附加深度差和水平距离约束的深海控制点差分定位算法

针对现有方法确定海底控制点(应答器)三维坐标垂直解偏差大的问题,提出了附加控制点间深度差和水平距离约束的差分定位算法。首先研究了声速剖面的变化规律,并分析了声速剖面的不确定性对测距误差的影响。其次,根据测距误差的变化规律设计了相应的测线,并提出了适合这种走航策略的差分算法。仿真试验的结果显示,相比于传统方法(圆走航),控制点垂直解的偏差由30多个cm减小到了10 cm左右,表明本文提出的方法可以有效改善控制点定位垂直解偏差大的问题。

Differential positioning algorithm for deep-sea control points on constraint of depth difference and horizontal distance constraint

To solve the problem of seafloor control point (transponder) absolute positioning with a large deviation of the vertical solution, this paper proposes a differential localization algorithm with depth difference and horizontal distance constraint between underwater control points. Firstly, the variation of sound velocity profile is studied. Based on this conclusion, the influence of uncertain sound velocity profile on the ranging error is analyzed. Secondly, according to the change law of ranging error, the corresponding measuring line is designed. And an underwater differential localization algorithm for this survey strategy is proposed. Finally, simulation experiments show that the deviation of the vertical solution is reduced from more than 30 cm to about 10 cm. It implies that the new method can effectively reduce the deviation of the vertical solution of the control point positioning compared with the traditional method (circular sailing).