【作者】 韩瑞宁；

【导师】 周东辉；

【作者基本信息】 中国海洋大学 ， 信号与信息处理， 2007， 硕士

【摘要】 超短基线定位方法,因其低价的集成系统、操作简便容易,只需一个换能器,成为自主式水下机器人普遍采用的定位方式。由于系统安装、轮船偏移、轮船倾斜以及水声通信自身存在的问题,其定位精度不高;目前国际上超短基线定位方法的定位精度在1%左右,国内在3%左右,因此,提高定位精度是目前超短基线定位研究中的一项重要内容。本文首先研究了国内外超短基线定位技术的发展现状,研究了水声定位和超短基线定位原理,并对水声传播进行了研究,分析了水声传播中的噪音干扰和声能量损失。然后对超短基线定位方法进行了精度分析,分析了影响定位精度的原因,并采用卡尔曼滤波方式,通过建立滤波的运动方程和测量方程对测量数据进行处理,以达到提高精度的目的。本文还对船体水平偏移和倾斜对定位结果的影响进行了研究,并研究了如何从理论上减小和消除误差,将深度传感器的测量值引入误差消除算法以求解偏移角度。最后进行了计算机仿真,验证了方法的可行性。更多还原

【Abstract】 USBL(Ultra short Baseline) which needs only one transducer is widely used in AUV(Autonomous Underwater Vehicle) for its low price, convenience and easy to operate. But there are many problems in it, for example, the installation of system, the excursion and incline of ship, so the precision of USBL is poor. At present, the precision of USBL is about 1% abroad, and 3% at home. So it’s a significant part to improve the position precision.This paper firstly studies the development and the theory of ultra short baseline positioning system. And the theory of acoustic positioning system is also studied in this paper. In this paper, the acoustic communication is also analyzed. It analyzes the noise and the loss of energy. And then the positioning precision is also analyzed. To increase the accuracy, it uses the Kalman filter to process the data. The position precision is improved by using the movement equation and measurement equation.It analyses the error, which is caused by the excursion and incline of ship. It also proposes the method to reduce the error by putting the value into depth sensor.Finally, the simulation is made, and the results validate the methods.更多还原