Optimizing method for measuring point spacing of array element position calibration in underwater acoustic positioning navigation system

Abstract

The invention relates to a method for optimizing the distance between array element position calibration and measurement points of an underwater acoustic positioning navigation system. The present invention establishes the precise calibration optimization model of the array element position, the relational expression between the time delay measurement error and the transmitting and receiving distance, and the transfer function of the array element position calibration time delay estimation error; uses the differential evolution algorithm to solve the problem, and obtains the position estimation result of the array element to be measured and error. Statistical methods are used to obtain the calibration accuracy of the array element position; the best measurement point spacing is obtained by filtering all the results. The invention eliminates the model mismatch error caused by the movement of the measuring ship; establishes the relational expression between the time delay measurement error and the transmitting and receiving distance, and considers the change of the measuring time delay error with the change of the transmitting and receiving distance, compared with the traditional method of using a fixed time delay measurement error approach, the error analysis is more in line with reality. Through the optimization of the measurement point spacing of the array element position calibration of the underwater acoustic positioning navigation system, the best measurement point spacing is obtained, which is conducive to further improving the calibration accuracy of the array element position.

Description

technical field [0001] The invention relates to the technical field of underwater acoustic positioning, and relates to an optimization method for calibrating and measuring point spacing of an array element position of an underwater acoustic positioning navigation system. Background technique [0002] Since sound waves are the most effective carrier for underwater information transmission, and underwater acoustic positioning and navigation technology has the advantages of taking into account deep and shallow seas, all-weather, real-time, high reliability, and error does not accumulate over time, so underwater acoustic positioning and navigation technology has the advantages of underwater positioning technology. occupies an important position. [0003] The underwater array element is the star station node of the underwater acoustic positioning and navigation system, and its calibration accuracy is directly related to the working performance of the underwater acoustic positioni...

AI Technical Summary

Problems solved by technology

In the traditional absolute calibration process, the general survey ship sails in a circular track centered around the point where the array element to be measured is placed, during which it conducts uninterrupted inquiry and response with the array element at a fixed period, and records the position information of the survey ship and the query-response time. Extend the information, and then select the relevant information on the three measurement points that are equilateral triangles to use the spherical intersection model to solve. When the depth of the array element to be measured is known, the spherical intersection model degenerates into a circular intersection model. The model of this method is simple. The amount of calculation is small, but the model mismatch problem caused by the different receiving and transmitting positions caused by the movement of the measuring ship is ignored. The faster the moving speed of the measuring ship, the greater the model mismatch error and the lower the accuracy of array element position calibration

Moreover, the optimal selection of the measurement point spacing is not considered in the measurement process, which in turn affects the calibration accuracy and calibration efficiency of the array element position

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