文章摘要
袁书明,曹忠义.基于航迹-航深信息的声学测速基阵校准技术研究[J].声学技术,2017,(5):431~436
基于航迹-航深信息的声学测速基阵校准技术研究
Study on the calibration of acoustic Doppler velocity transducer based on the dead reckoning and depth
投稿时间:2016-12-16  修订日期:2017-03-11
DOI:10.16300/j.cnki.1000-3630.2017.05.006
中文关键词: 声学多普勒测速仪  安装误差校准  最小二乘估计  联合校准
英文关键词: acoustic Doppler velocity meter  calibration of installation error  Least Squares Method  joint calibration method
基金项目:
作者单位E-mail
袁书明 海军装备研究院, 北京 100073  
曹忠义 哈尔滨工程大学水声技术重点实验室, 黑龙江哈尔滨 150001
哈尔滨工程大学水声工程学院, 黑龙江哈尔滨 150001 
caozhongyi@hrbeu.edu.cn 
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中文摘要:
      针对声学多普勒测速仪安装过程中存在的基阵坐标系与载体坐标系之间的不重合问题,以实际工程应用为背景,提出了综合采用测速仪的速度推算航迹及其波束域斜距信息的三维安装偏角精确校准方法。利用航偏角校准精度受纵、横摇偏角影响小的特点,采用载体上的高精度全球定位系统(Global Positioning System,GPS)、姿态装置推算航迹建立航偏角观测方程,实现航偏角校准。在此基础上,利用波束域斜距与纵、横摇偏角之间的几何方程,精确解算纵、横摇偏角。仿真分析了校准算法性能,并通过外场试验数据验证了校准算法的有效性。结果均表明该方法能够实现基阵三维安装偏角的精确校准,有效提高了导航精度,具有较好的工程应用价值。
英文摘要:
      How to accurately estimate the installation angles between the carrier and the acoustic array is one of the main factors that affect the data quality of acoustic Doppler velocity meter in the application. A joint calibration method based on the trajectory between GPS and velocity meter, the depth of velocity meter is applied to estimate the three-dimensional installation angles. Firstly, based on the characteristic that misalignment pitch β and roll γ show little impact on misalignment heading α, observation equation of α is set up with the use of high-precision GPS and attitude device on carrier, and dead reckoning. And then α is calibrated. Secondly, taking use of the geometric equation between the distance in beam space and β or γ, the exact solution can be obtained. In order to evaluate the performance of the method, the effect caused by the observation equipment is simulated. And field experiment is made to verify its effectiveness. It shows that the method effectively solves the problem of the array installation angles, which can be applied in engineering.
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