超短基线水声定位的波束入射角迭代修正方法

高兴国; 卫进进; 辛明真; 常增亮; 吴超逸; 曲萌

doi:10.12284/hyxb2023122

超短基线水声定位的波束入射角迭代修正方法

doi: 10.12284/hyxb2023122

高兴国^1,,
卫进进^{2, 3, ,},
辛明真^{2, 4},
常增亮¹,
吴超逸²,
曲萌¹

1.
山东电力工程咨询院有限公司，山东济南 250013
2.
山东科技大学测绘与空间信息学院，山东青岛 266590
3.
浙江省水利河口研究院（浙江省海洋规划设计研究院），浙江杭州 310020
4.
自然资源部海洋测绘重点实验室，山东青岛 266590

基金项目: 国家自然科学基金（52101386，41930535）；山东省高等学校青创人才引育计划−卫星定位导航研究创新团队项目；地理信息工程国家重点实验室、自然资源部测绘科学与地球空间信息技术重点实验室联合资助基金（2022−01−06）。

详细信息

作者简介:
高兴国（1984-），男，山东省潍坊市人，高级工程师，主要研究方向为海洋测绘。E-mail：gaoxingguo@sdepci.com

通讯作者:
卫进进（1997-），男，山西省运城市人，助理工程师，主要研究方向为海洋导航与定位。E-mail：wei080355@126.com

中图分类号: P733.2
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出版历程
- 收稿日期: 2022-09-02
- 修回日期: 2023-04-19
- 网络出版日期: 2023-08-24
- 刊出日期: 2023-09-30

Iterative correction method of beam incident angle for ultra-short baseline underwater acoustic positioning

Gao Xingguo^1
,,
Wei Jinjin^{2, 3
, ,},
Xin Mingzhen^{2, 4},
Chang Zengliang¹,
Wu Chaoyi²,
Qu Meng¹

1.
Shandong Electric Power Engineering Consulting lnstitute Corp., LTD, Jinan 250013, China
2.
College of Geodesy and Geomatics, Shandong University of Science and Technology, Qingdao 266590, China
3.
Zhejiang Institute of Hydraulics and Estuary (Zhejiang Institute of Marine Planning and Design), Hangzhou 310020, China
4.
Key Laboratory of Oceanic Surveying and Mapping, Ministry of Natural Resources, Qingdao 266590, China

摘要

摘要: 海水介质的不均匀性导致声波传播过程会产生折射效应，采用平面声基阵的超短基线系统在测量过程中会受到该现象的影响，从而使测量结果产生较大的误差，通常采用声线跟踪的方法利用实测声速剖面进行声线修正。准确的波束入射角是确保声线跟踪精度的前提，超短基线系统是利用声学相位差推算得到近似波束入射角，而利用近似波束入射角进行声线跟踪会造成一定的精度损失。针对上述问题，本文提出了一种超短基线水声定位的波束入射角迭代修正方法，基于常梯度声线跟踪构建起了波束入射角与传播时间的迭代计算关系，采用埃特金加速法实现了波束入射角的非线性方程快速解算。通过仿真实验证明本文提出方法能够实现波束入射角与目标位置的准确计算，有效消除了折射效应对超短基线水下定位的影响。
- 超短基线 /
- 常梯度声线跟踪 /
- 波束入射角 /
- 声速剖面 /
- 埃特金加速法
Abstract: The inhomogeneity of the seawater medium causes the refraction effect in the sound wave propagation process. The ultra-short baseline system using the planar acoustic array will be affected by this phenomenon during the measurement process, which will cause large errors in the measurement results. The sound ray tracking method is usually used to correct the sound ray by using the measured sound velocity profile. Accurate beam incident angle is the prerequisite to ensure the accuracy of sound ray tracking, but the ultra-short baseline system does not directly measure the beam incident angle but uses the approximate incident angle derived from the acoustic phase difference for sound ray tracking will cause a certain loss of accuracy. To solve the above problems, this paper proposes an iterative correction method of beam incidence angle for ultra-short baseline underwater acoustic positioning. Based on constant gradient acoustic ray tracking, the iterative calculation relationship between beam incidence angle and propagation time is constructed, the Aitken acceleration method is used to quickly solve the nonlinear equation of the beam incidence angle. Simulation experiments prove that the method proposed in this paper can accurately calculate the beam incident angle and target position, and effectively eliminate the influence of refraction effects on ultra-short baseline underwater positioning.
- ultra-short baseline /
- constant gradient sound ray tracing /
- incident beam angles /
- sound velocity profile /
- Aitken acceleration method

HTML全文

图 1 超短基线定位

Fig. 1 Ultra-short baseline positioning principle

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图 2 常梯度声线跟踪

Fig. 2 Constant-gradient sound ray tracking

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图 3 超短基线波束入射角误差

Fig. 3 The incident angle error of ultra-short baseline beam

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图 4 常梯度声线跟踪水下定位计算流程

Fig. 4 Calculation flow of constant gradient acoustic tracking underwater positioning

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图 5 测船与水下目标航迹

Fig. 5 The track of ship and underwater target

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图 6 声速剖面

Fig. 6 Sound velocity profile

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图 7 不同方法波束入射角误差

Fig. 7 Beam incidence angle error of different methods

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图 8 不同方法定位误差

Fig. 8 Location error of different methods

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图 9 波束入射角真值

Fig. 9 True value of beam incidence angle

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图 10 搜索法时间延迟偏差曲线

Fig. 10 Time delay deviation curve of search method

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表 1 仿真结果统计表

Tab. 1 Statistical table of simulation results

计算方法	σ_x/m	σ_y/m	σ_p/m	计算时间/s
平均声速法（c = 1 490 m/s）	4.07	4.02	5.73	0.2
平均声速法（c = 1 500 m/s）	2.74	2.73	3.87	0.2
平均声速法（c = 1 510 m/s）	6.21	6.12	8.72	0.2
常梯度声线跟踪− 近似波束入射角法	2.34	2.36	3.32	22.2
常梯度声线跟踪− 波束入射角搜索法	1.49	1.49	2.11	980.1
常梯度声线跟踪− 波束入射角牛顿迭代法	1.47	1.49	2.10	56.7
常梯度声线跟踪− 波束入射角埃特金加速迭代法	1.47	1.49	2.10	13.9
注：σ_x为x方向定位标准差；σ_y为y方向定位标准差；σ_p为平面位置定位标准差。

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