超短基线声学定位系统的校准技术研究

超短基线声学定位系统的应用开发和技术研究在现代海洋科学调查中起着重要作用。在安装超短基线定位系统进行水下声学定位测量过程中,很难保证换能器中心与测量船重心之间三坐标轴完全重合,即存在系统偏差,这些是导致超短基线系统定位误差的一个重要原因,必须对其进行校准。将GPS与水下声学定位系统有效结合起来,应用空间测距交会的方法确定水下应答器坐标位置,通过不同坐标系之间的转换关系,精确求出换能器与测量船之间的系统偏差,完成声学定位系统的安装校准。现场实例表明,该校准方法简单、快捷、有效。

Calibration of ultra-short baseline acoustic positioning system

Ultra short baseline acoustic positioning systems are important role in oceanographic surveys.The ultra short baseline transducers are not installed in a vessel reference point.There is an offset between the reference point and the transducer''s transmitting face in forward,starbo-ard and down directions.It is impossible to install the hull unit and the transducer vertical both in the roll and pitch axes.There are inclination angles in all three axes between the co-ordinate systems of the vessel and the transducer.Misalignments between the vessel''s gravity center and the transducer''s center lead to important systematic errors.An ultra short baseline acoustic positioning system must reduce these errors in acoustic positioning.In calibration of an ultra shore baseline,GPS and the underwater acoustic positioning system are effectively combined.A method of space range intersection is used in calculating the position of underwater transponder.The system error between the transducer and the vessel reference center is obtained by a series of transformation of deferent coordinate systems.Examples are shown to illustrate validity of the calibration algorithm.