超短基线定位系统在深拖探测中的应用

作为水下探测设备的载体，深拖系统可长时间大范围的进行海洋调查，其水下位置的准确与否，将直接关系到探测资料的可用度。该文从深拖水下导航定位的关键技术问题出发，总结了适用于深拖系统的水下定位方法，重点介绍了具备高稳定度、高精度等诸多优点的超短基线声学定位系统。结合实例，阐述了超短基线定位工作原理、误差分析及数据处理方法，在拖曳系统匀速直线运动状态下，基于抗差自适应卡尔曼滤波算法对超短基线定位数据进行了处理，滤除了定位数据中的跳点，得到了较平滑且与原始数据相吻合的滤波数据。

APPLICATION OF ULTRAGSHORT BASELINE POSITIONING SYSTEM TO DEEP TOWING OPERATION

As the carrier of underwater detection equipment, the positioning accuracy of deep towing system has a direct impact on data acquisition and reliability. In this paper, we discussed the key technical problems in underwater positioning for deep towing, and the underwater positioning methods suitable for deep towing system are summarized. Acoustic positioning technology, such as the ultra-short baseline positioning system, has the advantages of high stability and precision, and has thus become an important technical method for underwater positioning. Combined with field examples, this paper is devoted to the working principles, error analysis and data processing methods of ultra-short baseline positioning. With Kalman filter algorithm, the ultra-short baseline positioning data is processed, and the hopping points in the positioning data are filtered out, as the consequence of which the filtered data is getting smoother and well matches the original data.