船载式水声跟踪系统定位原理及误差分析

阐述了水下定位系统的研究意义和基本分类，介绍了船载式水声跟踪系统的定位原理、实现方法，以及优点和不足之处，给出定位计算及姿态修正公式。针对声速、基阵孔径、时延值和姿态角等参数对系统产生的误差，进行理论公式推导和分析，最后给出系统误差公式。结合误差公式和随机误差理论，分析了跟踪系统的定位误差来源，并给出减小误差的基本方法。

Positioning principle and error analysis of shipborne underwater acoustic tracking system

The basic classification and the study significance of underwater positioning system are described. The positioning principles, implementation method, advantages and shortcomings of shipborne underwater acoustic tracking system are intro- duced. The posture correction and position calculation formulas are given in this paper. The system error caused by sound speed, array aperture, deiay value, attitude angle and other parameters is analyzed and derived with theoretical formulas, by which the system error formula is achieved. In combination with the error formula and random error theory, the position error source of tracking system is analyzed, and the basic method to reduce the error is offered.