平台运动对声学导航圆交汇模型的影响及误差分析

声学导航技术被广泛应用于水下机动平台的自主导航。常用的声学导航模型多为圆交汇模型，该模型结构简单，计算方便，但未考虑平台运动影响，是一种静止模型。平台运动条件下，平台接收各水下声信标(水下星站节点)的时间及所处空间位置不同，即时间和空间存在差异性，会产生模型失配，影响导航精度。针对上述问题，该文推导了由平台运动造成的模型失配误差公式，定量分析了运动对导航精度的影响以及误差的空间分布规律，着重研究了航速、航向角等航行参数对导航精度的影响规律，并进行了仿真验证。研究结果表明:仅考虑平台运动的影响时，声学导航圆交汇模型的失配误差存在，且与平台在阵内的空间位置有关，其导航精度空间特性呈近似的同心椭圆分布；模型失配误差还与平台航行参数有关，模型失配误差对速度变化敏感，随着航行速度增大，呈近似线性趋势增大，影响严重；航向角对全局精度变化范围影响小，主要影响模型失配误差的空间分布，体现为一种随航向角“旋转”的特性，且椭圆横轴方向与平台运动方向趋于一致。

Influence of Platform Movement on Acoustic Navigation Circle Intersection Model and Error Analysis

Acoustic navigation technology is widely used for autonomous navigation of underwater mobile platforms. The commonly used acoustic navigation models are mostly circle intersection models. The model is simple in structure and convenient in calculation, but it does not consider the influence of platform motion. It is a static model. Under the condition of platform motion, the time when the platform receives each underwater acoustic beacon (underwater star station node) and the spatial position of the platform are different, that is, there is a difference in time and space, which will cause model mismatch and affect navigation accuracy. Aiming at the above problems, this paper deduces the formula of model mismatch error caused by platform  motion, quantitatively analyzes the influence of motion on navigation accuracy and the spatial distribution of error, and focuses on the influence of navigation speed and heading angle on navigation accuracy. The simulation verification is carried out. The results show that the mismatch error of the acoustic navigation circle intersection model exists only when considering the influence of the platform motion, and it is related to the spatial position of the platform in the array. The error space characteristics are approximate concentric elliptic distribution; the model mismatch error is related to the navigation parameters of the platform. The model mismatch error is sensitive to the speed change. As the navigation speed increases, the approximate linear trend increases and the impact is serious. The heading angle has little influence on the global precision variation range, which mainly affects the space of the model mismatch error. The distribution is embodied as a kind of “rotation” with the heading angle, and the direction of the ellipse is aligned with the direction of motion of the platform.