重力辅助匹配惯性导航系统研究

常规的航位推算方法无法满足水下潜器长时间工作的导航要求,惯导设备的定位误差随时间积累,重力异常数据和重力梯度数据进行匹配辅助导航可以连续的对惯性导航系统积累误差进行校正。 文章介绍了利用重力辅助惯导的思想和原理,对重力辅助惯性导航进行了讨论,建立包含重力异常/ 重力梯度数据的 Kalman 滤波算法,并采用改进的 ICCP 算法对重力异常匹配导航进行了模拟试算,结果表明在现有的技术条件下,重力辅助匹配导航能够胜任水下航行的工作任务,保证长航时的水下定位精度。     

Deep sea navigation techniques

Accurate navigation forms an essential part of all research at sea and the deep ocean imposes it's own unique problems. This chapter discusses several of the techniques in current use on the research vessels of the Natural Environment Research Council (NERC), concentrating on those systems which provide global navigation facilities, as opposed to the more localised, coastal aids. Whilst most of the systems rely on surface propagation of radio waves, the use of acoustics and sea-bed mapping instruments constitute accurate alternatives for some sub-sea applications.     

加拿大海洋调查设备与方法

总结了加拿大地调局在开展近海陆坡及大陆架地质、地球物理调查和其他综合海洋调查工作时通常使用的专门的调查仪器和设备，包括调查船、定位系统、测深设备、侧扫声纳设备、取样取心设备、地震调查设备、水下摄影设备及其他设备以及相关的调查技术；总结了我们在海洋地质调查方面与加拿大的差距。     

Study mobile underwater positioning system with expendable and multi-functional bathythermographs

The purpose of the current study is to introduce a set of mobile underwater positioning systems (MUPS) that will enable non-offshore vessels to execute underwater missions. Besides mobility, the system would also possess the advantage of having to use fewer acoustic instruments than conventional acoustic positioning systems. The method adopted by the system will involve the use of expendable and multi-functional bathythermographs (XBT) to measure the underwater acoustic speed and the depth of water at the same time. Then it must utilize the geometric relations formed by measuring the position of underwater targets at set intervals during navigation. In addition, since sound does not travel in a straight line when underwater, the iteration and convergence method must be used to perform corrections on the transmission speed and positional errors to obtain an accurate coordinate of the underwater target. After simulation testing, the positioning system established by the current study has proven to be fast in converging the error values along with high positioning accuracy of the system. The results of the study indicate that the MUPS built by the research institute can be utilized on a vessel, and will be very helpful in assisting the management of urgent underwater positioning missions.     

Simulation of an Inertial Acoustic Navigation System With Range Aiding for an Autonomous Underwater Vehicle

This paper presents an integrated navigation system for underwater vehicles to improve the performance of a conventional inertial acoustic navigation system by introducing range measurement. The integrated navigation system is based on a strapdown inertial navigation system (SDINS) accompanying range sensor, Doppler velocity log (DVL), magnetic compass, and depth sensor. Two measurement models of the range sensor are derived and augmented to the inertial acoustic navigation system, respectively. A multirate extended Kalman filter (EKF) is adopted to propagate the error covariance with the inertial sensors, where the filter updates the measurement errors and the error covariance and corrects the system states when the external measurements are available. This paper demonstrates the improvement on the robustness and convergence of the integrated navigation system with range aiding (RA). This paper used experimental data obtained from a rotating arm test with a fish model to simulate the navigational performance. Strong points of the navigation system are the elimination of initial position errors and the robustness on the dropout of acoustic signals. The convergence speed and conditions of the initial error removal are examined with Monte Carlo simulation. In addition, numerical simulations are conducted with the six-degrees-of-freedom (6-DOF) equations of motion of an autonomous underwater vehicle (AUV) in a boustrophedon survey mode to illustrate the effectiveness of the integrated navigation system.     

基于可重置联邦滤波器的水下运载体导航定位方法

单一导航系统无法满足水下运载体高精度、高可靠性的导航需求,文中根据常用水下导航系统的特点,提出基于可重置联邦滤波器的水下运载体导航定位方案,设计了以惯导系统(INS)为主参考系统,声学定位系统/深度计、多普勒计程仪(DVL)、罗经为子参考系统的联邦滤波器,并进行了仿真研究。结果表明文中设计的滤波器能有效融合各个传感器的导航信息,实现水下运载体高精度导航定位,并具有一定容错性。     

Monitoring moored instrument motion by optimal estimation

Many oceanographic applications require the positioning of the underwater sensor at measurement times. We consider here the case of subsurface moored tomographic instruments, where the distance between source and receiver must be known within a few meters. For that purpose, a long baseline array is deployed: this system includes a navigator, attached to the mooring element and an array of three transponders set on the ocean bottom. To process the navigation data collected with such system, we have developed a method based on optimal estimation. The triangulation problem is not a basic spherical constraints one and the specificity of deep underwater positioning, related to the variability of the ocean sound speed profile are pointed out. Correcting terms are proposed and introduced into the system. Simultaneous inversion of all data, defining an overconstrained problem allows to estimate biases and errors. The algorithm is applied here to a dataset collected in the Azores-Canary basin during CAMBIOS experiment.     

Mine avoidance techniques for underwater vehicles

It is shown that by implementing certain mine avoidance techniques, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield. The mine avoidance techniques take into account the physical limitations of the sonar and the navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines. Extensive computer simulations have verified the mine avoidance capability in more than 50 different minefields. In all 50 simulations the vehicle reached a predetermined end point and maintained at least the specified, minimum safe standoff distance from each mine. The simulation accurately models the major difficulties associated with the sonar, the navigation system, and the vehicle dynamics. The sonar model includes surface, bottom, and volume reverberation; thermal, ambient, and flow noises; actual receiver and projector beam patterns; and false alarms and missed detections. The navigation system model contains the effects of biases, random noises, and scale factor errors. The vehicle dynamic model simulates angular velocities and accelerations associated with underwater vehicles     

重力活塞取样器取样技术研究

现代海洋沉积物柱状取样技术是一套综合性的高新技术系统,它一般应该包括：优良的取样器具,方便灵活的取样操作设备,高精度的定位导航仪器和高分辨率的地形、地貌、地层探测系统等四个方面。我国和先进国家相比,取样操作设备方面差距最大,应该成为我国今后取样技术研究和发展的重点     

Nautical cartography competences and their effect to the realisation of a worldwide Electronic Navigational Charts database,the performance of ECDIS and the fulfilment of IMO chart carriage requirements

This paper is concerned with the implementation and realisation of a Worldwide Electronic Navigational Charts Database (WEND), adopted by the International Hydrographic Organization (IHO) and its members in supporting marine navigation. It identifies the issue of gaps and overlaps between adjoining Electronic Navigational Charts (ENCs) and explores its consequences to the operation of Electronic Chart Display and Information Systems (ECDIS) and the fulfilment of International Maritime Organization (IMO) chart carriage requirements. As the ENCs production is directly dependent on states’ cartographic competences, this paper delves into the coastal states’ jurisdiction in accordance with international law of the sea, and in particular the United Nations Convention on the Law of the Sea, and ΙΗΟ and IMO instruments. Through a case study on recently produced ENCs in the Mediterranean and more specifically in the Aegean Sea, this paper documents the necessity to respect states’ cartographic competences in realising the WEND concept and cautions that, otherwise, new and extended overlaps emerge, which pose a risk to the safety of navigation, and, at the same time, become means through which states may promote their geopolitical aspirations as to jurisdiction over certain marine areas.     

北斗二代卫星导航系统定位精度分析方法研究

卫星导航系统的定位精度主要受观测量的精度和卫星的空间几何分布两方面的影响,GPS等相同轨道分布的卫星导航系统一般采用几何精度因子（GDOP）来分析定位精度。我国的北斗二代卫星导航系统是由三类异质卫星组成的混合星座导航系统,不同轨道卫星定轨误差不同,用户所得到的观测量精度也不相同,因此精密定位精度计算和分析时必须要考虑这种差异。引入了加权几何精度因子（WGDOP）,利用模拟观测数据对北斗二代卫星导航系统的定位精度进行了分析。外部检核计算结果表明,精密定位计算时顾及观测量精度差异可进一步提高定位精度。     

Position Correction Using Echoes From a Navigation Fix for Synthetic Aperture Sonar Imaging

In synthetic aperture sonar (SAS), the platform position must be known sufficiently accurately for signals to be added coherently along the synthetic aperture. Often, the onboard navigation system is insufficiently accurate by itself, so corrections are needed. A well-known method is the displaced phase center antenna (DPCA) procedure for correcting platform position using seabed echoes. DPCA methods have the advantage of insensitivity to changing interference patterns, moving specular reflection, and changing occlusion, with aspect. However, when seabed echoes are unusable, either because they are too weak, or because they are corrupted by multipath, the seabed DCPA method may fail. Therefore, we present an alternative DPCA method using sonar echoes from a suitable navigation fix, based on an object detected after standard beamforming. In our proposed system, look angle is obtained by tracking the centroid of the rectified image of the fix object. When the standard DPCA correction equations are modified for a fixed reflector, it turns out that they provide incremental range and look-angle errors, precisely the values required when the target itself is used as the navigation fix. Moreover, the values obtained are then self-compensating for errors in estimating seabed depth or forward motion of the platform. The navigation fix is selected by bracketing in range, and beamforming overlapping subsets of the receiver array. In this paper, we present experimental results at transmitter frequencies of 25 and 100 kHz where our method enabled well-focused SAS images to be generated with little recourse to other navigation information. Hence, SAS can be carried out, even when a sophisticated inertial navigation system (INS) is not available.      

In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment

This paper reports the development and experimental evaluation of two in situ least squares techniques for estimating the alignment matrix of Doppler sonars commonly used for precision navigation of oceanographic submersibles. Most previously reported methods addressed the problem of single degree-of-freedom heading alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reports and evaluates two techniques for three degree-of-freedom calibration of attitude and Doppler sonar sensors using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least squares estimate of the alignment matrix. The second technique results in a least squares alignment matrix estimate constrained to the group of rotation matrices. The performance of these estimates is evaluated with a laboratory remotely operated vehicle (ROV) and a field-deployed autonomous underwater vehicle (AUV). Experimental results are reported which demonstrate that Doppler navigation employing the reported alignment calibration techniques significantly improves navigation precision. The experiments show that the latter technique provides calibration estimates that improve Doppler navigation precision not only on the calibration data set itself, but also provide improved precision over a wide variety of vehicle trajectories other than the calibration data set.     

Management of dynamic navigational channels using video techniques

Dynamic navigation channels, where sediment transport may change the geometry of the channel in short periods of time, are one of the most dangerous environments for ship navigation. The management of the navigation safety at these waterways requires a detailed monitoring program that provides accurate information regarding the sandbank and channel movements. In this paper the potential of video imaging techniques for managing dynamic navigation channels is explored. Small and large port management strategies are analyzed using Teignmouth and Santander ports as case studies. By means of the frame of reference [Van Koningsveld, 2003. Matching Specialist Knowledge with End User Needs. Ph.D. Thesis, Twente University, Enschede, The Netherlands. ISBN 90-365-1897-0.] a characterisation of the management of navigation issues is performed and several specific video-derived Coastal State Indicators (CSIs) are quantified. New algorithms for evaluating these CSIs are developed. In particular, new algorithms for identifying and locating navigation buoys and for the automatic detection of the shoreline (a proxy for the channel location) are presented and validated.In both cases (Teignmouth and Santander ports) the video system is proven to evaluate quantitative CSIs over a broad range of time-scales (hours to years) which cannot be obtained practically with traditional monitoring techniques. The techniques developed here deliver more information to port authorities; facilitating more informed management decisions regarding how, when, or where intervention is required and thus reducing the navigation risk to shipping.     

Parallel trajectory planning for shipborne Autonomous collision avoidance system

Collision at sea is always a significant issue affecting the safety of ship navigation. The shipborne autonomous collision avoidance system (SACAS) has the great advantage to minimize collision accidents in ship navigation. A parallel trajectory planning architecture is proposed in this paper for SACAS system. The fully-coupled deliberative planner based on the modified RRT algorithm is developed to search for optimal global trajectory in a low re-planning frequency. The fully-coupled reactive planner based on the modified DW algorithm is developed to generate the optimal local trajectory in a high re-planning frequency to counteract the unexpected behavior of dynamic obstacles in the vicinity of the vessel. The obstacle constraints, ship maneuvering constraints, COLREGs rules, trajectory optimality, and real-time requirements are satisfied simultaneously in both global and local planning to ensure the collision-free optimal navigation in compliance with COLREGs rules. The on-water tests of a trimaran model equipped with a model-scale SACAS system are presented to demonstrate the effectiveness and efficiency of the proposed algorithm. The good balance between the computational efficiency and trajectory optimality is achieved in parallel trajectory planning.     

High-speed real-time data acquisition for vector measuring currentmeters

The authors describe an integrated hardware and software approach used to provide real-time acquisition and display of vector measuring current meter (VMCM) data at high sample rates (0.5 Hz) with supporting data from other instruments of somewhat slower rates. The hardware component consisted of a new circuit board for the VMCM that captured the VMCM data output, stored it, and transmitted it at high speed in response to a request from the data acquisition computer. The data acquisition software ran on a Masscomp 5600 computer under the UNIX operating system. A central control program provided timing information to several software processes that handled serial data acquisition, display, and storage for one or more instruments. Deployed as a part of the Surface Waves Processes Program (SWAPP) experiment, the integrated data acquisition system successfully collected, processed, stored, and displayed data from 19 VMCMs and four other instruments over a 22-day period in February and March of 1990     

Development of a System for 3D High-resolution Seismic Reflection Profiling on Lakes

A high-resolution three-dimensional (3D) seismic reflection system for small-scale targets in lacustrine settings has been developed. Its main characteristics include navigation and shot-triggering software that fires the seismic source at regular distance intervals (max. error of 0.25 m) with real-time control on navigation using differential GPS (Global Positioning System). Receiver positions are accurately calculated (error<0.20 m) with the aid of GPS antennas attached to the end of each of three 24-channel streamers. Two telescopic booms hold the streamers at a distance of 7.5 m from each other. With a receiver spacing of 2.5 m, the bin dimension is 1.25 m in inline and 3.75 m in crossline direction. To test the system, we conducted a 3D survey of about 1 km² in Lake Geneva, Switzerland, over a complex fault zone. A 5-m shot spacing resulted in a nominal fold of 6. A double-chamber bubble-cancelling 15/15 in³ air gun (40–650 Hz) operated at 80 bars and 1 m depth gave a signal penetration of 300 m below water bottom and a best vertical resolution of 1.1 m. Processing followed a conventional scheme, but had to be adapted to the high sampling rates, and our unconventional navigation data needed conversion to industry standards. The high-quality data enabled us to construct maps of seismic horizons and fault surfaces in three dimensions. The system proves to be well adapted to investigate complex structures by providing non-aliased images of reflectors with dips up to 30°.     

High precision fiber SINS with spin technology

Fiber strapdown inertial navigation system （FSINS） is presently used in several applications related to marine navigation. However, the absolute position from FSINS contains the error that increases with time, which prevents its long-term use for the ship cruise. In order to improve the performance of FSINS based on our present inertial sensors, the spin technology was proposed in the system to mitigate the navigation errors and a prototype of the proposed system was developed in Navigation Lab. The prototype contains the IMU, temperature controller, rotating configuration, navigation and I/O electronics group, control and display, power supply subsystem and other modules. In the proposed spin technology, the IMU is rotated back and forth in azimuth through four orthogonal positions relative to the ship’s longitudinal axis. Experimental testing was conducted for the prototype in the laboratory and the results showed that the RFSINS’s navigation performance is improved 10 times.     

基于GNSS浮标的波浪反演技术研究

波浪观测在海洋环境预报、海洋工程建设、海洋资源调查、航海安全等领域具有重要作用。基于全球导航卫星系统（Global Navigation Satellite System,GNSS）浮标进行波浪观测的方法具有全天候、实时、准确度高、价格低等诸多优点,同时还可以在浮标上集成其他海洋环境测量仪器,因此越来越受到世界各国研究者的重视。本文提出一种基于GNSS浮标的波浪参数反演方法,并成功应用于浙江温州海域,在海试过程中,同公认的波浪骑士浮标对比,平均波高相关系数达到0.95,标准差为4.06 cm,平均波周期相关系数为0.92,标准差为0.24 s,完全符合国家标准。本文所用浮标系统还可以搭载多种海洋环境要素观测传感器,可将数据实时传输至接收终端,具有较高的应用价值。     

基于VRP sdk的虚拟海大校园导航系统

以“虚拟海大校园导航系统”为例，将虚拟现实技术、多媒体技术和地理信息系统有机地结合起来，基于VRP sdk，创建1个方便直观的信息查询导航系统。该系统除了虚拟校园基本的自主漫游功能和按固定路擘漫游外，还提供了按目的地自动生成漫游路径、定位鸟瞰图、漫游中途经的楼宇和景点介绍等导航功能，对虚拟现实技术从展示转向实用进行了有益的尝试。