共查询到17条相似文献,搜索用时 62 毫秒
1.
2.
3.
4.
5.
6.
分析了导航型GPS在海上地球物理勘探应用中存在的问题,着重研究了卡尔曼滤波对号航数据中航向和航速的处理;提出两种滤波模型,对模拟的导航数据和真实航行数据进行计算,并将结果用于重力测量数据的Eotvos改正,对出现的问题进行了讨论。文章提出适当的处理方法,使导航型GPS适应海上地球物理勘探的要求,提高了导航精度和满足测量了精度。 相似文献
7.
8.
分析了导航型GPS在海上地球物理勘探应用中存在的问题,着重研究了卡尔滤波对导航数据中航向和航速的处理;提出两种滤波模型,对模型的导航数据和地具实航行数据进行计算,并将结果用于重力测量数据的Eotvos改正,对出现的问题进行了讨论。 相似文献
9.
10.
11.
Underwater Navigation Based on Real-Time Simultaneous Sound Speed Profile Correction 总被引:1,自引:0,他引:1
Precise sound speed profile (SSP) information is critical when using sonar for underwater terrain navigation. Nevertheless, acquiring SSP information in real-time is difficult, especially in underwater navigation environment. To account for this problem, this paper presents an underwater navigation method that applies real-time SSP correction to the terrain measurements. The method uses a probe to measure the surface sound speed simultaneously. Meanwhile, redundancy of topographic measurement data is exploited to derive the equivalent SSP information. The acquired equivalent SSP is updated continuously with particle filter algorithm. The terrain measurements can be corrected in real-time with the equivalent SSP to improve the performance of underwater terrain navigation. By removing the impact of inaccurate SSP from the terrain measurements, the proposed method can achieve precise and robust underwater navigation result without using an underway-profiling instrument. Simulated results confirm the good performance of the proposed method. 相似文献
12.
13.
文中关注水下潜航器导航定位时,电磁波传播途径中能量衰减、惯导系统长航时积累误差以及提高水下潜航器定位精度等问题。基于倒置的超短基线声学基阵,分析声波往返传播时间(RTT)、平面波近似方法和USBL导航解算方法及其坐标转换过程,结合INS误差方程,建立INS/USBL松组合模型。为进一步提高系统精度、动态性能和抗干扰性,考察USBL的原始斜距、斜距差以及声学基阵的空间分布信息,提出基于USBL原始输出信息的INS/USBL紧耦合组合导航方法。通过MATLAB仿真对导航算法进行验证,结果表明两种算法能充分抑制纯惯导误差随时间积累问题,且有效地估计出姿态、速度和位置误差角;其中紧耦合方法状态估计误差最小,导航参数精度相对松组合提高30%以上,对于提高水下载体导航定位精度、海洋探测具有重大意义。 相似文献
14.
准确的海面风速预报是舰艇航行安全和防台工作的重要保证。目前在舰艇上估测海面风速方法主要是利用传真天气图手工绘算单站地转风,并对理论风速值进行适当摩擦系数订正。这种方法的估测精度比较差,很难满足舰艇指挥人员在复杂天气中的预报需求。为了深入探讨海面风估算方法,给出了传真地面天气图上地转风、梯度风的近似计算公式,介绍了用传真图实时计算地转风与梯度风的实现方法,提出了通过建立风速订正值库由风速理论值实时估测平均海面风速的一种新方法,并深入探讨了梯度风测风方法在强天气测风中的应用特点和优势。经实际应用和分析表明,计算精度得到很大提高,有一定应用和推广价值。 相似文献
15.
自主水下机器人(AUV)对接技术是目前水下机器人的研究热点,精确可靠的AUV的回坞导航是实现对接的关键技术。对于追求轻便的便携式AUV的对接系统,考虑到便携式AUV的搭载能力有限又需要足够的定位精度用于对接,提出了一种基于超短基线(USBL)定位的回坞导航方法,该方法让AUV只需装载电子罗盘和水声应答器就能完成精确的回坞定位。根据导航方法的特点,设计了一种改进的扩展卡尔曼滤波算法,其优点是能在处理滞后的USBL数据的同时动态估算海流、更新状态方程以消除海流造成的定位误差。通过湖试和大量仿真实验,验证了定位算法在海流影响下的定位性能。 相似文献
16.
Walter J. Senus 《Marine Geodesy》2013,36(3):263-288
The current accuracy of sea‐going and airborne gravity measurements is not bounded by the precision of the gravimeter but by the precision with which external parameters such as vehicle velocity (speed), azimuthal heading, and geographic position can be determined. Uncertainties in these parameters are summed up in the Eötvös correction in the reduction of the measured data. This work investigates the suitability of baseline navigation systems, in particular Loran‐C and Omega, to further reduce the uncertainty of the Eötvös correction. Emphasis is placed on the velocity measurement error. A new algorithm is developed which derives velocity based upon the change in hyperbolic (or circular) grid readings, as opposed to the standard change in geographic position technique. A comparative analysis shows the new algorithm to be as precise as the currently used conventional calculation. Further, this simplified technique is accompanied with a 20‐fold reduction in computational complexity. Application of the results presented in this paper to the Loran‐C and Omega systems shows a velocity determination capability of 0.1 knot over a six minute integration time, and 0.05 knot for a 15 minute integration time for Loran‐C. The minimum error attainable in Omega is 0.1 knot when determined over a 17 minute measurement time. Further precision can be gleaned by applying the calculated error as a correction to subsequent velocity calculations. 相似文献
17.
Wen-Hui Cheng 《Ocean Engineering》2006,33(10):1271-1282
The SBL system (Short Baseline System) is usually utilized by offshore working vessels when performing its underwater orientation task so as to facilitate the exploitation of abundant benthal resources, therefore, the precise distance between the vessel and underwater targets for SBL system's estimation module are highly emphasized. However, hydrological data cited in the SBL system's estimation module is not real-time information and is difficult to accurately measure, which causes the calculation errors. Studies with regard to symmetrical SBL system are carried out by most of the researchers these days, yet research in this text shows the advantage to the asymmetrical SBL system's sensor on the vessel's bottom to be installed at discretion to measure and calculate the position. In addition to the locus equation used in the traditional position calculation, Haussiam Elimination, Cramer's rule, 3D geometry relation theory as well as substitution corrections applied to this asymmetrical SBL system to educe the correction for relative geometrical position between the underwater beacon and the sensor on the ship bottom. Through numeric simulation analysis, this SBL system is proved to be a high precision acoustic positioning system based on its quick correction and high precision position calculated by the asymmetrical SBL system established in this study. 相似文献