摘要
文章介绍了长基线系统(Long Baseline)相对和绝对校准工作,分析了姿态补偿纵摇(Pitch)和横摇(Roll)对水下信标定位精度的影响机理,对无姿态补偿的绝对位置传递的可行性进行了可行分析研究,给出了基于最小二乘的信标位置计算方法。分析计算了Pitch和Roll的影响。对比了计算得到的无姿态补偿的结果与有姿态补偿结果符合情况及差异,得出了无姿态补偿计算结果可信的结论。该方法满足大多数水下定位作业的要求。利用该方法进行了海上实地测试,验证了通过多个水下信标构成的基阵,在进行相对校准和绝对校准后,在无姿态补偿情况下亦可以完成水下构件安装等高精度水下工程。
Relative and absolute calibration of LBL was introduced in this paper, and influence mechanism ofattitude compensation of pitch and roll on position precision of LBL beacon was also analyzed. The feasibility of ab-solute position transmission without attitude compensation was appraised, and a beacon position calculation methodwas presented based on least square. The influence of pitch and roll was analyzed. The consistency and difference ofcalculated results with and without attitude compensation were compared. The result shows that attitude-compensa-tion-absence method is reasonable. This method can be applied to most of the underwater positioning operations.Field experiment of this method is performed, and the result shows that through underwater multi-beacon array, highprecision positioning for structure installation can be completed without attitude compensation after relative and ab-solute calibration.
出处
《水道港口》
2015年第1期84-87,共4页
Journal of Waterway and Harbor
基金
山东省高校海洋测绘重点实验室(山东科技大学)资助项目(2013A01)
