水下载体的声学定位系统测距误差分析

发布时间：2018-06-30 08:47

  本文选题：声学定位系统 + 单信标测距　； 参考：《南京大学学报(自然科学)》2016年05期

【摘要】：基于单信标测距的定位方法,是水下载体声学定位技术的进一步发展,但是国内外的研究都是基于定位解算方法本身,研究过程中都是给定一个声学定位系统测距误差.本文针对其中的声学测距进行了研究,首次从水声学原理方面着手分析了影响声学测距的误差源以及各误差源对测距误差和定位精度的影响程度.首先分析了声信号传播速度的影响,无论是声速测量误差还是声线弯曲影响,测距误差都表现为一种随水平距离增加而增大的固定误差,水平定位误差在几十厘米的水平;然后分析了声信号传播介质的影响,环境噪声、信号混响和多途会造成信号检测与时延估计误差,测距误差的大小与时延估计误差成正比,水平定位误差与测时误差引起的测距误差大小相当;最后分析了声信号发射接收异步的影响,测距误差的大小既与载体航行速度成正比,也与发射点距信标与航迹垂线的距离成正比,水平定位误差的大小与载体航行速度成正比,载体航行速度1m·s-1的情况下水平定位误差就达到了几米的水平,必须针对发射接收异步的情况进行补偿.
[Abstract]:The localization method based on single beacon ranging is the further development of underwater vehicle acoustic positioning technology. However, the research at home and abroad is based on the localization calculation method itself, and in the process of research is given an acoustic positioning system ranging error. In this paper, the acoustic ranging is studied, and the error sources affecting acoustic ranging and the degree of influence of each error source on ranging error and positioning accuracy are analyzed for the first time from the point of view of the principle of underwater acoustics. Firstly, the influence of the sound signal propagation velocity is analyzed. Whether it is the sound speed measurement error or the sound line bending effect, the ranging error is a fixed error that increases with the increase of horizontal distance, and the horizontal positioning error is in the level of tens of centimeters. Then the influence of acoustic signal propagation medium is analyzed. Environmental noise, signal reverberation and multipath will cause signal detection and time delay estimation error, and the magnitude of ranging error is proportional to time delay estimation error. The horizontal positioning error is equivalent to the ranging error caused by the time measurement error. Finally, the influence of acoustic signal receiving asynchrony is analyzed. The ranging error is proportional to the carrier navigation speed. It is also proportional to the distance between the beacons and the track perpendicular, and the magnitude of the horizontal positioning error is proportional to the speed of the carrier. The horizontal positioning error of the carrier reaches the level of several meters at the speed of 1m s ~ (-1). Compensation must be made for asynchronous transmission and reception.
【作者单位】： 哈尔滨工程大学水声工程学院;哈尔滨工程大学水声技术重点实验室;
【基金】：国家自然科学基金(61531012) 国防基础科学研究计划(B2420133002)
【分类号】：TB56
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本文编号：2085709