顾及声线弯曲的浅海多目标水声定位算法

本文简要介绍了浅海石油勘探中声学二次定位的原理，分析了大入射角情况下浅海声线弯曲误差对声学定位的影响。针对声速测量不准和大入射角观测的问题，提出了顾及声线弯曲的多目标序贯解算方法；根据多目标观测的原理和声线弯曲结构短期内的稳定性，设计了基于序贯最小二乘的参数估计方法；该方法按入射角设置阈值，构建新的声线弯曲模型，并利用模型和参数分段解算声线弯曲误差的改正数。采用仿真实验和南海实测试验对新算法进行验证，结果表明：新方法在声速测量不准且大入射角观测数据占比例较大情况下，可改善观测模型，显著提高定位精度。

A positioning determination of multi-transponders with sound ray bending in shallow waters

In this paper,the influence of sound line bending error on acoustic positioning with large incidence angles is analyzed.To solve the problem of inaccurate sound velocity measurement with the large incident angle observation,a multi-objective sequential solution is proposed.New parameter estimation with sequential least squares is put forward based on the principle of multi-objective observation and the short-term similarity of acoustic line bending error.The thresholds are set with different incident angles,new acoustic line bending models are built,and the correction of acoustic line bending error is calculated with new models and parameter segments.The new algorithm has been tested on simulations and real data of the South China Sea.The results show that the proposed algorithm can improve the observation model and the positioning accuracy for a large proportion of the observation data with inaccurate acoustic velocity caused by large incidence angles.