GNSS声呐水下定位浮标阵列解析优化

GNSS/声纳定位精度主要取决于GNSS浮标阵列构型和测距精度。优化水面GNSS浮标阵列对提高定位精度和可靠性有重要意义。本文提出了基于高度角约束条件的GNSS浮标阵列优化搜索算法。基于GNSS浮标位于海平面和高度角约束条件,本文提出了优化PDOP算法。我们以5个浮标为例对该算法进行了验证,并且获得了完整解。最后,为了在PDOP最小的解中搜索到最优构型,我们提出了一个用来获取最小GDOP解的搜索算法。算法表明：在区域范围内,区域中心点处GDOP最小与区域PDOP均值最小是等价的。我们用中国南海实测数据阐明了5枚浮标情况下定位图形与定位精度的关系。     

Improvement in the Determination of the Marine Geoid by Estimating the Bathymetry from Altimetry and Depth Soundings

Abstract

The contribution of bathymetry to the estimation of gravity field related quantities is investigated in an extended test area in the Mediterranean Sea. The region is located southwest of the island of Crete, Greece, bounded between 33^? ≤ ? ≤ 35^? and 15^? ≤ λ ≤ 25^?. Gravity anomalies from the KMS99 gravity field and shipborne depth soundings are used with a priori statistical characteristics of depths in a least-squares collocation procedure to estimate a new bathymetry model. Two different global bathymetry models, namely JGP95E and Sandwell and Smith V8, are used to derive the depth a priori statistical information, while the estimated model is compared against both the global ones and the shipborne depth soundings to assess whether there is an improvement. Various marine geoid models are estimated using ERS1 and GEOSAT Geodetic Mission altimetry and shipborne gravity data. In that process, the effect of the bathymetry is computed using both the estimated and the original depths through a residual terrain modeling reduction. The TOPEX/Poseidon Sea Surface Heights, known for their high accuracy and precision, and the GEOMED solution for the geoid in the Mediterranean are used as control for the validation of the new geoid models and to assess the improvement that the estimated depths offer to geoid modeling. The results show that the newly estimated bathymetry agrees better (by about 30 to 300 m) with the shipborne depth soundings and provides smoother residual geoid heights and gravity anomalies (by about 8–20%) than those from global models. Finally, the achieved accuracy in geoid modeling ranges between 6 and 10 cm (1σ).     

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。     

三维激光扫描单点定位精度评定方法研究

三维激光扫描技术是当前的一种新技术,其仪器的精度评定方法还不完善,提出两种三维激光扫描单点定位精度评价方法,即外部符合精度评价方法和内部符合精度评价方法。介绍了两种方案的实施过程,并且通过实验进行了分析,得到了较好的评价结果。     

双曲面模型深海三维定位数据模拟及精度分析

结合声波射线传播规律提出了双曲面模型水声定位的数据模拟方法。利用该方法模拟一定浮标网形下声源位于某区域约2 000m水深处10km×10km范围内的声线双曲面模型定位观测数据,进行定位解算,并将截止角的概念引入水声定位中。定位结果显示,大部分区域水下DGPS定位系统的外符合定位精度在水平方向优于5m,垂直方向优于10m;网形中间区域精度较高,三维定位精度为亚米级。引入角度限制后,定位区域内外符合定位精度水平方向优于1m,垂直方向优于4m。     

GPS测速精度分析与应用

全球定位系统(GPS)技术的出现,为速度测量提供了新的手段。基于GPS测速的基本原理,采用单点定位模式、无线电信标/差分GPS模式和GPS RTK模式,研究了不同模式下速度测量的方法和精度概况,重点分析了GPS RTK模式下的测速精度,并对高精度速度测量应用提出了建议。     

Statistical analysis of wave-induced extreme nonlinear load effects using time-domain simulations

A new hybrid method for the time-domain nonlinear simulation of the hydroelastic load effects and the peak-over-threshold (POT) method for the calculation of the short-term extreme responses are briefly described and applied to a flexible containership of the latest design. Statistical analysis has been carried out to study the sensitivity of the predicted extreme vertical bending moments and vertical shear forces to the changes in the threshold of the POT method, as well as the statistical uncertainty in the prediction due to the limited duration of the nonlinear simulation. It is recommended that 90%–95% quantile should be used as the threshold in the POT method and more than 100 h of time-domain simulation should be carried out in order to obtain satisfactory predictions of the short-term extreme nonlinear load effects.     

基于单水声信标距离量测的匹配定位方法

水声通信和测距能力是实现水下航行器准确定位的重要技术手段。当前基于水声定位的方法主要有利用测距和测向功能的水声定位技术以及水声测距辅助导航技术,二者的系统物理复杂度都比较高。本文提出了一种基于单水声信标距离量测的匹配定位方法,航行器在水声信标测距覆盖范围内,利用航行过程中多次测距信息构建测距圆序列形成位置约束,基于航位推算导航信息,将航行器在连续测距时间段内的相对航迹在圆序列上进行最优匹配,从而获得位置估计,通过对测距误差进行补偿可进一步提升定位精度。本方法所需物理系统结构复杂度低、可操作性强,仿真实验表明,该方法可以独立实现较高精度的定位。     

潮汐数据支持的海岸带区域网平差

由于海部遥感影像的特殊性,使得传统摄影测量定位方法无法满足高精度的海岸带地理信息获取。提出利用潮汐数据转换计算的水边线高程数据值支持海岸带区域网平差,可以大幅度提高海岸带高程定位精度,在四角布设平高控制点条件下,可以提高海岸带高程精度74%。实验结果表示该方法可行,并得出一些有益结论。     

软土地基沉箱防波堤失稳模式及稳定性分析方法

针对现阶段深水软黏土地基防波堤建设的设计理论和稳定性分析方法尚不成熟,结合实际工程,采用三维弹塑性有限元数值分析方法,研究在水平或竖直单一方向荷载以及复合加载条件下软黏土地基上沉箱防波堤的失稳模式,提出破坏包络线的稳定性判别方法。在波浪水平荷载作用下,深水软基上沉箱防波堤发生倾覆失稳破坏,失稳转动点为沉箱底面以下中轴线偏右的某点,不同于规范中规定的岩石或砂质地基沉箱倾覆转动点为其后踵点;在重力等竖向荷载作用下,沉箱的失稳模式为结构整体下陷,抛石基床及地基形成连贯的塑性区域,呈现较明显地冲剪破坏形式;在水平、竖向复合荷载作用下,软基上沉箱防波堤的破坏包络线由结构倾覆破坏线和地基承载力破坏线组成,包络线将荷载组合区分成稳定区、仅发生水平承载力不足倾覆破坏区、仅发生地基竖向承载力不足破坏区、同时发生水平承载力和地基竖向承载力不足破坏区4个区域。研究成果为深水软基沉箱防波堤建设提供参考和借鉴。     

AUV定位信号检测延时的蒙特卡洛模拟分析

在简要介绍AUV声学定位声纳接收机原理基础上,分析了CW脉冲信号在极性相关检测电路中的传输过程,建立了极性相关积分检测延时仿真分析模型。提出采用蒙特卡洛模拟方法获取检测延时的分布特征和统计参数的观点。实验结果表明蒙特卡洛模拟实验与硬件电路实验结果一致,对于解决随机性检测延时问题具有很强的能力。获得的结果可为AUV定位声纳检测门限的设定、声学测距和定位精度分析以及水声通信延时分析提供参考。     

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%。     

Heterogeneous Gravity Data Fusion and Gravimetric Quasigeoid Computation in the Coastal Area of China

ABSTRACT

Different types of gravity observations are available over coastal areas. The main challenge for coastal geoid determination is the proper fusion of heterogeneous gravity data including land, shipborne, airborne, and altimetry-derived gravity data. This paper describes the gravity data fusion and the computation of the gravimetric quasigeoid in the coastal area of mainland China. An iterative procedure of the weighted least-squares prediction based on rectangular harmonic functions is used for merging the land, altimetric, shipborne, and airborne gravity data. Applying the analytical continuation method in Molodensky's theoretic frame, the merged gravity data are then used to determine the gravimetric quasigeoid model by using the generalized Stokes' integral in a remove-compute-restore fashion. The gravimetric quasigeoid model is compared with the height anomalies determined at 662 GPS leveling points over the coastal region of mainland China, where both the geodetic height and the normal height are known. The standard deviations of the differences in the coastal provinces range from 1.8 to 4.4 cm. For the entire computation area, the mean and standard deviation of the differences are 27.9 and 3.9 cm, respectively.     

精密单点定位的一种低动态解法

采用自适应选权滤波法,对低动态精密单点定位的解算方法进行研究,并编写了精密单点定位程序。通过合理选择自适应因子参数,对船载动态GPS测量数据进行了事后精密单点定位处理。结果表明:相对于经典卡尔曼滤波方法,采用自适应选权滤波法可大大提高低动态精密单点定位解的精度,X、Y、Z三个方向的RMS分别提高了79.9%、69.7%和92.0%。     

杭州湾的三维水流数值模拟

建立了一个基于σ变换和内外模式分裂技术三维水流数学模型，采用有限节点法（平面）和变步长差分法（σ向）对方程进行了离散；通过风生流和环岛水流两个理论模式对所建模型进行了校验，并将该模型应用到杭州湾的三维水流数值模拟中，效果良好，所建模型垂向分辨率高，简单实用，可应用于河口，海岸，湖泊等大范围水域的水流数值计算。     

Flow-Induced Vibration of A Nonlinearly Restrained Curved Pipe Conveying Fluid

Investigated in this study is the flow-induced vibration of a nonlinearly restrained curved pipe conveying fluid. The nonlinear equation of motion is derived by equilibrium of forces on microelement of the system under consideration. The spatial coordinate of the system is discretized by DQM (differential quadrature method). On the basis of the boundary conditions, the dynamic equation is solved by the Newton-Raphson iteration method. The numerical solutions reveal several complex dynamic motions for the variation of the fluid velocity parameter, such as limit cycle motion, buckling and so on. The result obtained also shows that the sub parameter regions corresponding to the several motions may change with the variation of some parameters of the curved pipe. The present study supplies a new reference for investigating the nonlinear dynamic response of some other structures.     

无法到达区动态定位方法研究

研究了在动态条件下对人员无法到达区目标定位的方法,分别研制了GPS激光测距定位系统和GPS近景信息采集系统。设计了水上动态实验,分析了两套系统的定位精度,验证了两套系统在动态测量模式下的可用性,提出了对人员无法到达区目标定位的新手段。     

Improvement in the Determination of the Marine Geoid by Estimating the Bathymetry from Altimetry and Depth Soundings

The contribution of bathymetry to the estimation of gravity field related quantities is investigated in an extended test area in the Mediterranean Sea. The region is located southwest of the island of Crete, Greece, bounded between 33^ˆ ≤ ϕ ≤ 35^ˆ and 15^ˆ ≤ λ ≤ 25^ˆ. Gravity anomalies from the KMS99 gravity field and shipborne depth soundings are used with a priori statistical characteristics of depths in a least-squares collocation procedure to estimate a new bathymetry model. Two different global bathymetry models, namely JGP95E and Sandwell and Smith V8, are used to derive the depth a priori statistical information, while the estimated model is compared against both the global ones and the shipborne depth soundings to assess whether there is an improvement. Various marine geoid models are estimated using ERS1 and GEOSAT Geodetic Mission altimetry and shipborne gravity data. In that process, the effect of the bathymetry is computed using both the estimated and the original depths through a residual terrain modeling reduction. The TOPEX/Poseidon Sea Surface Heights, known for their high accuracy and precision, and the GEOMED solution for the geoid in the Mediterranean are used as control for the validation of the new geoid models and to assess the improvement that the estimated depths offer to geoid modeling. The results show that the newly estimated bathymetry agrees better (by about 30 to 300 m) with the shipborne depth soundings and provides smoother residual geoid heights and gravity anomalies (by about 8-20%) than those from global models. Finally, the achieved accuracy in geoid modeling ranges between 6 and 10 cm (1σ).     

An efficient focusing model for generation of freak waves

Based on the Longuet-Higgins wave model theory, the previews studies have shown that freak waves can be generated in finite space and time successfully. However, as to generating high nonlinear freak waves, the simulation results will be unrealistic. Therefore, a modified phase modulation method for simulating high nonlinear freak waves was developed. The surface elevations of some wave components at certain time and place are positive by modulating the corresponding random initial phases, then the total surface elevation at the focused point is enhanced and furthermore a freak wave event is generated. The new method can not only make the freak wave occur at certain time and place, but also make the simulated wave surface time series satisfy statistical properties of the realistic sea state and keep identical with the target wave spectrum. This numerical approach is of good precision and high efficiency by the comparisons of the simulated freak waves and the recorded freak waves.     

Comparison of Satellite Altimetric Gravity and Global Geopotential Models with Shipborne Gravity in the Red Sea

The determination of high-resolution geoid for marine regions requires the integration of gravity data provided by different sources, e.g. global geopotential models, satellite altimetry, and shipborne gravimetric observations. Shipborne gravity data, acquired over a long time, comprises the short-wavelengths gravitation signal. This paper aims to produce a consistent gravity field over the Red Sea region to be used for geoid modelling. Both, the leave-one-out cross-validation and Kriging prediction techniques were chosen to ensure that the observed shipborne gravity data are consistent as well as free of gross-errors. A confidence level equivalent to 95.4% was decided to filter the observed shipborne data, while the cross-validation algorithm was repeatedly applied until the standard deviation of the residuals between the observed and estimated values are less than 1.5 mGal, which led to the elimination of about 17.7% of the shipborne gravity dataset. A comparison between the shipborne gravity data with DTU13 and SSv23.1 satellite altimetry-derived gravity models is done and reported. The corresponding results revealed that altimetry models almost have identical data content when compared one another, where the DTU13 gave better results with a mean and standard deviation of ?2.40 and 8.71 mGal, respectively. A statistical comparison has been made between different global geopotential models (GGMs) and shipborne gravity data. The Spectral Enhancement Method was applied to overcome the existing spectral gap between the GGMs and shipborne gravity data. EGM2008 manifested the best results with differences characterised with a mean of 1.35 mGal and a standard deviation of 11.11 mGal. Finally, the least-squares collocation (LSC) was implemented to combine the shipborne gravity data with DTU13 in order to create a unique and consistent gravity field over the Red Sea with no data voids. The combined data were independently tested using a total number of 95 randomly chosen shipborne gravity stations. The comparison between the extracted shipborne gravity data and DTU13 altimetry anomalies before and after applying the LSC revealed that a significant improvement is procurable from the combined dataset, in which the mean and standard deviation of the differences dropped from ?3.60 and 9.31 mGal to ?0.39 and 2.04 mGal, respectively.