搜索

x

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

一种基于长基线交汇的超短基线定位系统精度评价方法

韩云峰 李昭 郑翠娥 孙大军

引用本文:
Citation:

一种基于长基线交汇的超短基线定位系统精度评价方法

韩云峰, 李昭, 郑翠娥, 孙大军

A precision evaluation method of USBL positioning systems based on LBL triangulation

Han Yun-Feng, Li Zhao, Zheng Cui-E, Sun Da-Jun
PDF
导出引用
  • 超短基线定位系统的定位精度和准确度是评价系统性能的重要指标, 通常采用固定点的定位重复度来评价定位精度, 采用其他解算方法作为真值参考评价定位准确度. 本文首先分析了以误差椭圆理论为基础的超短基线精度评价方法, 给出了理论推导公式, 证明了观测数据和理论误差椭圆的关系. 本文提出了一种基于长基线交汇的超短基线定位系统精度评价方法, 通过长基线交汇模型求解目标的真实位置评价系统的准确度. 根据该方法解算得到的待定目标位置作为真值参考, 能够反应系统误差的修正情况. 最后采用该方法进行海试数据处理, 处理结果表明该方法能够较好的反应定位精度, 进一步修正了系统偏差, 修正系统偏差后和修正前相比定位精度提高了0.2%, 具有良好的工程应用价值.
    Ultra short baseline (USBL) positioning system is widely used in underwater geophysical field survey, acoustic tow fish positioning, and sea oil engineering The precision and accuracy are important technical indexes. Normally, people often care about how to improve the precision of position, but there is no unified method about how to evaluate the precision and accuracy. In most experiments, a beacon as target is moored on the seafloor using buoyancy, and survey positions of the beacon refleatedly in a circle track. The waviness of positioning results is used to evaluate the precision, which is analyzed by a statistical method. This paper analyzes the precision evaluation method based on error ellipse, gives the theoretical formulations, and proves the relationship between observation data and error ellipse. This paper also proposes a precision evaluation method of USBL positioning systems based on long baseline (LBL) triangulation, using the obtained result as the true position to evaluate the accuracy of USBL which can offer suggestions to find system error. Using multiple observations to increase redundancy, the precision is far greater than USBL positioning method. Estimated positions can be used as the true ones to serve as a reflerence in evaluating the accuracy. If the deviation between estimated positions using the USBL and LBL methods is larger than expected, the system needs to be recalibrated. Finally, this paper processes the data from sea experiment. The actual sea trial is processed using the LBL method proposed in this paper. Result shows that the precision of a fixed target is well reflected and the system error is modified further, and thus improves the positioning precision of 0.2%. Result also shows that this method may be of a great application value.
    • 基金项目: 国家高技术研究发展计划(863计划)(批准号: 2012AA091401, 2010AA093901)资助的课题.
    • Funds: Project supported by the National High Technology Research and Development Program of China (Grant Nos. 2012AA091401, 2010AA093901).
    [1]

    Morgado M, Oliveira P, Silvestre C, Fernandes V J 2013 Control Systems Technology, IEEE Transactions On 22 322

    [2]

    Willemenot E, Morvan P Y, Pelletier H, Hoof A 2009 OCEANS 2009-EUROPE Breflen, 11-14 May 2009, p1

    [3]

    Vincenzo C, Francesco D C, Piaggio C E, Andrea C 2013 OCEANS 2013-Bergen, 2013 MTS/IEEE Bergen, 10-14 June 2013, p1

    [4]

    Yu M, Hui J, Feng H, Zhang X 2006 The Ocean Engineering 1 13

    [5]

    Zheng C, Sun D, Zhang D 2007 Journal of Naval University of Engineering 2 2

    [6]

    Wang D, Han F, Lai X, Gou Z, Fu X 2011 Marine Sciences 2 15

    [7]

    Yu M, Hui J 2010 Signal Processing (ICSP), 2010 IEEE 10th International Conference on Beijing, 24-28 Oct. 2010, p2357

    [8]

    Zheng C, Li Z, Sun D 2013 OCEANS 2013-San Diego, 2013 MTS/IEEE San Diego, 23-26 Sep. 2013, p1

    [9]

    Li Z, Zheng C, Sun D 2013 OCEANS 2013-San Diego, 2013 MTS/IEEE San Diego, 23-26 Sep. 2013, p1

    [10]

    Zheng C E 2008 Ph. D. Dissertation (Harbin: Harbin Engineering University) (in Chinese) [郑翠娥 2008 博士学位论文 (哈尔滨: 哈尔滨工程大学)]

    [11]

    2013 Error Theory and Fundation of Surveying Adjustment (Wuhan: Wuhan University Press) pp25-57, 106-157 (in Chinese) [2013误差理论与测量平差基础. 武汉: 武汉大学出版社, 第25-57, 106-157页].

    [12]

    Cui X Z, et al. 2012 The Principle of Generalized Surveying Adjustment (Wuhan: Wuhan University Press pp31-95) (in Chinese) [崔希璋等 2012 广义测量平差(武汉: 武汉大学出版社)第31-95页]

  • [1]

    Morgado M, Oliveira P, Silvestre C, Fernandes V J 2013 Control Systems Technology, IEEE Transactions On 22 322

    [2]

    Willemenot E, Morvan P Y, Pelletier H, Hoof A 2009 OCEANS 2009-EUROPE Breflen, 11-14 May 2009, p1

    [3]

    Vincenzo C, Francesco D C, Piaggio C E, Andrea C 2013 OCEANS 2013-Bergen, 2013 MTS/IEEE Bergen, 10-14 June 2013, p1

    [4]

    Yu M, Hui J, Feng H, Zhang X 2006 The Ocean Engineering 1 13

    [5]

    Zheng C, Sun D, Zhang D 2007 Journal of Naval University of Engineering 2 2

    [6]

    Wang D, Han F, Lai X, Gou Z, Fu X 2011 Marine Sciences 2 15

    [7]

    Yu M, Hui J 2010 Signal Processing (ICSP), 2010 IEEE 10th International Conference on Beijing, 24-28 Oct. 2010, p2357

    [8]

    Zheng C, Li Z, Sun D 2013 OCEANS 2013-San Diego, 2013 MTS/IEEE San Diego, 23-26 Sep. 2013, p1

    [9]

    Li Z, Zheng C, Sun D 2013 OCEANS 2013-San Diego, 2013 MTS/IEEE San Diego, 23-26 Sep. 2013, p1

    [10]

    Zheng C E 2008 Ph. D. Dissertation (Harbin: Harbin Engineering University) (in Chinese) [郑翠娥 2008 博士学位论文 (哈尔滨: 哈尔滨工程大学)]

    [11]

    2013 Error Theory and Fundation of Surveying Adjustment (Wuhan: Wuhan University Press) pp25-57, 106-157 (in Chinese) [2013误差理论与测量平差基础. 武汉: 武汉大学出版社, 第25-57, 106-157页].

    [12]

    Cui X Z, et al. 2012 The Principle of Generalized Surveying Adjustment (Wuhan: Wuhan University Press pp31-95) (in Chinese) [崔希璋等 2012 广义测量平差(武汉: 武汉大学出版社)第31-95页]

  • [1] 林丹樱, 龚振权, 黄黎琳, 聂梦娇, 于斌, 屈军乐. 用于多通道单分子定位的高精度图像配准方法. 物理学报, 2024, 73(6): 068701. doi: 10.7498/aps.73.20231695
    [2] 雷波, 何兆阳, 张瑞. 基于迁移学习的水下目标定位方法仿真研究. 物理学报, 2021, 70(22): 224302. doi: 10.7498/aps.70.20210277
    [3] 周庆勇, 魏子卿, 闫林丽, 孙鹏飞, 刘思伟, 冯来平, 姜坤, 王奕迪, 朱永兴, 刘晓刚, 明锋, 张奋, 贺珍妮. 面向综合定位导航授时系统的天地基脉冲星时间研究. 物理学报, 2021, 70(13): 139701. doi: 10.7498/aps.70.20210288
    [4] 王海玲, 王霆, 张建军. GaAs (001)图形衬底上InAs量子点的定位生长. 物理学报, 2019, 68(11): 117301. doi: 10.7498/aps.68.20190317
    [5] 时洁, 杨德森, 时胜国, 胡博, 朱中锐. 基于压缩感知的矢量阵聚焦定位方法. 物理学报, 2016, 65(2): 024302. doi: 10.7498/aps.65.024302
    [6] 苏林, 马力, 宋文华, 郭圣明, 鹿力成. 声速剖面对不同深度声源定位的影响. 物理学报, 2015, 64(2): 024302. doi: 10.7498/aps.64.024302
    [7] 刘洋洋, 廉保旺, 赵宏伟, 刘亚擎. Kalman滤波辅助的室内伪卫星相对定位算法. 物理学报, 2014, 63(22): 228402. doi: 10.7498/aps.63.228402
    [8] 韩云, 钟圣伦, 叶正圣, 陈启军. 基于视角无关转换的深度摄像机定位技术. 物理学报, 2014, 63(7): 074211. doi: 10.7498/aps.63.074211
    [9] 冯菊, 廖成, 张青洪, 盛楠, 周海京. 蒸发波导中的时间反演抛物方程定位法. 物理学报, 2014, 63(13): 134101. doi: 10.7498/aps.63.134101
    [10] 赵龙, 颜廷君. 不同传感器精度下的地磁轮廓匹配定位性能分析. 物理学报, 2013, 62(6): 067702. doi: 10.7498/aps.62.067702
    [11] 陈鹤, 于斌, 陈丹妮, 李恒, 牛憨笨. 超衍射成像中双螺旋点扩展函数的三维定位精度. 物理学报, 2013, 62(14): 144201. doi: 10.7498/aps.62.144201
    [12] 曹冬杰, 郄秀书, 段树, 宣越建, 王东方. 基于VHF辐射源短基线定位系统对闪电放电过程的研究. 物理学报, 2012, 61(6): 069202. doi: 10.7498/aps.61.069202
    [13] 时洁, 杨德森, 时胜国. 基于最差性能优化的运动声源稳健聚焦定位识别方法研究. 物理学报, 2011, 60(6): 064301. doi: 10.7498/aps.60.064301
    [14] 张亮, 黄思训, 杜华栋. 散射计资料对台风海平面气压场的反演和定位的新方法研究. 物理学报, 2011, 60(11): 119202. doi: 10.7498/aps.60.119202
    [15] 陈志敏, 朱海潮, 毛荣富. 循环平稳声场的声源定位研究. 物理学报, 2011, 60(10): 104304. doi: 10.7498/aps.60.104304
    [16] 张同伟, 杨坤德, 马远良, 黎雪刚. 浅海中水平线列阵深度对匹配场定位性能的影响. 物理学报, 2010, 59(5): 3294-3301. doi: 10.7498/aps.59.3294
    [17] 王敏, 胡顺星, 方欣, 汪少林, 曹开法, 赵培涛, 范广强, 王英俭. 激光雷达精确修正对流层目标定位误差. 物理学报, 2009, 58(7): 5091-5097. doi: 10.7498/aps.58.5091
    [18] 程桂平, 郑 俊, 邓文武, 李高翔. 反馈法定位两原子之间的相对位置. 物理学报, 2008, 57(1): 212-218. doi: 10.7498/aps.57.212
    [19] 吴重庆, 赵 爽. 电偶极子源定位问题的研究. 物理学报, 2007, 56(9): 5180-5184. doi: 10.7498/aps.56.5180
    [20] 黄思训, 盛 峥. 一种全球定位系统接收机单点定位的新算法及数值试验. 物理学报, 2006, 55(12): 6720-6726. doi: 10.7498/aps.55.6720
计量
  • 文章访问数:  5872
  • PDF下载量:  528
  • 被引次数: 0
出版历程
  • 收稿日期:  2014-08-09
  • 修回日期:  2014-11-15
  • 刊出日期:  2015-05-05

/

返回文章
返回