CN111751856B - Accurate positioning method for submarine ground reference point based on PPP technology - Google Patents
Accurate positioning method for submarine ground reference point based on PPP technology Download PDFInfo
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- 238000004441 surface measurement Methods 0.000 claims description 4
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Classifications
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a precise positioning method of a submarine ground reference point based on PPP technology, which is technically characterized by comprising the following steps: the survey line design, through USBL shipborne transducer and dual-frequency GNSS antenna on sea surface survey ship, adopt long-time dynamic PPP observation method to get the three-dimensional position of USBL shipborne transducer, USBL shipborne transducer and sea bottom acoustic mark datum point observe synchronously, measure distance and direction accurately, get the observation data comprising high-accuracy GNSS data and USBL acoustic positioning data of many ship positions; and establishing an underwater acoustic ranging observation equation, and precisely calculating the survey line data by adopting a dynamic PPP positioning calculation method to obtain the absolute three-dimensional position coordinates of the submarine geodetic reference point. The invention has reasonable design, ensures the measurement precision, reduces the operation cost, is not limited by the area and the distance during the GNSS dynamic PPP positioning operation, and improves the operation efficiency.
Description
Technical Field
The invention belongs to the technical field of ocean measurement, and particularly relates to a submarine geodetic reference point accurate positioning method based on a PPP technology.
Background
The submarine geodetic reference point is used as a positioning providing starting reference, and the precision of the submarine navigation positioning precision directly influences the submarine navigation positioning precision. Currently, seabed fiducial calibration has been dependent on spatial localization techniques and acoustic localization techniques.
In order to obtain the absolute position of the seabed datum, the sea surface measuring ship is used as a carrier, the absolute spatial position of the ship is obtained by using a spatial positioning technology and equipment, and then the relative position between the sea surface measuring ship and the seabed datum is measured by using an acoustic positioning technology and equipment, so that the three-dimensional spatial position of the seabed datum is calculated. Thus, spatial localization and acoustic localization techniques determine the feasibility and practical application of calibration techniques.
In the latest operation mode of marking and correcting the seabed datum points, the instantaneous space position of the ship carrier on the water part is determined by adopting a GNSS technology; while the underwater portion of the subsea datum calibration technique, the relative position between the transponder of the subsea datum and the on-board transducer is obtained primarily by means of acoustic positioning techniques, mainly including Long Baseline (LBL), short baseline positioning (SBL) and ultra short baseline positioning (USBL) techniques and combinations thereof. The working principle, the operation flow, the effective range and the positioning precision of the acoustic positioning technologies have great differences; the long baseline positioning technology has the farthest action distance and the highest positioning precision; short baseline technique range and positioning accuracy are inferior; the ultra-short base line has the smallest action range, and has high positioning accuracy in a small range, but the distance is increased, the positioning accuracy is obviously reduced, and the ultra-short base line is the most convenient to use and is also the most widely applied acoustic positioning technology in marine investigation.
Besides the two key technologies, the submarine reference point calibration technology also relates to the technical problems of ship attitude measurement, instrument eccentric calculation, synchronous work and the like. In addition, scholars at home and abroad have conducted a great deal of research on the operation method of the calibration technology. The two-step method is developed from the originally proposed two-step method, namely, the three-dimensional space distance intersection and the triangular pyramid method are utilized to determine the plane coordinates of the control points, and the three-leaf method or the four-leaf method is utilized to determine the vertical coordinates of the control points, so that the calibration precision is improved from the original meter level to the decimeter level or even the centimeter level, and the single-point round navigation calibration, the short baseline calibration, the relative calibration, the joint calibration and the like which are widely applied in recent years are developed. The traditional datum point calibration adopts mother ship static positioning, more than two ships are required to perform calibration, redundant observation can be ensured, the operation cost is increased, the direction and distance measurement value is single, the spatial distribution of the observation value is uneven, and the positioning precision cannot be ensured.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a submarine ground reference point accurate positioning method based on PPP technology, which has the advantages of reasonable design, high measurement precision, low operation cost and simple and convenient use.
The invention solves the technical problems by adopting the following technical scheme:
a submarine geodetic reference point accurate positioning method based on PPP technology comprises the following steps:
step 1, design of a measuring line: designing a circumference measuring line and a straight line measuring line according to the water depth value of the submarine geodetic reference point;
step 2, obtaining the three-dimensional position of the USBL shipborne transducer by a long-time dynamic PPP observation method through the USBL shipborne transducer and a dual-frequency GNSS antenna on the sea surface measurement ship;
step 3, synchronously observing the USBL shipborne transducer and the seabed sound standard datum point according to the survey line given in the step 1, and accurately measuring the distance and the direction to obtain observation data comprising high-precision GNSS data with multiple shippositions and USBL acoustic positioning data;
and 4, establishing an underwater acoustic ranging observation equation based on the observation data obtained in the step 3, and precisely calculating the survey line data by adopting a dynamic PPP positioning calculation method to obtain the absolute three-dimensional position coordinates of the submarine geodetic reference point.
The step 1 test line design comprises the following steps:
taking a reference point water depth value as a radius to perform circumference plus 2 groups of cross sails which are 45 degrees each other to obtain a circumference measuring line and 4 straight line measuring lines intersecting with a circle center;
the sea surface measuring ship takes the water depth value of the datum point as the diameter to perform circumference plus 2 groups of cross sails which are 45 degrees each other, and a circumference measuring line and 4 straight line measuring lines which cross the circle center are obtained.
And (3) mounting the dual-frequency GNSS antenna: the height angle is required to be greater than 15 degrees without shielding.
The observation data collected in the step 3 comprises: GNSS, azimuth, attitude, and USBL data.
The specific implementation method of the step 4 comprises the following steps:
the method comprises the steps that the USBL transducer calculates relative coordinates between a shipborne transceiver and a submarine geodetic reference point through distance measurement or phase measurement, and then calculates the submarine geodetic reference point absolute coordinates according to space three-dimensional coordinates of the shipborne transceiver;
the compass provides the azimuth of the USBL shipborne transducer on the sea surface measuring ship, the attitude sensor provides the rolling and pitching attitude information of the transducer, and the absolute coordinate of the USBL shipborne transducer is calculated by combining the absolute positioning result of the GNSS antenna;
third, the USBL shipborne transducer is used for transmitting sound waves and receiving echoes from the transponder, detecting the transmitting time T1 and the receiving time T2, and determining the single-pass propagation time T of the sound waves between the transducer and the submarine transponder by combining the code delay delta T of the transponder on the seabed, so as to be used for subsequent sound ray tracking and calculation of the straight line distance S between the transducer and the transponder;
the surface acoustic velocity meter is used for measuring the acoustic velocity CV of the transducer position, and the acoustic velocity profiler is used for measuring the acoustic velocity profile between the transducer and the submarine transponder;
after obtaining the sound velocity profile of each moment, according to the time T from the transducer to the transponder actually measured at each moment, adopting a layered addition method of the intra-layer normal sound velocity to realize sound ray tracking and obtain the linear distance SVi between the transducer and the transponder;
the coordinate position of the submarine transponder is accurately calculated through a space ranging intersection positioning method, and symmetrical 4 observation values are selected to construct 1 group of observation equations as follows:
wherein: x, Y, Z is the coordinate position of the seabed transponder to be solved, X i 、Y i 、Z i For the coordinate values of the transducer in different directions, S i The resulting spatial distance of the transducer to the transponder, i=1, 2,3,4, for the underwater acoustic system measurement;
the sea surface survey ship collects n groups of acoustic data, establishes n groups of observation equations simultaneously, and calculates the position of the transponder according to a least square estimation criterion through primary difference elimination, wherein the specific process is as follows:
let the number of submarine geodetic reference points baseline be n, assume that the observation conditions of each edge are consistent, adopt distance weighting:
let sigma be 0 And (3) determining weights according to given ranging accuracy if the unit weight standard deviation is adopted:
the column error equation is:
finally, based on V T Pv=min, calculating the absolute coordinates of the subsea ground reference point and the observation edge correction, wherein σ i The standard deviation of the observation points is x0, y0, z0 is the observation coordinate value, and vx, vy, vz is the coordinate correction.
The invention has the advantages and positive effects that:
the invention is based on high-precision GNSS data and utilizes PPP technology (Precise PointPositioning, precise single-point positioning) to calculate the accurate three-dimensional position coordinates of the on-board transducer of the sea surface measurement USBL; and then synchronously observing the seabed sound standard datum point through a USBL shipborne transducer to obtain accurately measured distance and direction values, carrying out multiple measurements through the movement of the ship to obtain a multi-ship-position observed value, establishing an underwater acoustic ranging observation equation, and accurately solving the absolute three-dimensional position coordinates of the seabed ground datum point by applying an optimization algorithm. The invention has reasonable design, only a single double-frequency GNSS receiver is needed, the PPP technology is adopted to calculate the three-dimensional position of the USBL shipborne transducer for sea surface measurement, the single-point round navigation calibration mode is adopted for underwater positioning, the USBL acoustic positioning system is utilized, the shipborne attitude sensor data are fused to realize high-precision calibration, the measurement precision is ensured, the operation cost is reduced, meanwhile, the limitation of the region and the distance is avoided during the GNSS dynamic PPP positioning operation, and the operation efficiency is improved.
Drawings
FIG. 1 is a connection diagram of a positioning system of the present invention;
FIG. 2 is a schematic diagram of a survey line (course calibration) of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The design idea of the invention is as follows: aiming at the defects of a static positioning operation mode of a mother ship, the method provides a submarine geodetic calibration operation by adopting a PPP technology. The invention is realized on the seabed datum point calibration system shown in fig. 1, which comprises an equipment installation deviation detection and correction module, a sound ray tracking and distance calculation module, a control point observation data quality control module, an on-board transducer equipment absolute calibration module and a seabed datum point USBL absolute calibration module. The main equipment installed on the ship comprises a dual-frequency GNSS antenna and receiver, a USBL system, a compass, an attitude sensor, a surface acoustic velocity meter, a sound velocity profiler, a pressure sensor and the like, and the operation requirements are as follows:
1. measuring the plane relative distance (dx, dy) and the vertical distance from the USBL shipborne transducer to the GNSS antenna, and utilizing the equipment installation deviation detection and correction module to calculate the calibration parameters of the transducer according to the installation position relation among the shipborne GNSS, compass, attitude sensor and other equipment.
2. And acquiring sound velocity profile data, and calculating the linear distance between the transducer and the submarine ground reference point by utilizing a sound ray tracking and distance calculating module.
3. Performing quality monitoring on the GNSS data and the acoustic positioning data by using a control point observation data quality control module; and the three-coordinate axis conversion relation between the three coordinate axes of the transducer array center and the center of gravity of the sea surface measuring ship is established by using the ship-borne transducer equipment absolute calibration module.
4. Around the submarine calibration point, measuring clockwise and anticlockwise for one circle according to the circumferential navigation mode, acquiring observation data above the calibration point according to the crisscross navigation mode, and performing dynamic PPP calculation.
5. Based on the accurate position of the high-precision transducer and the distance between the transducer and the seabed ground reference point, the absolute plane coordinates and the absolute elevation of the seabed ground reference point are accurately calculated by adopting a seabed reference point USBL absolute calibration module.
6. In order to ensure the positioning accuracy, the initial measurement time is 20 minutes, and then the formal operation is carried out.
Based on the design thought, the invention provides a submarine geodetic reference point accurate positioning method based on PPP technology, which comprises the following steps:
step 1, design of a measuring line: firstly, a sea surface measuring ship takes a datum point water depth value as a radius to make circumference and adds 2 groups of cross sails which are 45 degrees each other, namely, a circumference measuring line with the radius being the datum point water depth value and 4 straight line measuring lines which are intersected with the circle center are designed; then taking the water depth value of the datum point as the diameter to make circumference plus 2 groups of cross sails with 45 degrees, namely designing a circumference measuring line with the diameter being the water depth value of the datum point and 4 straight line measuring lines crossing the circle center, as shown in figure 2.
In the step, the relation between the acoustic opening angle and the signal intensity of equipment on the submarine geodetic reference point needs to be considered, the energy is concentrated due to small opening angle, the signal intensity is high, and the positioning accuracy of the acoustic beacon is improved; the sea surface measuring ship performs circular track calibration operation, obtains symmetrical distances and realizes calibration of the seabed datum points.
And 2, accurately obtaining the three-dimensional position of the USBL shipborne transducer by a long-time dynamic PPP observation method through the USBL shipborne transducer and the dual-frequency GNSS antenna on the sea surface measuring ship.
The method mainly comprises the steps that a dual-frequency GNSS antenna and a receiver, a USBL system, a compass, an attitude sensor, a surface acoustic velocity meter, an acoustic velocity profile meter, a pressure sensor and other measuring equipment are arranged on a sea surface measuring ship, the installation positions of the GNSS antenna and the USBL shipborne transducer are mainly considered in the step, stability tests are conducted on the GNSS receiver, and the USBL shipborne transducer is installed and calibrated, so that the influence of interference factors such as ship propeller, machine noise and bubbles on acoustic measurement is reduced.
After the equipment installation position is determined, the position deviation of all instrument equipment relative to the reference point on the ship is accurately measured and recorded to a data acquisition system.
When the dual-frequency GNSS antenna is installed, the height angle is required to be larger than 15 degrees without shielding, and dynamic PPP observation is adopted. The USBL acoustic positioning system effectively works to ensure that the water depth meets the requirements of working slant distance and ranging accuracy.
And 3, synchronously observing the USBL shipborne transducer and the seabed sound standard datum point according to the survey line provided in the step 1, and accurately measuring the distance and the direction to obtain high-precision GNSS data and USBL acoustic positioning data of multiple shipments.
In the step, around the submarine calibration point, one circle is measured clockwise and anticlockwise according to the circumferential navigation mode, and data are observed according to the crisscross navigation mode right above the calibration point. GNSS, azimuth, attitude and USBL data are collected simultaneously in the field calibration process, and the sound velocity profile of the local sea area is measured before and after the navigation.
And 4, establishing an underwater acoustic ranging observation equation based on the high-precision GNSS data and the USBL acoustic positioning data obtained in the step 3, precisely calculating the survey line data by adopting a dynamic PPP positioning calculation method, and calculating to obtain the absolute three-dimensional position coordinates of the submarine geodetic reference point.
In the step, the precision single point positioning calculation (PPP positioning calculation) is to obtain a survey line data observation file through sea surface survey ship operation, perform PPP positioning calculation on the survey line data by utilizing a real-time forecast or post-downloaded precision ephemeris and precision clock error file, and finally calculate the plane coordinates and the elevation of the seabed datum point. And the absolute coordinates of the high-precision submarine reference points are obtained through dynamic PPP calculation and submarine geodetic reference point calibration system processing, so that the requirement of accurate measurement of the submarine geodetic reference points is met.
The specific processing method of the step comprises the following steps:
1) The USBL calculates the relative coordinates between the shipborne transceiver and the seabed ground reference point through distance measurement or phase measurement (distance measurement difference/time delay difference), and then calculates the seabed ground reference point absolute coordinates according to the space three-dimensional coordinates of the shipborne transceiver.
2) The compass provides the azimuth (heading) A of the USBL onboard transducer on the sea surface measuring ship, the attitude sensor provides the roll and pitch attitude information (roll, pitch) of the sea surface measuring ship (transducer), and the absolute coordinates (X, Y, Z) of the USBL onboard transducer can be obtained through calculation by combining the absolute positioning result of the antenna of the GNSS.
3) The USBL on-board transducer is used for transmitting sound waves and receiving echoes from the transponder, detecting the transmitting time T1 and the receiving time T2, and determining the single-pass propagation time T of the sound waves between the transducer and the submarine transponder by combining the code delay deltat of the transponder on the seabed for subsequent sound ray tracking and calculation of the straight line distance S between the transducer and the transponder.
4) The surface acoustic velocity meter is used for measuring the velocity CV of sound at the position of the transducer, and the acoustic velocity profiler is used for measuring the acoustic velocity profile between the transducer and the submarine transponder. Considering sound velocity measurement of a sound velocity meter as navigation measurement, replacing sound velocity of corresponding depth of a sound velocity profile by actually measured surface sound velocity CV in each measurement to form a current sound velocity profile for accurate tracking of subsequent sound rays.
5) After the sound velocity profile of each moment is obtained, according to the time T from the transducer to the transponder, which is actually measured at each moment, a layered addition method of the intra-layer normal sound velocity is adopted to realize sound ray tracking, and the linear distance SVi between the transducer and the transponder is obtained.
6) The coordinate position of the submarine transponder is accurately calculated through a space ranging intersection positioning method, the positioning precision of a submarine control point can be improved due to the evenly distributed airlines on the space geometry, and the symmetrical 4 observation values are selected to construct 1 group of observation equations as follows:
wherein: x, Y, Z is the coordinate position of the seabed transponder to be solved, X i 、Y i 、Z i (i=1, 2,3, 4) is the coordinate value of the transducer at different orientations, S i (i=1, 2,3, 4) is the spatial distance of the transducer to the transponder measured by the underwater acoustic system. The sea surface survey ship collects n groups of acoustic data, establishes n groups of observation equations simultaneously, and calculates the position of the transponder according to a least square estimation criterion through primary difference elimination, wherein the specific process is as follows:
let the number of submarine geodetic reference points baseline be n, assume that the observation conditions of each edge are consistent, adopt distance weighting:
weight (sigma) is determined according to given ranging accuracy 0 Unit weight standard deviation):
column error equation:
finally, based on V T Pv=min, calculating the absolute coordinates of the subsea ground reference point and the observation edge correction, wherein σ i The standard deviation of the observation points is x0, y0, z0 is the observation coordinate value, and vx, vy, vz is the coordinate correction.
In the step, the calibration parameters of the transducer are obtained by utilizing the installation position relation among shipborne GNSS, compass, attitude sensor and other equipment, and the accurate measurement of the plane coordinates and the elevation of the submarine geodetic reference point is realized based on the accurate position of the high-precision transducer and the distance observation value between the transducer and the submarine geodetic reference point.
It should be emphasized that the examples described herein are illustrative rather than limiting, and therefore the invention includes, but is not limited to, the examples described in the detailed description, as other embodiments derived from the technical solutions of the invention by a person skilled in the art are equally within the scope of the invention.
Claims (4)
1. A precise positioning method of a submarine geodetic reference point based on PPP technology is characterized by comprising the following steps: the method comprises the following steps:
step 1, design of a measuring line: designing a circumference measuring line and a straight line measuring line according to the water depth value of the submarine geodetic reference point;
step 2, obtaining the three-dimensional position of the USBL shipborne transducer by a long-time dynamic PPP observation method through the USBL shipborne transducer and a dual-frequency GNSS antenna on the sea surface measurement ship;
step 3, synchronously observing the USBL shipborne transducer and the seabed sound standard datum point according to the survey line given in the step 1, and accurately measuring the distance and the direction to obtain observation data comprising high-precision GNSS data with multiple shippositions and USBL acoustic positioning data;
step 4, establishing an underwater acoustic ranging observation equation based on the observation data obtained in the step 3, and precisely calculating the survey line data by adopting a dynamic PPP positioning calculation method to obtain the absolute three-dimensional position coordinates of the submarine geodetic reference point;
the specific implementation method of the step 4 comprises the following steps:
the method comprises the steps that the USBL transducer calculates relative coordinates between a shipborne transceiver and a submarine geodetic reference point through distance measurement or phase measurement, and then calculates the submarine geodetic reference point absolute coordinates according to space three-dimensional coordinates of the shipborne transceiver;
the compass provides the azimuth of the USBL shipborne transducer on the sea surface measuring ship, the attitude sensor provides the rolling and pitching attitude information of the transducer, and the absolute coordinate of the USBL shipborne transducer is calculated by combining the absolute positioning result of the GNSS antenna;
third, the USBL shipborne transducer is used for transmitting sound waves and receiving echoes from the transponder, detecting the transmitting time T1 and the receiving time T2, and determining the single-pass propagation time T of the sound waves between the transducer and the submarine transponder by combining the code delay delta T of the transponder on the seabed, so as to be used for subsequent sound ray tracking and calculation of the straight line distance S between the transducer and the transponder;
the surface acoustic velocity meter is used for measuring the acoustic velocity CV of the transducer position, and the acoustic velocity profiler is used for measuring the acoustic velocity profile between the transducer and the submarine transponder;
after obtaining the sound velocity profile of each moment, according to the time T from the transducer to the transponder actually measured at each moment, adopting a layered addition method of the intra-layer normal sound velocity to realize sound ray tracking and obtain the linear distance SVi between the transducer and the transponder;
the coordinate position of the submarine transponder is accurately calculated through a space ranging intersection positioning method, and symmetrical 4 observation values are selected to construct 1 group of observation equations as follows:
wherein: x, Y, Z is the coordinate position of the seabed transponder to be solved, X i 、Y i 、Z i For the coordinate values of the transducer in different directions, S i The resulting spatial distance of the transducer to the transponder, i=1, 2,3,4, for the underwater acoustic system measurement;
the sea surface survey ship collects n groups of acoustic data, establishes n groups of observation equations simultaneously, and calculates the position of the transponder according to a least square estimation criterion through primary difference elimination, wherein the specific process is as follows:
let the number of submarine geodetic reference points baseline be n, assume that the observation conditions of each edge are consistent, adopt distance weighting:
let sigma be 0 And (3) determining weights according to given ranging accuracy if the unit weight standard deviation is adopted:
the column error equation is:
finally, based on V T Pv=min, calculating the absolute coordinates of the subsea ground reference point and the observation edge correction, wherein σ i The standard deviation of the observation points is x0, y0, z0 is the observation coordinate value, and vx, vy, vz is the coordinate correction.
2. The method for accurately positioning the submarine large reference point based on the PPP technology according to claim 1, wherein the method comprises the following steps: the step 1 test line design comprises the following steps:
taking a reference point water depth value as a radius to perform circumference plus 2 groups of cross sails which are 45 degrees each other to obtain a circumference measuring line and 4 straight line measuring lines intersecting with a circle center;
the sea surface measuring ship takes the water depth value of the datum point as the diameter to perform circumference plus 2 groups of cross sails which are 45 degrees each other, and a circumference measuring line and 4 straight line measuring lines which cross the circle center are obtained.
3. The method for accurately positioning the submarine large reference point based on the PPP technology according to claim 1, wherein the method comprises the following steps: and (3) mounting the dual-frequency GNSS antenna: the height angle is required to be greater than 15 degrees without shielding.
4. The method for accurately positioning the submarine large reference point based on the PPP technology according to claim 1, wherein the method comprises the following steps: the observation data collected in the step 3 comprises: GNSS, azimuth, attitude, and USBL data.
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| CN113218372B (en) * | 2021-05-25 | 2021-10-29 | 哈尔滨工程大学 | Calibration system and method for position of seabed datum point |
| CN114234932A (en) * | 2021-12-08 | 2022-03-25 | 天津大学 | Underwater conductor measuring method and device for obtaining data of subsea control point |
| CN114114361B (en) * | 2022-01-27 | 2022-04-29 | 山东科技大学 | Offshore platform precise positioning auxiliary system based on GNSS and working method |
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