LBL精密定位理论方法研究及软件系统研制

发布时间：2018-05-12 12:01

本文选题：长基线声学定位系统 + 海底基阵布设优化　；参考：《武汉大学》2013年博士论文

【摘要】：水下定位技术为海洋开发和科学研究提供基础保障作用,缺少空间定位的海洋属性信息毫无价值。相对海面定位,水下定位技术研究起步相对较晚,尤其在高精度长基线LBL (Long Baseline)水下定位技术方法。与国外相比,我国虽开展了相关系统研究,但远不及国外相对成熟的LBL系统；受商业封锁,少有相关技术输入,目前我国的LBL技术研究尚停留在对国外昂贵的商业LBL系统及软件的消化吸收阶段,尚未形成完整的LBL精密跟踪定位理论和方法体系,我国的水下高精度定位技术研究任重道远。为此,论文在分析国内外LBL研究现状的基础上,通过研究其定位理论和方法,形成了一套相对完备的LBL高精度水下定位理论和方法体系,并研制了具有自主知识产权的LBL定位数据处理软件原型系统,填补了我国在该领域的空白,为我国新型LBL系统研制、海洋资源勘查、科学研究、精密工程等海洋开发和利用服务。论文的主要研究内容如下： 1.LBL系统及工作原理在分析LBL系统现状的基础上,总结给出了LBL系统组成及工作原理、提炼并系统的给出了LBL跟踪定位作业流程及数据处理流程。 2.声线修正、声速剖面反演及声速场构建 (1)基于声波射线理论,研究给出了声线修正算法,实现了声线的快速跟踪,降低了声线跟踪复杂度,显著提高了计算效率。 (2)给出了一种采用历史声速剖面、附加水深约束,基于EOF的声速剖面反演算法,解决了现场无实测声速剖面情况下声速的精确获取问题。 (3)基于有限声速剖面,提出了基于EOF系数空间曲面内插的局域声速场构建方法,达到了优于0.5m/s的建模精度,相对基于声速剖面直接空间内插的传统建模方法,具有较大优势。 3.海底基准传递及海底基阵网综合数据处理方法研究 (1)研究了船体坐标系和地理坐标系关系,给出了二者间的转换模型,实现了GNSS高精度定位解向船载收发器转换,为三维坐标基准向海底基阵网传递以及海底和陆地测量基准的统一奠定了基础。 (2)研究了海底基阵校准技术,提出了圆校准方法,证明并给出了圆半径等于水深时校准精度最高的结论,无需顾及声速变化即实现了厘米级阵元位置的精确确定以及海底基准的精确传递。 (3)研究了海底基阵网平差问题,给出了适合不同情况下的基阵网平差模型。基于测边网,给出了基阵网三维无约束平差模型；基于已知水深,提出了基阵网二维平差模型及附有水深约束的基阵网三维平差模型。基于测边网平差,引入圆校准绝对点位,给出了附加部分校准阵元绝对坐标的二维/三维平差方法和模型。以上研究实现了基阵网阵元相对/绝对点位的精确确定。 4.海底基阵阵形因子对LBL定位精度的影响系统地研究了海底基阵网形、阵元高度差、基阵网精度对LBL跟踪定位精度影响问题,认为基本网形为正四边形时覆盖面积折衷,但阵元点位精度最高,且能够实现整个基阵网无缝拼接；各阵元布设在平坦、无遮挡海床上,对提高阵元点位精度有益；同时建议海床不平坦时,在温跃层和季节跃变层布设阵元高度差应控制在10m以内,而深海声道层和正梯度层应控制在50m以内。给出了满足最佳定位精度下的基阵网边长计算模型,并认为基阵阵元点位精度应高出跟踪定位精度一个数量级。研究了LBL最佳走航跟踪定位路径问题,认为在正三边形和正四边形内、500m以浅水深下跟踪定位时,目标投影点越接近阵元,定位精度越高；而500m以深时,越接近中心,定位精度越高。对于正五边形和六边形,上述水深可减小到200m。 5.LBL跟踪定位模型 (1)针对不同测量定位情况,研究并给出了相应的定位模型。对于单一测距观测值,给出了空间交会定位模型：具备压力传感器情况下,提出了平面交会定位思想和数据处理模型;对于具备部分水深值情况,给出了附有深度差约束的空间交会模型；联合基阵网相对校准结果,给出了独立坐标系下的空间交会定位模型。基于这些模型,给出了各定位方法的精度评估模型及误差椭圆计算模型。 (2)对空间交会、平面交会、附有水深约束的空间交会及独立坐标系下的空间交会四种定位方法进行了试验及对比分析,给出了不同方法适用范围,并认为空间交会法因阵元与收发器存在不对称分布,易导致垂直解不稳定,建议增加压力传感器,提出了基于深度差约束获取高精度跟踪定位解的方法。 (3)针对测区无声速剖面或声速误差影响相对显著问题,提出了一种差分定位方法,即根据相邻测距值中声速误差影响的相关性,基于一次差(单差)实现精确定位方法,并给出了定位模型,显著提高了跟踪定位精度,并得到了实验验证。 (4)将INS及抗差Kalman滤波引入LBL跟踪定位中,构建了滤波模型,实现了INS信息对LBL定位信息补充及相互检校和修正,提高了LBL跟踪定位精度和可靠性。 6.LBL定位数据处理软件研制基于LBL理论研究,结合软件需求分析,搭建了软件框架,研制了软件系统,形成了我国首套LBL综合定位数据处理软件。 7.试验及数据处理分析在松花湖水域开展了LBL定位试验,并对试验数据进行了处理和分析。与GPS RTK定位结果比较,其中湖盆基阵网精度达到了厘米级精度,基阵内跟踪定位精度达到了分米级,基阵网外跟踪定位精度达到了米级,均取得了令人满意的定位结果,同时也验证了论文研究给出的理论方法的正确性以及研制的软件系统的可靠性。
[Abstract]:Underwater positioning technology provides a basic guarantee for marine development and scientific research, and the lack of spatial location of marine attribute information is of no value. Relative to sea level positioning, underwater positioning technology is relatively late, especially in high precision long baseline LBL (Long Baseline) underwater positioning technology. System research, but far less than the foreign relatively mature LBL system; under the commercial blockade, few related technology input, our country's LBL technology research is still in the foreign expensive commercial LBL system and software digestion and absorption stage, has not formed a complete LBL precision tracking and positioning theory and method system, the high precision underwater positioning of our country On the basis of analyzing the present situation of LBL research both at home and abroad, the paper has formed a set of relatively complete LBL high precision underwater positioning theory and method system, and developed a prototype system of LBL positioning data processing software with independent intellectual property right, which filled our country in this study on the basis of analyzing the present situation of domestic and foreign research. The blank of the field is for the development and utilization of new LBL system, marine resources exploration, scientific research and precision engineering.
The main contents of this paper are as follows:
1.LBL system and its working principle
Based on the analysis of the status of the LBL system, the composition and working principle of the LBL system are summarized, and the LBL tracking and positioning operation process and the data processing flow are given and systematically given.
2. sound line correction, sound velocity profile inversion and sound velocity field construction
(1) based on the theory of acoustic ray, the algorithm of acoustic line correction is given, which realizes the fast tracking of the sound line, reduces the complexity of the sound line tracking, and greatly improves the computational efficiency.
(2) a sound velocity profile inversion algorithm based on the historical sound velocity profile, additional depth constraint and EOF based sound velocity profile is presented, which solves the accurate acquisition of sound velocity in the scene without the field measured sound velocity profile.
(3) based on the finite sound velocity profile, a local acoustic velocity field construction method based on EOF coefficient space surface interpolation is proposed, which has achieved a better modeling accuracy than 0.5m/s, and has a relatively large advantage over the traditional modeling method based on direct space interpolation in the sound velocity profile.
3. data processing method for subsea datum transfer and seafloor array network
(1) the relationship between the ship's coordinate system and the geographic coordinate system is studied, and the conversion model between the two is given. The GNSS high precision positioning solution is converted to the ship carrier transceiver, which lays the foundation for the unification of the three-dimensional coordinate datum to the submarine base array network and the unification of the submarine and land measurement datum.
(2) the calibration technique of the submarine base array is studied, and the circle calibration method is proposed. The conclusion is that the circle radius is equal to the depth of the water depth, and the accurate determination of the position of the centimeter level array element and the accurate transfer of the base of the seabed are realized without the change of the sound velocity.
(3) the adjustment of submarine base array network is studied, and the array network adjustment model suitable for different conditions is given. Based on the edge measurement network, a three-dimensional unconstrained adjustment model of the matrix network is given. Based on the known water depth, the two-dimensional difference model of the matrix network and the three-dimensional adjustment model with the depth constraint are proposed. The absolute point is calibrated, and a two-dimensional / three-dimensional adjustment method and model for the absolute coordinates of the additional calibration array elements are given. The above studies have realized the exact determination of the relative / absolute point of the matrix array element.
4. influence of submarine array array factor on LBL positioning accuracy
The influence of the network shape, the height difference of the array element and the precision of the array network on the tracking and positioning accuracy of LBL is systematically studied. It is considered that the basic net shape is a positive quadrilateral with the compromise of the coverage area, but the point position of the array element is the highest and can realize the seamless stitching of the whole array network. At the same time, it is suggested that when the seabed is not flat, the height difference between the thermocline and the seasonal thermocline should be controlled within 10m, while the deep sea channel layer and the positive gradient layer should be controlled within the 50m. The calculation model of the array net length under the best positioning accuracy is given, and the point position accuracy of the base array element should be higher than the tracking precision. The optimal tracking location path of LBL is studied. It is considered that in the regular triangles and positive quadrangles, when the 500m is located in the shallow water depth, the closer the target projection point is to the array element, the higher the positioning precision is, and the closer the 500m is to the center, the higher the positioning precision. For the regular pentagon and hexagon, the above water depth can be reduced. To 200m.
5.LBL tracking and positioning model
(1) according to the situation of different measurement and positioning, the corresponding positioning model is studied and given. For the single range observation value, the space rendezvous positioning model is given. Under the condition of pressure sensor, the idea of plane intersection positioning and data processing model are put forward. For some water depth, the space with depth difference constraint is given. The rendezvous model, the relative calibration results of the joint array network, gives the spatial rendezvous model under the independent coordinate system. Based on these models, the accuracy evaluation model and the error ellipse calculation model of each positioning method are given.
(2) the space rendezvous, the plane rendezvous, the space rendezvous with the depth constraint and the space rendezvous under the independent coordinate system are tested and contrasted, and the applicable range of the different methods is given. It is considered that the space rendezvous method is unstable due to the existence of the asymmetric distribution of the array element and the transceiver, and it is suggested to increase the pressure. Based on depth difference constraint, a high-precision tracking and localization solution is proposed.
(3) in view of the relative significant problem of the sonic velocity profile or the sound velocity error in the measured area, a differential positioning method is proposed, which is based on the correlation of the sound velocity error in the adjacent range range and based on the single difference (single difference) to realize the precise positioning method, and the positioning model is given, and the tracking accuracy is greatly improved, and the experimental verification is obtained.
(4) the filtering model is constructed by introducing INS and Kalman filtering to LBL tracking and positioning. The INS information is added to the LBL positioning information and mutual correction and correction, and the accuracy and reliability of LBL tracking positioning is improved.
Development of 6.LBL positioning data processing software
Based on LBL theory and software requirement analysis, a software framework was developed, and a software system was developed to form the first LBL integrated positioning data processing software in China.
7. test and data processing analysis
The LBL positioning test was carried out in Songhua Lake water area, and the test data were processed and analyzed. Compared with the GPS RTK positioning results, the precision of the lake basin array network reached centimeter precision, the tracking positioning accuracy in the matrix reached a decimeter level, and the tracking positioning accuracy outside the array was reached to the meter level, and satisfactory positioning results were obtained. At the same time, the correctness of the theoretical method and the reliability of the developed software system are verified.

【学位授予单位】：武汉大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TB56;U666.7

【参考文献】