CN101441267B - Three-measuring point high precision alignment calibration method of seabed answering machine absolute location - Google Patents

Abstract

The invention provides a three-measuring-point high-precision alignment calibration method for the absolute position of a submarine responder, which comprises the following steps: (1) using the single question and answer of the ultrashort baseline and the submarine responder to position the responder; (2) selecting three measuring points according to positioning result and the directional distribution property of positioning error, and positioning the submarine responder in the selected points under the guidance of the ultrashort baseline; (3) combing the coordinates of the three measuring points, listing a positioning equation based on the slope distance information measured at three times, and solving the absolute position of the submarine responder. The method can realize the high-precision calibration of the absolute position of the submarine responder. In addition, the method only requires respective single measurement at the three measuring points, thus avoiding the blindness of measuring point selection and improving working efficiency.

Description

Seabed transponder absolute position three-measuring point high precision calibration method

(1) technical field

What the present invention relates to is a kind of hydrolocation method, relates generally to the calibration method of seabed transponder absolute position.

(2) background technology

Existing to seabed transponder absolute position calibration method, mainly can be divided into two classes.The one, utilization is installed in the basic matrix that has station-keeping ability on the waterborne vessel and directly seabed transponder is carried out calibration.This basic matrix both can be a ultra-short baseline, also can be short baseline.The advantage of these class methods is operating efficiency height, only just can obtain the calibration result by single measurement.The deficiency of this method is that the precision of calibration is relatively poor relatively, is difficult to satisfy the requirement of transponder location high precision calibration.This is because the less cause of basic matrix size causes.Another kind of is in water surface multimetering relative distance information, constitutes long baseline calibration is carried out in the seabed transponder absolute position.The advantage of this method is the precision height of position calibration.But this method needs to select three measuring points to measure at least, and its calibration precision and point position choose closely related.

Increasing along with underwater operation, the demand of the absolute position calibration of high-precision seabed (particularly deep-sea) transponder seems more and more outstanding.

(3) summary of the invention

The object of the present invention is to provide a kind of high-precision calibration that can realize the seabed transponder absolute position, can improve the seabed transponder absolute position three-measuring point high precision calibration method of operating efficiency.

The object of the present invention is achieved like this:

(1) utilize the single question and answer of ultra-short baseline and seabed transponder that transponder is located;

(2) choose three measuring points according to the spatial characteristics of positioning result and positioning error, utilize the ultra-short baseline guiding seabed transponder to be located at Chosen Point;

(3) in conjunction with three measuring point coordinates, utilize the oblique distance information that records for three times to list positioning equation, solve the absolute position of seabed transponder.

The present invention can also comprise:

1, described ultra-short baseline and the seabed transponder single question and answer utilized to the method that transponder positions are: (1) at first ultra-short baseline sends an interrogating signal to transponder, and transponder detects signal, and sends an answer signal; (2) ultra-short baseline calculates answer signal with respect to transmission interrogating signal time delay constantly, and then tries to achieve the distance between ultra-short baseline acoustic basic matrix and the transponder; (3) ultra-short baseline is estimated the orientation of transponder by the delay inequality between each array element of answer signal arrival acoustics basic matrix of calculating transponder; (4) calculate the position coordinates of transponder according to distance and bearing.

2, described spatial characteristics according to positioning result and positioning error is chosen three measuring points, and utilizes the method for ultra-short baseline guiding to be: (1) obtains the depth of water h of transponder according to positioning result, chooses base length $L=\sqrt{6}h,$ Horizontal range between measuring point and the transponder is Oblique distance is

(2) ultra-short baseline and transponder question and answer in oblique distance are

Circle on navigate by water; (3) the DOA estimation result according to ultra-short baseline chooses three points of formation equilateral triangle as measuring point.

3, the described method of finding the solution the seabed transponder absolute position is: (1) carries out question and answer at selected measuring point and seabed transponder, tries to achieve oblique distance between measuring point and the seabed transponder according to signal transmission delay; (2) utilize high accurate GPS information to write down the absolute location information of this measuring point; (3) method of utilizing sphere to cross solves the exact position of seabed transponder.

For realizing purpose of the present invention, need to calculate the space error distribution character of three measuring points location, this is a foundation of choosing measuring point.The formation of three measuring points is equilateral triangles, claims that this length of side is a base length.The degree of depth of the position that the transponder location calibration accuracy is the highest and base length have fixing relation.Thereby the spatial characteristics of calculating by the transponder degree of depth and the step 2 of step 1 acquisition can obtain base length.

For realizing purpose of the present invention, the positioning result that need utilize ultra-short baseline arrives correct measuring point transponder is measured calibration the ship channeling conduct.The position of three measuring points all is the relative position with transponder, and ultra-short baseline can satisfy this requirement.

For realizing purpose of the present invention, need to obtain three measuring points positional information and and transponder between oblique distance information.Positional information can be measured by high accurate GPS.And the oblique distance information and the velocity of sound and time delay all have relation, except will guaranteeing high-precision latency measurement.Also need oblique distance to be carried out the crooked correction of sound ray according to velocity of sound distribution.Remote situation is particularly like this at the deep-sea.

Characteristics of the present invention are at the station-keeping ability by means of ultra-short baseline location, obtain the depth information of transponder according to positioning result, and according to the spatial characteristics of three measuring point positioning errors, choose three the highest measuring points of transponder location calibration accuracy.And the station-keeping ability by ultra-short baseline, waterborne vessel is guided to measuring point, carry out question and answer with seabed transponder.Measurement result according to three measuring points calculates transponder location information.This method can realize the high-precision calibration to the seabed transponder absolute position, and this method only need be in the single measurement respectively of three measuring points, and the blindness of having avoided measuring point to select has improved operating efficiency.

(4) description of drawings

Fig. 1 is the geometric configuration synoptic diagram of seabed transponder absolute position high precision calibration.

(5) embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

In conjunction with Fig. 1, transponder anchor 1 is due to the seabed, and the ultra-short baseline 3 that has high-precision GPS 2 is installed on topside.Ultra-short baseline 3 to transponder 1 range finding, can solve the position of transponder at the water surface three measuring points.The selection of three measuring points is that the positioning result by ultra-short baseline is realized the guiding to ship.

For realizing the object of the invention, provide the method for seabed transponder absolute position three-measuring point high precision calibration.As Fig. 1, the position of supposing to be anchored to the transponder in seabed is X _T, the waterborne vessel of band GPS has carried out N time question and answer at sea multiple spot and seabed transponder.Position X corresponding to the i measurement point _GiMeasured oblique distance is r _i, i=1,2 ..., N.Transponder location calibration equation:

||X _Gi-X _T||＝r _i (i＝1，2，...，N) (1)

N=3 represents to measure number of times in the formula.

Provide the proof that point position is chosen below.

System of equations (1) will have the condition of unique solution to be:

$\frac{x_2-x_1}{x_3-x_2}\≠\frac{y_2-y_1}{y_3-y_2}---\left(2\right)$

I.e. three measurement points conllinear not.

Might as well suppose that three measurement points constitute equilateral triangle, and consider the transponder location calibration accuracy of transponder when different spatial.The coordinate of three measurement points is:

Can be to system of equations (1) differential in the hope of horizon location error σ _XyWith depth error σ _h:

${\mathrm{\σ}}_{\mathrm{xy}}=\sqrt{{\mathrm{dx}}^2+{\mathrm{dy}}^2}$

$=\frac{2\sqrt{3}}{3L}\sqrt{{\left(r_1{\mathrm{dr}}_1\right)}^2+{\left(r_2{\mathrm{dr}}_2\right)}^2{+\left(r_3{\mathrm{dr}}_3\right)}^2}---\left(3\right)$

${\mathrm{\σ}}_h=\frac{1}{3h}\sqrt{r_1^2{\mathrm{\σ}}_{r_1}^2+r_2^2{\mathrm{\σ}}_{r_2}^2+r_3^2{\mathrm{\σ}}_{r_3}^2}---\left(4\right)$

As range error dr ₁=dr ₂=dr ₃The time, work as r as can be known according to mathematical knowledge ₁=r ₂=r ₃The time horizon location error σ _XyCan obtain minimum value.This moment, the horizontal projection of transponder was positioned at the center against long baseline that constitutes equilateral triangle, and its coordinate is Order $r_1=r_2=r_3=r=\sqrt{h^2+\frac{L^2}{3}},$ dr ₁＝dr ₂＝dr ₃＝σ _r。

This transponder coordinate substitution formula (3) can be got:

${\mathrm{\σ}}_{\mathrm{xy}}=\frac{2}{L}\sqrt{h^2+\frac{L^2}{3}}{\mathrm{\σ}}_r---\left(5\right)$

This moment depth error:

${\mathrm{\σ}}_h=\frac{\sqrt{3}}{3}\sqrt{1+\frac{L^2}{3h^2}}{\mathrm{\σ}}_r---\left(6\right)$

The general location error σ of definition transponder location calibration _a:

${\mathrm{\σ}}_a=\sqrt{{\mathrm{\σ}}_{\mathrm{xy}}^2+{\mathrm{\σ}}_h^2}---\left(7\right)$

Formula (5) and (6) substitution following formula can be got

${\mathrm{\σ}}_a=\sqrt{\frac{4h^2}{L^2}+\frac{L^2}{9h^2}+\frac{5}{3}}{\mathrm{\σ}}_r---\left(8\right)$

Yi Zhi works as $h=\frac{\sqrt{6}}{6}L$ The time general location precision the highest.

To sum up, if three measuring points constitute equilateral triangle, base length is L, and the horizontal projection when seabed transponder is the center of equilateral triangle so, and its depth coordinate is $h=\frac{\sqrt{6}}{6}L$ The time, the bearing accuracy of transponder is the highest.In other words, finish, can select measurement point that transponder is carried out the absolute position calibration by laying degree of depth h: can choose base length if seabed transponder has laid $L=\sqrt{6}h,$ The measuring point formation is to be the equilateral triangle at center with the transponder horizontal projection.

In order to obtain high-precision transponder absolute position calibration result, provide the crooked method of revising of a kind of high-precision sound ray below.

Under the dark condition in a Dinghai, the distance of acoustic propagation is a function relevant with propagation delay, this function by the sea deeply and the corresponding velocity of sound distribute and determine.Be expressed from the next:

r＝f(t) (9)

Wherein r is an oblique distance, and f () reaches the function that the corresponding velocity of sound distributes and determines deeply by the sea, can approach by numerical evaluation according to the snell law and find the solution.T is a propagation delay.Utilizing ultra-short baseline seabed transponder location to be obtained just can estimate oblique distance according to time delay information then after the depth information of transponder according to definite this function of velocity of sound distribution.Another kind method is by calculate giving the oblique distance under the dark condition in Dinghai and the function table of propagation delay, and tabling look-up according to measured time delay information just can obtain oblique distance information.

Claims (3)

1. seabed transponder absolute position three-measuring point high precision calibration method is characterized in that:

(1) utilize the single question and answer of ultra-short baseline and seabed transponder that transponder is located;

(2) choose three measuring points according to the spatial characteristics of positioning result and positioning error, utilize the ultra-short baseline guiding seabed transponder to be located at Chosen Point; Concrete grammar is: 1) obtain the depth of water h of transponder according to positioning result, choose base length

Horizontal range between measuring point and the transponder is

Oblique distance is 2) ultra-short baseline and transponder question and answer in oblique distance are

Circle on navigate by water; 3) the DOA estimation result according to ultra-short baseline chooses three points of formation equilateral triangle as measuring point;

(3) in conjunction with three measuring point coordinates, utilize the oblique distance information that records for three times to list positioning equation, solve the absolute position of seabed transponder.

2. seabed transponder according to claim 1 absolute position three-measuring point high precision calibration method, it is characterized in that: described ultra-short baseline and the seabed transponder single question and answer utilized to the method that transponder positions are: (1) at first ultra-short baseline sends an interrogating signal to transponder, transponder detects signal, and sends an answer signal; (2) ultra-short baseline calculates answer signal with respect to transmission interrogating signal time delay constantly, and then tries to achieve the distance between ultra-short baseline acoustic basic matrix and the transponder; (3) ultra-short baseline is estimated the orientation of transponder by the delay inequality between each array element of answer signal arrival acoustics basic matrix of calculating transponder; (4) calculate the position coordinates of transponder according to distance and bearing.

3. seabed transponder according to claim 1 and 2 absolute position three-measuring point high precision calibration method, it is characterized in that: the described method of finding the solution the seabed transponder absolute position is: (1) carries out question and answer at selected measuring point and seabed transponder, tries to achieve oblique distance between measuring point and the seabed transponder according to signal transmission delay; (2) utilize high accurate GPS information to write down the absolute location information of this measuring point; (3) method of utilizing sphere to cross solves the exact position of seabed transponder.