| 摘要: |
| 稳健可靠定位对于深海拖曳系统至关重要,而目前的定位方法尚难以满足要求。为此,本文提出了一种联合超短基线定位系统(USBL)和惯性导航系统(INS)的组合定位方法。首先,给出了在航声线跟踪方法,实现USBL高精度定位；然后,顾及USBL和INS定位的互补性,研究给出了USBL与INS的组合定位模型,解决了USBL定位的不连续和异常问题,以及INS的误差积累问题,实现了深海拖曳系统的高精度稳健定位；最后,将该方法应用于“向阳红01”号船深海拖曳系统在南海的实验,取得了较好的定位效果。 |
| 关键词: 深海拖曳系统 超短基线系统 惯性导航系统 组合定位 一点一方位推算 |
| DOI：10.11759/hykx20181005001 |
| 分类号: |
| 基金项目:国家重点研发计划 |
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| A Stable and Credible Combined Position Method for Deep-towing System |
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DU Kai1, WU Yongting2, LIANG Wenbiao3, LI Zhiyuan2, HU Jun2, DOU Hulin2
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1.College of Geomatics Shandong University of Science and Technology;2.The First Institute of Oceanography,SOA;3.School of Geodesy and Geomatics,Wuhan University
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| Abstract: |
| Credible and stable position is critical for Deep-towing sysstem, and the current positioning method is still difficult to meet the requirements. To this end, this paper proposes a combined positioning method for ultra-short baseline(USBL) and inertial navigation system(INS). Firstly, the tracking method of the navigation sound line is given to realize the high-precision positioning of USBL. Then, considering the complementarity of position of USBL and INS, a combined positioning model of USBL and INS is given, which solves the discontinuity and abnormality of USBL positioning, as well as the error accumulation problem of INS, and realized the high-precision and robust positioning of Deep-towing system. Finally, the method was applied to the experiment of Deep-towing of Xiangyanghong 01 in the South China Sea, and achieved good positioning effect. |
| Key words: Deep-towing system USBL INS Integrated position one point and one azimuth positioning estimation |