【作者】 王丽；

【导师】 伊国兴；

【作者基本信息】 哈尔滨工业大学 ， 控制工程， 2020， 硕士

【摘要】 近年来,声学导航系统在海洋科学研究、海洋导航等领域的应用越来越广泛,尤其是水下潜航器方面的应用。水下信标是声学导航系统的重要组成部分,是决定声学导航定位系统精度的关键因素,因此研究水下信标的定位问题具有很强的实际应用价值。目前针对水下信标定位工作主要通过测量船利用绝对测阵或相对测阵技术在海面进行定位工作,采用此种方法在定位的过程中极可能会暴露水下信标的位置,为了保证定位工作的隐蔽性,本文提出了基于AUV的水下信标定位方法,主要研究内容如下:1.进行基于AUV的水下信标定位系统的总体设计,通过对本课题的需求分析研究基于AUV的水下信标定位具体过程,确定水下信标定位方案,然后通过查阅资料确定本课题所用设备的技术指标,最后对水下信标定位算法进行理论分析,并结合水下信标定位过程确定误差来源。2.设计面向信标定位的AUV海面航路,首先基于圆交汇模型分析各参数测量误差和AUV机动对水下信标定位误差的影响。主要在考虑测距误差的情况下设计用于单信标定位的三个测量点组成的测量阵的阵型以及单测量点到相应待测水下信标的距离,并确定每个数据录取点处测量个数的数值大小。最后基于单信标定位的相关研究,确定用于水下信标定位的海面航路。3.设计面向信标定位的水下航路,首先考虑惯性导航系统的定位误差对单信标定位中每个数据录取点处的测量个数重新进行优化设计,并在AUV上浮到达偏差的基础上对AUV在信标阵定位过程中的上浮点进行设计,除此之外,在考虑定位误差和定位效率的基础上确定了AUV的下潜方式。最后,根据单信标定位的水下航路设计相关问题中,确定基于AUV的水下信标阵定位的整体航路。4.研究DBSCAN算法在信标定位中的应用,首先对DBSCAN算法进行理论分析,介绍DBSCAN算法的相关概念,确定DBSCAN算法步骤和流程图。然后通过分析信标定位的解算数据分布图,确定DBSCAN算法在信标定位中的应用过程。更多还原

【Abstract】 In recent years,acoustic navigation systems have become more and more widely used in marine scientific research,marine navigation,and other fields,especially in underwater submarines.Underwater beacons are an important part of the acoustic navigation system and a key factor in determining the accuracy of the acoustic navigation and positioning system.Therefore,studying the positioning of underwater beacons has a strong practical application value.At present,the positioning of underwater beacons mainly accomplished by measuring ships using an absolute array or relative array technology on the surface.The position of the underwater beacon is likely to be exposed during the positioning process by this method.In order to ensure the concealment of the positioning work,this paper proposes an AUV based underwater beacon positioning method,and the main research contents are as follows:1.The overall design of the underwater beacon positioning system based on AUV carried out.The specific process of underwater beacon positioning based on AUV studied through the demand analysis of this project,and the underwater beacon positioning scheme is determined.Then the technical indicators of the equipment used in this project are determined by consulting the data.Finally,the theory of the underwater beacon positioning algorithm is analyzed,and the error source determined according to the underwater beacon positioning process.2.The AUV sea route for beacon positioning designed.First,the effects of various parameter measurement errors and AUV maneuvers on underwater beacon positioning errors are analyzed.Considering the ranging error,the array of three measuring points and the distance between the single measuring point and an underwater beacon to be measured designed for single beacon positioning,and the number of measurements at each data acquisition point is determined.Finally,based on the research of single beacon positioning,the sea route for underwater beacon positioning is determined.3.The underwater route for beacon positioning designed.First of all,considering the positioning error of the inertial navigation system,the number of measurements at each data acquisition point in the single beacon positioning is optimized again.Based on the influence of the up floating arrival error of AUV on the beacon positioning error,the up floating-point of AUV in the beacon array positioning process designed.Besides,considering the positioning error and efficiency,the AUV submergence mode is determined.Finally,according to the problems related to the underwater route design of single beacon positioning,the whole route of underwater beacon array positioning based on AUV is determined.4.This paper studies the application of the DBSCAN algorithm in the beacon location.Firstly,it makes a theoretical analysis of the DBSCAN algorithm,introduces the related concepts of the DBSCAN algorithm,and determines the steps and flow chart of the DBSCAN algorithm.Then,the application process of the DBSCAN algorithm in the beacon location determined by analyzing the data distribution map.更多还原