北斗卫星导航系统定位精度分析

为了对北斗卫星导航系统单点定位精度进行分析,考虑到北斗星座中三种异质卫星对应的观测量精度不同,采用加权定位法进行解算,实测结果表明,系统水平定位精度优于5m,高程方向优于10m,东向方向定位精度最高,系统可以满足亚太区域导航需求。     

四点长基线深海定位模型建立方法及精度分析

高精度水下定位技术对于维护国家海疆安全、海洋权益和国民经济建设具有十分重要意义和实际应用价值。根据射线在水中的传播特性,利用双曲面定位方法建立长基线深海定位模型,通过计算机仿真获得4 000 m水下信源在10 km~2正方形范围内的定位误差精度及分布规律。结果表明:浮标网络中心位置定位精度最高,可得到亚米级;离中心位置越远,定位精度越差。     

自主回收UUV水声定位与遥测遥控导引技术研究

针对 UUV 任务结束或能源不足时自主回收的需求,深入研究了 UUV 中远程水声定位与遥测遥控导引技术,完成了水声定位与遥测遥控导引系统方案设计,重点研究了 MFSK、OFDM、扩频等水声遥测遥控调制方式。 通过分析和对比,设计了一种正交混合扩频调制方式,并采用相干二维搜索技术,提高扩频技术多普勒补偿能力。 开展了湖上静态与动态跑船试验,试验数据结果表明:水声水平定位精度优于 0. 5%,水声遥测遥控系统解算误码率达到了 10^-3 数量级,可有效引导 UUV 回收作业。     

北斗伪距单点定位与差分定位结果精度分析

首先介绍了北斗伪距单点定位、伪距差分定位的基本原理和数学模型,然后根据自编程序,利用同济大学TJA站8天的数据进行计算及分析。结果显示:北斗伪距单点定位的精度平面方向上达到3.5m以内,高程方向优于8m,满足普通导航定位的需求。北斗差分定位的精度较伪距单点定位精度有了较大提高,其精度平面上达到1m以内,高程方向优于1.5m,能满足较高精度的需求。     

海洋声速起伏对声传播及定位精度影响分析

海洋中声速起伏导致水声信道发生变化,进而引起声线到达结构的变化,对水声传播及定位精度产生一定影响。为讨论这一效应,基于TDOA体制建立了考虑声线弯曲的水下目标无源定位模型,分析了声速起伏对水下声传播路径及传播时间的影响,进而研究了声速起伏对水下无源定位测量精度影响程度。结果表明:当水平传播距离较大时,声速剖面起伏对声传播路径及传播时间的影响更为显著;以典型四元阵为例,若基线长度为20 km,接收阵位于水下5 km处,在不考虑其它随机误差影响下,海洋声速起伏造成的声源定位误差量级在0.5 m以内。分析结果有助于更好地利用环境特征优化无源定位测量方案,可为高精度水下无源定位系统设计及精度评估提供依据。     

深海潜标布阵方式对海面声源定位精度的影响

针对深远海条件下海面声源目标定位精度与海底潜标布阵方式相关性问题,建立了基于到达时间差(TDOA)体制的被动定位模型,根据设计工况讨论了海底潜标布阵原则,利用蒙特卡洛数值模拟方法分析了声源位于阵内、阵外以及阵元失效3种情况下定位精度分布情况。仿真结果表明：当4个潜标呈矩形分布时,仅东、西两侧较小区域未覆盖,覆盖范围内平均定位精度约为34.1 m。随着阵元数增加,在中心区域附近定位精度显著提高,阵型外侧定位精度由内向外逐渐下降。当目标位于对角线方向靠近顶角附近时,模型交汇解算性能较差,定位精度大于500 m。当1#潜标失效时,测量海域西北角方向定位精度较差,但精度优于25 m的区域要比5#潜标失效情况大。7#潜标失效时,定位精度与各阵元均正常的情况接近。研究结果为海面声源测量系统设计、阵型选择、精度评估等海洋工程应用提供理论依据。     

智能水下机器人水声精确定位技术的研究

讨论了智能水下机器人水声定位技术,给出系统的组成、定位教学模型。论述了提高定位精度措施,最后给出试验测量结果。     

无控制点条件下SPOT5卫星影像海上目标定位技术

对于海上目标的遥感影像定位,由于控制点获取的困难性严重影响了其发展与应用。研究了SPOT5卫星HRS立体像对的成像原理,通过一系列坐标系变换,构建了一种无需地面控制点的直接对地绝对定位模型。试验表明,在没有控制点的条件下利用SPOT5遥感影像进行定位,平面定位精度和高程定位精度均可以达到优于70m的水平,这对于海上目标定位具有很好的实用价值。     

北斗三星无源导航定位技术研究

简述北斗三星无源导航定位的原理及定位误差源。探讨用最优估计理论和方法,即卡尔曼滤波技术,消除北斗三星无源定位数据中随机误差的方法。对华南沿海北斗三星无源定位实验数据进行滤波处理,结果表明:(1)北斗三星无源定位单点定位精度在纬度方向为±58m,经度方向为±4.3m,经卡尔曼滤波后其单点定位精度在纬度方向为±43m,经度方向为±3.6m;(2)北斗三星定位误差主要分布在纬度方向;(3)通过卡尔曼滤波可使北斗三星无源定位精度提高25%。     

船载式远程高精度水声定位系统

本文比较了各种水声定位跟踪系统的特点，由此可明显看出长基线模式的船载式水声定位跟踪系统将兼有使用方便、适用性强、定位精度高、作用距离远的优点，仔细分析了要实现这类系统的关键技术难题，介绍了我国自行研制的一个船载式远程高精度水声定位系统的组成和工作原理，该系统还率先突破了主动式水声定位系统中非模糊距离Ｒｍａｘ＝ＣＴ的原理性限制，使系统可进行远程，高数据率跟踪定位     

精密单点定位技术在海上工程中的应用

结合海上科研工程实践,对GPS精密单点定位模型及数据处理方法进行研究,并采取陆上静动态定位和海上动态定位试验进行了精密单点定位精度统计和分析。结果表明:在超出常规差分定位基线长度限制的广阔海域,采用精密单点定位技术可实现亚米级实时动态定位,为海上高精度实时动态定位应用提供了技术依据。     

GPS精密单点定位数据解算的精度对比

分别采用GAMIT和GrafNav两种不同的软件对南海区域不同时间、不同地点所测得的GPS精密单点定位数据进行了解算,并对同一数据的解算结果进行了精度分析。研究结果表明:这两种方法解算所得结果互差达到厘米级,说明GrafNav满足GPS精密单点定位数据解算要求,具有一定的应用参考价值。     

Precise Positioning of Underwater Static Objects without Sound Speed Profile

A new method of positioning underwater static objects is presented based on Global Positioning System (GPS) acoustics. It adopts a model in which the ranging errors follow a quadratic relation with the travel time of acoustic signals. A least squares technique is used to estimate the effective sound speed. The precise location of an object can then be made. The simulation shows that the method is capable of determining the three-dimensional position with an accuracy of 5 cm in a water depth of 500 m. The operating time is respectively 5–10 minutes in 50–100 m depth and 20–30 minutes in 500 m depth.     

Nonlinear and Robust Location for Low-cost Shipborne Laser Ranging Positioning

ABSTRACT

Without landing on islands, reefs, or facilities, fast locating targets by the reflectorless ranging integrated with Global Navigation Satellite System (GNSS) has a wide range of application. We propose a nonlinear robust location method and modify current nonlinear estimators for achieving shipborne laser ranging positioning of high precision. The Newton method is recommended as a nonlinear estimator for shipborne ranging positioning since the Gauss–Newton method occasionally fails in critical cases when the control points and the unknown point are approximately coplanar. However, it shows that the vertical positioning based on the shipborne laser ranging is generally of low precision, while the vertical angle measurement is used to further remedy this deficiency. The positioning precision and reliability might be significantly decreased with the increased number of gross errors in the observations that are dynamically implemented on a moving shipborne platform; thus a weighting scheme with high breakdown point is recommended to set the preliminary weights, and then Scheme III of the Institute of Geodesy and Geophysics of China (IGGIII) is applied to iteratively updating the weights of distance observations. It shows that the proposed method based on the angle-distance observational data fusion can be used to achieve a three-dimensional positioning of high precision.     

Acoustic Ray Tracing Comparisons in the Context of Geodetic Precise off-shore Positioning Experiments

The GNSS-Acoustics (GNSS-A) method couples acoustics with GNSS to allow the precise localization of a seafloor reference in a global frame. This method can extend on-shore GNSS networks and allows the monitoring of hazardous oceanic tectonic phenomena. The goal of this study is to test the influence of both acoustics ray tracing techniques and spatial heterogeneities of acoustic wave speed on positioning accuracy. We test three different ray tracing methods: the eikonal method (3D sound speed field), the Snell-Descartes method (2D sound speed profile), and an equivalent sound speed method. We also compare the processing execution time. The eikonal method is compatible with the Snell-Descartes method (by up to 10 ppm in term of propagation time difference) but takes approximately a thousand times longer to run. We used the 3D eikonal ray tracing to characterize the influence of a lateral sound speed gradient on acoustic ray propagation and positioning accuracy. For a deep water (? 3,000 m) situation, frequent in subduction zones such as the Lesser Antilles, not accounting for lateral sound speed gradients can induce an error of up to 5 cm in the horizontal positioning of a seafloor transponder, even when the GNSS-A measurements are made over the barycenter of a seafloor transponder array.     

The Relationship between Propagation Time and Sound Velocity Profile for Positioning Seafloor Reference Points

This paper focuses on the relationship between the propagation time and the integral of the sound velocity profile (SVP) with respect to depth (SVP area for short) for positioning seafloor reference points. We proved a linear relationship between the propagation time and the SVP area and defined its mathematical expression (ST law). We showed in three simulations of possible variations in SVPs (random errors, internal waves, or a combination of both) that this ST law is verified. Using this new law in a simulated experiment, the ranging residuals due to sound velocity change through time are significantly improved. With this method, monitoring the SVP while acquiring travel times to a submerged transponder can significantly reduce the positioning errors of the transponder.     

声波二次定位技术在KD-1高精度地震采集中的应用

滩浅海KD-1地区位于黄河入海口以北浅海水域及滩涂两栖地带,由于复杂的地表条件和表层结构条件,使得以往浅层资料分辨率较差、信噪比低、连续性较差,深层资料能量弱、信噪比低、干扰背景较大,小构造、小断层及潜山内幕不清晰。为了满足滩浅海高精度油气资源勘探的需要,在野外资料采集过程中,将检波器沉放到海底。因为随着海水深度和潮流的变化,使得海底检波点位置在水下发生偏移,故在放炮前需要对海底检波点位置进行声波二次定位,测得海底检波点在海底的实际坐标位置。通过对该区高精度地震勘探中声波二次定位资料的实际应用,取得了显著的应用效果。