲信標(水下星站節(jié)點)的時間及所處空間位置不同，即時間和空間存在差異性，會產(chǎn)生模型失配，影響導航精度。針對上述問題，該文推導了由平臺運動造成的模型失配誤差公式，定量分析了運動對導航精度的影響以及誤差的空間分布規(guī)律，著重研究了航速、航向角等航行參數(shù)對導航精度的影響規(guī)律，并進行了仿真驗證。研究結(jié)果表明：僅考慮平臺運動的影響時，聲學導航圓交匯模型的失配誤差存在，且與平臺在陣內(nèi)的空間位置有關(guān)，其導航精度空間特性呈近似的同心橢圓分布；模型失配誤差還與平臺航行參數(shù)有關(guān)，模型失配誤差對速度變化敏感，隨著航行速度增大，呈近似線性趨勢增大，影響嚴重；航向角對全局精度變化范圍影響小，主要影響模型失配誤差的空間分布，體現(xiàn)為一種隨航向角“旋轉(zhuǎn)”的特性，且橢圓橫軸方向與平臺運動方向趨于一致。
Abstract:Acoustic navigation technology is widely used for autonomous navigation of underwater mobile platforms. The commonly used acoustic navigation models are mostly circle intersection models. The model is simple in structure and convenient in calculation, but it does not consider the influence of platform motion. It is a static model. Under the condition of platform motion, the time when the platform receives each underwater acoustic beacon (underwater star station node) and the spatial position of the platform are different, that is, there is a difference in time and space, which will cause model mismatch and affect navigation accuracy. Aiming at the above problems, this paper deduces the formula of model mismatch error caused by platform motion, quantitatively analyzes the influence of motion on navigation accuracy and the spatial distribution of error, and focuses on the influence of navigation speed and heading angle on navigation accuracy. The simulation verification is carried out. The results show that the mismatch error of the acoustic navigation circle intersection model exists only when considering the influence of the platform motion, and it is related to the spatial position of the platform in the array. The error space characteristics are approximate concentric elliptic distribution; the model mismatch error is related to the navigation parameters of the platform. The model mismatch error is sensitive to the speed change. As the navigation speed increases, the approximate linear trend increases and the impact is serious. The heading angle has little influence on the global precision variation range, which mainly affects the space of the model mismatch error. The distribution is embodied as a kind of “rotation” with the heading angle, and the direction of the ellipse is aligned with the direction of motion of the platform.
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表 3 各點斜率均值及方差
序號 均值 方差 A 2.26 0.0006996 B 1.62 0.0001518 C 2.57 0.0009223 D 1.36 0.0000011 E 2.29 0.0006722 F 1.58 0.0000471 
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