CN108562872B - Method for detecting abnormal value during ultra-short baseline underwater acoustic positioning calibration - Google Patents

Method for detecting abnormal value during ultra-short baseline underwater acoustic positioning calibration Download PDF

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CN108562872B
CN108562872B CN201810243886.0A CN201810243886A CN108562872B CN 108562872 B CN108562872 B CN 108562872B CN 201810243886 A CN201810243886 A CN 201810243886A CN 108562872 B CN108562872 B CN 108562872B
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CN108562872A (en
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孙佳龙
郭淑艳
龙冰心
秦思远
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Ju Haijian
Nantong Jianghai Surveying And Mapping Institute Co ltd
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Huaihai Institute of Techology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/28—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

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Abstract

The invention discloses a method for detecting abnormal values during ultra-short baseline underwater acoustic positioning calibration, which belongs to the technical field of ocean resource detection, has pervasive property, can detect abnormal values of ultra-short baseline calibration acoustic coordinates by applying the method, considers that a ship runs in an approximately circular track during calibration, combines the stable statistical mathematical characteristics of a least square method, can better detect the abnormal values of the acoustic coordinates, and is a method for detecting the stability of the abnormal values of the acoustic coordinates.

Description

Method for detecting abnormal value during ultra-short baseline underwater acoustic positioning calibration
Technical Field
The invention belongs to the technical field of ocean resource detection, and particularly relates to a method for detecting abnormal values during ultra-short baseline underwater acoustic positioning calibration.
Background
In recent years, as the requirements on data accuracy for marine scientific research and marine exploration and development activities are higher and higher, the towed bodies (sonar towed fish, underwater robots and the like) working underwater need to be accurately positioned. At present, two means are mainly adopted for underwater positioning, one is a LAYBACK mode, the method is simpler, but the positioning effect is not ideal, and the deviation of the azimuth and the distance of a towed body and a GPS antenna is greatly influenced by factors such as ship speed, course and flow speed; and the other method is to use the underwater acoustic technology to carry out underwater positioning, so that higher precision requirements can be met. The high-precision underwater acoustic positioning system is an integration of many high and new technologies, and can be divided into 3 positioning technologies of a long base line (long base line), a short base line (short base line) and an ultra short base line (USBL for short) according to the difference of base line lengths and the difference of working principles and action ranges. The long baseline method has high positioning accuracy, but the equipment is huge, and the laying process is complex; the short baseline positioning method has the advantages that the equipment and the layout are simple, but the precision is not high; the ultra-short baseline underwater acoustic positioning system has the advantages of low cost, strong portability, high flexibility, simple operation and the like, and is widely applied to the fields of ocean engineering, ocean mineral resources, underwater archaeology, ocean national defense construction and the like. The positioning accuracy of the underwater target is influenced due to a certain deviation of the ultra-short baseline positioning, so that the correction and processing of the positioning data of the ultra-short baseline underwater positioning system are carried out, and the method has important significance for improving the positioning accuracy of the underwater target.
Factors influencing the positioning accuracy of the ultra-short baseline are multifaceted, and mainly include: the compass measures the errors of ship heading, ship-borne GPS positioning errors, ultra-short baseline angle measurement errors, system errors existing during installation of the transducer, sound velocity measurement errors and distance measurement errors caused by the sound velocity measurement errors. Besides, the signal propagation in water is disturbed by the marine environment, and the deviation of the ship attitude caused by waves can also cause errors.
The system errors existing during the installation of the transducer are mainly due to the fact that coordinate systems of the underwater sound sensor, the attitude sensor and the GPS sensor are not coincident, and system deviations such as translation and rotation exist among the underwater sound sensor, the attitude sensor and the GPS sensor, and the system deviations are an important reason of ultra-short baseline positioning errors. Therefore, before using the ultra-short baseline positioning, the ultra-short baseline positioning system needs to be effectively calibrated to improve the positioning accuracy. However, due to the influence of various environments, various errors may exist in the ultra-short baseline underwater acoustic positioning data, and particularly, the occurrence of some abnormal values may cause the failure of many calibration algorithms, so that the calibration accuracy is difficult to improve. In the calibration process, for the occurrence of the abnormal value, a coefficient matrix of an ultra-short baseline installation error calibration observation equation can be used for calculating a feature matrix of the singular value, the feature value of the singular value is extracted from the singular feature matrix, and whether singularity exists in data corresponding to the feature value is judged according to the feature value.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a method for detecting the abnormal value during the ultra-short baseline underwater acoustic positioning calibration, which has reasonable design, overcomes the defects of the prior art and has good effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for detecting abnormal values during ultra-short baseline underwater acoustic positioning calibration comprises the following steps:
step 1: calculating the coordinates of the transponder in the coordinate system of the ship
Under the premise that the heading offset delta α, the pitching offset delta β and the rolling offset delta gamma are all 0, the coordinate P of the transponder in the ship coordinate system is calculated according to a conversion matrix between the transducer coordinate system and the ship coordinate systemShip with a detachable hull；
Figure GDA0002413595940000021
Figure GDA0002413595940000022
Figure GDA0002413595940000023
PShip with a detachable hull＝TΔα·TΔβ·TΔγ·PChangeable pipe(4)；
Wherein, TΔγFor the coordinates of the transponder in the transducer coordinate system around XChangeable pipeConversion matrix of shaft rotation delta gamma angle, TΔβFor the coordinates of the transponder in the transducer coordinate system around YChangeable pipeConversion matrix of shaft rotation delta β angle, TΔαFor the coordinates of the transponder in the transducer coordinate system around ZChangeable pipeConversion matrix of shaft rotation delta α angle PShip with a detachable hullAre the coordinates of the transponder in the ship coordinate system,
Figure GDA0002413595940000024
Pchangeable pipeAre the coordinates of the transponder in the transducer coordinate system,
Figure GDA0002413595940000025
step 2: calculating the coordinates of the transponder in the geodetic coordinate system
Calculating the coordinates of the transponder in a geodetic coordinate system by utilizing a conversion matrix between a ship coordinate system and the geodetic coordinate system according to the attitude parameters of the course angle α, the pitching angle β and the roll angle gamma which are acquired by the attitude sensor;
Figure GDA0002413595940000026
Figure GDA0002413595940000031
Figure GDA0002413595940000032
Pground＝Tα·Tβ·Tγ·PShip with a detachable hull(8)；
Wherein, TγFor the coordinates of the transponder in the coordinate system of the vessel around XShip with a detachable hullConversion matrix of axis rotation gamma angle, TβFor the coordinates of the transponder in the coordinate system of the vessel around YShip with a detachable hullConversion matrix of shaft rotation β angle, TαFor the coordinates of the transponder in the coordinate system of the vessel around ZShip with a detachable hullConversion matrix of shaft rotation α angle PShip with a detachable hullAre the coordinates of the transponder in the ship coordinate system,
Figure GDA0002413595940000033
PgroundBeing the coordinates of the transponder in the geodetic coordinate system,
Figure GDA0002413595940000034
and step 3: converting the coordinates of the transponder in a geodetic coordinate system and the GPS geodetic coordinates of the ship running track into coordinates in a Gaussian plane rectangular coordinate system through Gaussian transformation;
and 4, step 4: GPS geodetic coordinate of translational ship running track
Calculating the average value of coordinates of the transponder under a Gaussian plane rectangular coordinate system, taking the average value of the coordinates of the transponder under the Gaussian plane rectangular coordinate system as the actual coordinates of the transponder, taking the average value of the coordinates of the transponder under the Gaussian plane rectangular coordinate system as a new coordinate system origin, and respectively translating the GPS geodetic coordinates of the ship running track along x, y and z axes to obtain an approximate circle taking the actual coordinates of the transponder as the center of a circle;
and 5: calculating the radius of the ship's trajectory
Fitting ship tracks by using a least square method through the coordinates under the Gaussian plane rectangular coordinate system in the step 3 to obtain the circle center and the radius of a fitting circle;
step 6: calculating the standard deviation of the distance error
Calculating the plane distance between the plane distance and the circle center of the fitting circle according to the plane position coordinates of the ship, calculating the difference value between the plane distance and the radius of the fitting circle, and calculating the standard deviation by using the difference value, wherein when the distance between each point of the ship track and the circle center of the fitting circle and the distance between the points of the ship track and the radius of the fitting circle exceed 2 times of the standard deviation, the acoustic measurement value of the ship at the point is an invalid value, and the ship is considered as gross error to be rejected; then step 7 is executed;
and 7: and (5) removing the gross error as an abnormal value, recombining a new ship operation track, and repeating the steps 5-6 until no abnormal value exists.
The invention has the following beneficial technical effects:
the method for detecting the abnormal value during the ultra-short baseline underwater acoustic positioning calibration has the universal characteristic, can detect the abnormal value of the ultra-short baseline calibration acoustic coordinate by applying the method, considers that a ship runs in an approximately circular track during calibration, combines the stable statistical mathematical characteristics of the least square method, can better detect the abnormal value of the acoustic coordinate, and is a method for detecting the stability of the abnormal value of the acoustic coordinate.
Drawings
FIG. 1 is a schematic diagram of a transponder and ship trajectory Gaussian plane rectangular coordinate.
Fig. 2 is a schematic diagram of the translated ship trajectory and the actual position of the transponder.
FIG. 3 is a schematic diagram of the distance between the ship trajectory and the actual position of the transponder and the fitting radius.
FIG. 4 is a schematic diagram of the probability distribution of the distance between the ship trajectory and the actual position of the transponder and the fitting radius difference.
FIG. 5 is a schematic diagram of the rectangular coordinates of the Gaussian planes of the transponder and the ship track after the abnormal values are removed.
FIG. 6 is a schematic diagram of the translated ship trajectory and the actual position of the transponder after removing the outlier.
FIG. 7 is a schematic diagram showing the distance between the ship track and the actual position of the transponder after removing the abnormal value and the fitting radius.
FIG. 8 is a schematic diagram of probability distribution of the difference between the distance between the ship track and the actual position of the transponder after removing the abnormal value and the fitting radius.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
a method for detecting abnormal values during ultra-short baseline underwater acoustic positioning calibration comprises the following steps:
step 1: calculating the coordinates of the transponder in the coordinate system of the ship
Under the premise that the heading offset delta α, the pitching offset delta β and the rolling offset delta gamma are all 0, the coordinate P of the transponder in the ship coordinate system is calculated according to a conversion matrix between the transducer coordinate system and the ship coordinate systemShip with a detachable hull；
Figure GDA0002413595940000041
Figure GDA0002413595940000042
Figure GDA0002413595940000043
PShip with a detachable hull＝TΔα·TΔβ·TΔγ·PChangeable pipe(4)；
Wherein, TΔγFor the transponder at the transducerCoordinate under the coordinate system is around XChangeable pipeConversion matrix of shaft rotation delta gamma angle, TΔβFor the coordinates of the transponder in the transducer coordinate system around YChangeable pipeConversion matrix of shaft rotation delta β angle, TΔαFor the coordinates of the transponder in the transducer coordinate system around ZChangeable pipeConversion matrix of shaft rotation delta α angle PShip with a detachable hullAre the coordinates of the transponder in the ship coordinate system,
Figure GDA0002413595940000051
Pchangeable pipeAre the coordinates of the transponder in the transducer coordinate system,
Figure GDA0002413595940000052
step 2: calculating the coordinates of the transponder in the geodetic coordinate system
Calculating the coordinates of the transponder in a geodetic coordinate system by utilizing a conversion matrix between a ship coordinate system and the geodetic coordinate system according to the attitude parameters of the course angle α, the pitching angle β and the roll angle gamma which are acquired by the attitude sensor;
Figure GDA0002413595940000053
Figure GDA0002413595940000054
Figure GDA0002413595940000055
Pground＝Tα·Tβ·Tγ·PShip with a detachable hull(8)；
Wherein, TγFor the coordinates of the transponder in the coordinate system of the vessel around XShip with a detachable hullConversion matrix of axis rotation gamma angle, TβFor the coordinates of the transponder in the coordinate system of the vessel around YShip with a detachable hullConversion matrix of shaft rotation β angle, TαFor the coordinates of the transponder in the coordinate system of the vessel around ZShip with a detachable hullConversion matrix of shaft rotation α angle PShip with a detachable hullAre the coordinates of the transponder in the ship coordinate system,
Figure GDA0002413595940000056
PgroundBeing the coordinates of the transponder in the geodetic coordinate system,
Figure GDA0002413595940000057
and step 3: converting the coordinates of the transponder in a geodetic coordinate system and the GPS geodetic coordinates of the ship running track into coordinates in a Gaussian plane rectangular coordinate system through Gaussian transformation;
and 4, step 4: GPS geodetic coordinate of translational ship running track
Calculating the average value of coordinates of the transponder under a Gaussian plane rectangular coordinate system, taking the average value of the coordinates of the transponder under the Gaussian plane rectangular coordinate system as the actual coordinates of the transponder, taking the average value of the coordinates of the transponder under the Gaussian plane rectangular coordinate system as a new coordinate system origin, and respectively translating the GPS geodetic coordinates of the ship running track along x, y and z axes to obtain an approximate circle taking the actual coordinates of the transponder as the center of a circle;
and 5: calculating the radius of the ship's trajectory
Fitting ship tracks by using a least square method through the coordinates under the Gaussian plane rectangular coordinate system in the step 3 to obtain the circle center and the radius of a fitting circle;
step 6: calculating the standard deviation of the distance error
Calculating the plane distance between the plane distance and the circle center of the fitting circle according to the plane position coordinates of the ship, calculating the difference value between the plane distance and the radius of the fitting circle, and calculating the standard deviation by using the difference value, wherein when the distance between each point of the ship track and the circle center of the fitting circle and the distance between the points of the ship track and the radius of the fitting circle exceed 2 times of the standard deviation, the acoustic measurement value of the ship at the point is an invalid value, and the ship is considered as gross error to be rejected; then step 7 is executed;
and 7: and (5) removing the gross error as an abnormal value, recombining a new ship operation track, and repeating the steps 5-6 until no abnormal value exists.
Before the ultra-short baseline calibration, the coordinates of the transponder under the transducer are converted into a geodetic coordinate system through a ship coordinate system, the GPS geodetic coordinates of the ship running track and the coordinates of the transponder under the geodetic coordinate system are converted into coordinates under a Gaussian plane rectangular coordinate system through Gaussian transformation, and the conversion result is shown in FIG. 1. In fig. 1, the actual coordinates of the transponder are obtained by averaging the coordinates of the transponder in the gaussian plane rectangular coordinate system, the track of the ship is approximately circular, and due to the comprehensive influence of various errors, including the occurrence of abnormal values, the coordinates of the transponder are not uniformly distributed around the center of the circle, but are scattered around the track of the ship.
The average position of the transponder is used as the origin of a new coordinate system, the ship track coordinates are translated along the x axis, the y axis and the z axis respectively to obtain an approximate circle with the actual position of the transponder as the center of the circle, and the ship track is fitted by using a least square method to obtain the center of the circle and the radius of the fitted circle, as shown in fig. 2.
As can be seen from fig. 2, the ship operation trajectory scatters inside and outside the fitting circle in the form of discrete points, and the farther the ship operation trajectory is from the fitting circle trajectory, the larger the rough difference that may be contained, that is, the abnormal value may be contained. The distribution of the ship track error is obtained by calculating the distance between the ship track and the actual position of the transponder and then calculating the difference between the ship track and the fitting radius, as shown in fig. 3.
As can be seen from fig. 3, most of the translated ship travel tracks are uniformly distributed around the center of the circle by taking the actual transponder position as the center, but some tracks are far away from the center of the circle or close to the center of the circle. The probability distribution of the distance from the translated ship moving track to the center of the circle is shown in fig. 4.
As can be seen from fig. 4, due to the presence of partial gross errors (outliers), these distances do not exhibit a normal distribution,
according to the present invention, the detection of an abnormal value is performed on the original acoustic coordinate data. When the abnormal values of the acoustic coordinates are removed, the results are shown in fig. 5 to 8. As can be seen from fig. 5, after removing the abnormal coordinates, the calculated planar rectangular coordinates of the plurality of transponders in the gaussian planar rectangular coordinate system are relatively uniformly distributed around the average transponder coordinate. The average transponder coordinate is used as the origin of a new coordinate system, the plane rectangular coordinate of the ship moving track in the gaussian plane rectangular coordinate system is translated, and the obtained new track is removed with abnormal values, and is relatively uniformly distributed near the fitted circle, and no abnormal value which is too far away from the fitted circle appears, as shown in fig. 6. By calculating the difference between the ship track and the coordinates of the actual transponder (the origin of the new coordinate system), the obtained plane straight line distance is compared with the circle radius, and after the abnormal value is removed, the obtained distance is compared with the radius, the difference is smaller, and the distribution is more uniform, as shown in fig. 7. The probability distribution of the ship trajectory is counted, as shown in fig. 8, the probability distribution basically presents a normal distribution, and the quality of the acoustic coordinate data is improved on the whole after the abnormal value is removed. Through calculation, the root mean square error of the distance between the ship track and the actual position of the transponder is 7.2672m for the original observation data, and after the abnormal value is detected and removed by the method, the root mean square error of the distance is 3.9325m, the precision is improved by 45%, and the effectiveness of the method is demonstrated.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.

Claims (1)

1. A method for detecting abnormal values during ultra-short baseline underwater acoustic positioning calibration is characterized by comprising the following steps:
step 1: calculating the coordinates of the transponder in the coordinate system of the ship
Under the premise that the heading offset delta α, the pitching offset delta β and the rolling offset delta gamma are all 0, the coordinate P of the transponder in the ship coordinate system is calculated according to a conversion matrix between the transducer coordinate system and the ship coordinate systemShip with a detachable hull；
Figure FDA0002413595930000011
Figure FDA0002413595930000012
Figure FDA0002413595930000013
PShip with a detachable hull＝TΔα·TΔβ·TΔγ·PChangeable pipe(4)；
Wherein, TΔγFor the coordinates of the transponder in the transducer coordinate system around XChangeable pipeConversion matrix of shaft rotation delta gamma angle, TΔβFor the coordinates of the transponder in the transducer coordinate system around YChangeable pipeConversion matrix of shaft rotation delta β angle, TΔαFor the coordinates of the transponder in the transducer coordinate system around ZChangeable pipeConversion matrix of shaft rotation delta α angle PShip with a detachable hullAre the coordinates of the transponder in the ship coordinate system,
Figure FDA0002413595930000014
Pchangeable pipeAre the coordinates of the transponder in the transducer coordinate system,
Figure FDA0002413595930000015
step 2: calculating the coordinates of the transponder in the geodetic coordinate system
Calculating the coordinates of the transponder in a geodetic coordinate system by utilizing a conversion matrix between a ship coordinate system and the geodetic coordinate system according to the attitude parameters of the course angle α, the pitching angle β and the roll angle gamma which are acquired by the attitude sensor;
Figure FDA0002413595930000016
Figure FDA0002413595930000017
Figure FDA0002413595930000021
Pground＝Tα·Tβ·Tγ·PShip with a detachable hull(8)；
Wherein, TγFor the coordinates of the transponder in the coordinate system of the vessel around XShip with a detachable hullConversion matrix of axis rotation gamma angle, TβFor the coordinates of the transponder in the coordinate system of the vessel around YShip with a detachable hullConversion matrix of shaft rotation β angle, TαFor the coordinates of the transponder in the coordinate system of the vessel around ZShip with a detachable hullConversion matrix of shaft rotation α angle PShip with a detachable hullAre the coordinates of the transponder in the ship coordinate system,
Figure FDA0002413595930000022
PgroundBeing the coordinates of the transponder in the geodetic coordinate system,
Figure FDA0002413595930000023
and step 3: converting the coordinates of the transponder in a geodetic coordinate system and the GPS geodetic coordinates of the ship running track into coordinates in a Gaussian plane rectangular coordinate system through Gaussian transformation;
and 4, step 4: GPS geodetic coordinate of translational ship running track
Calculating the average value of coordinates of the transponder under a Gaussian plane rectangular coordinate system, taking the average value of the coordinates of the transponder under the Gaussian plane rectangular coordinate system as the actual coordinates of the transponder, taking the average value of the coordinates of the transponder under the Gaussian plane rectangular coordinate system as a new coordinate system origin, and respectively translating the GPS geodetic coordinates of the ship running track along x, y and z axes to obtain an approximate circle taking the actual coordinates of the transponder as the center of a circle;
and 5: calculating the radius of the ship's trajectory
Fitting ship tracks by using a least square method through the coordinates under the Gaussian plane rectangular coordinate system in the step 3 to obtain the circle center and the radius of a fitting circle;
step 6: calculating the standard deviation of the distance error
Calculating the plane distance between the plane distance and the circle center of the fitting circle according to the plane position coordinates of the ship, calculating the difference value between the plane distance and the radius of the fitting circle, and calculating the standard deviation by using the difference value, wherein when the distance between each point of the ship track and the circle center of the fitting circle and the distance between the points of the ship track and the radius of the fitting circle exceed 2 times of the standard deviation, the acoustic measurement value of the ship at the point is an invalid value, and the ship is considered as gross error to be rejected; then step 7 is executed;
and 7: and (5) removing the gross error as an abnormal value, recombining a new ship operation track, and repeating the steps 5-6 until no abnormal value exists.
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