【作者】 李莉；

【导师】 梁国龙；

【作者基本信息】 哈尔滨工程大学 ， 通信与信息系统， 2007， 硕士

【摘要】 长基线水声定位与导航系统是利用水声定位技术实现对水下目标进行定位与导航。它的定位原理是测量目标到应答器基阵各阵元之间的距离，解算出目标的空间坐标，从而实现对目标导航定位。本文是以长基线水声定位系统为背景，主要工作包括：测阵与校阵方法研究、航路设计、自测阵软件设计。测阵与校阵方法研究包括许多方面：首先分别探讨了同步和非同步定位原理，定位模型，接着讨论了长基线海底应答器基阵的测阵原理，将测阵具体分为绝对测阵和相对测阵，最后讨论了影响测阵精度的因素如测时误差、测量点GPS误差、声速误差等。自测阵是多功能声学应答器显著的特点，如何用最短的时间、较短的航路完成系统自测阵，是自测阵软件设计的目标。软件分五大模块，初始化模块、阵型设计模块、数据解包模块、通信模块、专家系统模块。在通信模块中最核心的是相对测阵模块，因为它首次将路径规划的理论用入其中。本套自测阵软件经过实验室联调、水池试验及千岛湖试验验证系统工作稳定可靠，实时性高，具有高定位精度，能够满足指标要求。更多还原

【Abstract】 The Long Base Line Acoustic Positioning and Navigation System has been used to provide the precise positioning and navigation for the underwater targets by acoustic positioning techniques, based on the range measurements, determines the position of the target relative to an array of transponders, works out the target’s space coordinate, consequently realizes the positioning and navigation.Under the background of Long Base Line Positioning and Navigation System, the main task of the dissertation includes study on array measuring and calibration, automatic array measuring software design, the design of optimized ship course.The research on array measuring and calibration contains some sides, firstly the analysis of positioning theory, the establishment of positioning model, secondly discussed some kinds errors such as timing error, GPS navigation error, the sound velocity measuring error, lastly discussion the array measuring theory, divide the array measuring into absolutely array measuring and relatively array measuring.Automatic array measuring is the prominent characteristic of the multi-function transponder. The object of automatic array measuring software is design the software which use the shortest time and shortest ship course for completing array measuring and calibration. The automatic array measuring software includes five modules, the initial module, the design of array module, the data analysis module, the expert system module, the communication module, the display module. In the communication module, the kernel is the design of relatively array measuring command module, because in the module first use the path planning algorithms.The software validated by cistern and lake trial, the software works reliable and steadily, it has high-positioning ability and precision.更多还原