一种适用于深海长基线定位的自适应分层声线跟踪法

在深海定位中,声线传播距离长,声速剖面层数多,采用分层等梯度怕线跟踪法运算量大,会明显降低定位的计算效率。针对这一问题,提出了一种自适应分层声线跟踪法,根据声速梯度的变化情况对声速剖面数据进行自适应分层,保留主要声速层以减少运行时间。实验表明,该方法在保证定位精度的前提下显著地提高了计算效率。     

多波束测量声速剖面采样间隔优化选取

针对多波束测量声速剖面采样间隔合理选取问题,首先介绍了常声速分层声线跟踪法与常梯度分层声线跟踪法基本原理及实现方式,其次基于两种声线跟踪方法分析了声速剖面采样间隔对多波束测深的影响规律,并利用三次样条插值法对声速剖面进行了层化处理以获取不同采样间隔声剖数据,最后结合限差要求,对采样间隔进行了优化选取,实验结果表明,常声速分层声线跟踪法较常梯度分层声线跟踪法对声剖采样间隔更为敏感,在给定限差范围内合理确定采样间隔,既能保证测量的精度又能提高算法运行效率,分析结果对多波束测深数据采集质量的实时监控和实时声线跟踪具有一定指导作用。     

声速剖面EOF表示对多波束水深数据的影响研究

基于实测数据,将测区内声速剖面进行EOF表示,进而采用常梯度分层声线跟踪法对EOF表示的声速剖面和实测声速剖面进行比对,统计有效波束比。比对结果表明:采用EOF表示的声速剖面进行的水深数据改正能够满足多波束水深测量的精度指标要求,论证了采用EOF方法表示多波束勘测水深声速剖面场的有效性。     

海道测量多波束声速改正精确模型研究

在严格推导常梯度声线跟踪法的基础上,提出了基于常梯度声线跟踪法的多波束声速改正精确模型,并初步推证了CARIS软件的声速改正方法。计算结果表明,精确模型计算结果与CARIS 6.1计算结果一致,并通过声线姿态改正算法比较,给出了声线姿态补偿法和直接法的适用角度范围。     

基于时间分解的多波束常梯度声线跟踪方法

针对多波束常梯度声线跟踪计算耗时和声速剖面简化导致计算精度下降的问题,在对多波束常梯度声线跟踪理论进行分析的基础上,提出了一种基于时间分解的常梯度声线跟踪方法。将波束在层内的传播时间分解为与波束入射角无关的固定项和有关的变化项,固定项对于每个声速剖面仅需计算一次,对变化项采用麦克劳林公式展开得到其一阶近似,简化了层内传播时间和水平位移的计算;同时仅对变化项应用简化的声速剖面,降低剩余传播时间计算误差。实验结果证明当波束角小于50°、层间距小于50 m或上下层声速差小于20 m/s时,近似模型与常梯度算法精度相当,时间分解法在声速剖面层间距增大时能显著提高声线跟踪的精度。     

关于多波束声速剖面改正问题的探讨

简要介绍了声线跟踪计算中比较精确的常梯度声线跟踪算法,针对实际声速剖面测量中可能出现的随机误差和整体偏差两种情况,分别设计了相对应的模拟声速剖面,然后采用常梯度声线跟踪算法计算波束脚印,分析声速剖面误差对波束脚印计算的影响,给出了实际多波束测量作业中声速剖面测定密度和间隔的建议。     

基于二次多项式拟合的超短基线声线修正方法

超短基线定位解算中的距离观测值是指换能器与水下应答器之间的直线距离,而海水声速的不均匀分布导致声波在海水中的实际传播路径为连续弯曲的曲线,需要结合实测声速剖面进行声线修正。根据声速在分层介质中的传播特性,本文提出了一种基于二次多项式拟合的声线跟踪算法,采用线性插值方法对声速剖面数据进行合理加密并按等深度进行分层,设定每层声速梯度是不断变化的,用二次多项式拟合声速,基于运动学原理建立了完整的数学解算模型。仿真结果表明,该方法修正后的水下目标分布具有明显的收敛性,且优于等梯度声线跟踪算法和等效声速剖面法,显著提高了超短基线水声定位系统的定位精度。     

一种等效声速梯度的迭代计算方法

等效声速剖面法将实际复杂的声速剖面用一个简单的声速剖面等效替代,在声线跟踪时可以提高计算效率。但在多波束测深系统归位计算中,由于地形的起伏,对每ping各个波束使用单一的等效声速剖面会影响计算精度。通过仿真实验分析了地形起伏对等效声速剖面法计算精度的影响,提出了一种等效声速迭代算法,通过实验发现,相比于常梯度声线跟踪算法,迭代算法可达到同等精度水平,并有更高的计算效率。     

水声定位系统中迭代适应点分层的声线修正算法

水声定位系统中, 声线弯曲是造成定位误差大的主要原因, 本文针对该问题提出了一种迭代适应点分层(IAPL)的声线修正算法, 将声速剖面筛选分层修正声线。首先搭建水声定位模型, 通过拟合目标海域的监测数据, 得到声速高次函数; 其次探究声线弯曲时目标位置与掠射角的关联性, 由此构造出声线插值函数并求解路径参数; 最后提出划分原则, 精简声速剖面分层。仿真结果表明, 所提算法定位误差较低, 分层精简率均维持在48.04%的水平, 使计算量平均下降可达50.27%, 能够最大程度保留声速剖面的原始特征, 减少分层数量, 提高计算效率。     

多波束测深系统声线跟踪方法对比分析

多波束测深系统的声学原理和海水的不均匀性,使得声波在传播过程中发生声线的折射现象,对波束测点位置的计算带来较大误差。针对多波束数据后处理常用的几种声线跟踪方法,通过模型分析,仿真实验,对比分析得出了各个方法的优缺点,估计了各种跟踪方法的模型精度,证明等效声速法与常梯度法应用价值较高。     

Precise Multibeam Acoustic Bathymetry

The maximum error in ocean depth measurement as specified by the International Hydrographic Organization is 1% for depth greater than 30m. Current acoustic multibeam bathymetric systems used for depth measurement are subject to errors from various sources which may significantly exceed this limit. The lack of sound speed profiles may be one significant source of error. Because of the limited ability of sound speed profile measurement, depth values are usually estimated using an assumed profile. If actual sound speed profiles are known, depth estimate errors can be corrected using ray-tracing methods. For depth measurements, the calculation of the location at which a sound pulse impinges on the sea bottom varies with the variation of the sound speed profile. We demonstrate that this location is almost unchanged for a family of sound speed profiles with the same surface value and the same area under them. Based on this observation, we can construct a simple constant-gradient equivalent sound speed profile to correct errors. Compared with ray-tracing methods, the equivalent sound speed profile method is more efficient. If a vertical depth is known (or independently measured), then depth correction for a multibeam system can be accomplished without knowledge of the actual sound speed profile. This leads to a new type of precise acoustic multibeam bathymetric system.     

Precise Multibeam Acoustic Bathymetry

The maximum error in ocean depth measurement as specified by the International Hydrographic Organization is 1% for depth greater than 30m. Current acoustic multibeam bathymetric systems used for depth measurement are subject to errors from various sources which may significantly exceed this limit. The lack of sound speed profiles may be one significant source of error. Because of the limited ability of sound speed profile measurement, depth values are usually estimated using an assumed profile. If actual sound speed profiles are known, depth estimate errors can be corrected using ray-tracing methods. For depth measurements, the calculation of the location at which a sound pulse impinges on the sea bottom varies with the variation of the sound speed profile. We demonstrate that this location is almost unchanged for a family of sound speed profiles with the same surface value and the same area under them. Based on this observation, we can construct a simple constant-gradient equivalent sound speed profile to correct errors. Compared with ray-tracing methods, the equivalent sound speed profile method is more efficient. If a vertical depth is known (or independently measured), then depth correction for a multibeam system can be accomplished without knowledge of the actual sound speed profile. This leads to a new type of precise acoustic multibeam bathymetric system.     

An Improvement of Long Baseline System Using Particle Swarm Optimization to Optimize Effective Sound Speed

Abstract

In long baseline (LBL) positioning system, errors due to uncertain sound speed are the major facts to its positioning accuracy. In this study, the problem is solved by setting acoustic signal travels between the target and different hydrophones with different sound speed and using particle swarm optimization algorithm to solve the multi-parameter optimization problem to obtain the sound speeds. Presented simulation results show that the proposed algorithm can effectively improve the positioning accuracy of the LBL system compared to existing algorithms and its computational efficiency is high enough.     

关于测深仪声速改正问题的探讨

用累加法对声速剖面仪和CTD声速剖面仪测量声速剖面资料进行了类比计算,得出两者测量声速具有可替换性的结论,并对声速剖面仪测量声速剖面的时间间隔作了探讨。     

Real-Time Adjustment Underwater Positioning System for Submarines

A rapid real-time adjustment scheme is proposed for improving the precision of the conventional short-base line (SBL) positioning fix system used by submarines and other underwater vehicles. In the proposed approach, an initial position estimate is obtained by solving the conventional SBL tracking equations of the submarine given the assumptions of a constant speed of sound in water and a straight-line propagation path. In the first stage of the real-time adjustment procedure, this initial estimate is corrected using an iterative computation scheme based on a 3D geometry model. The improved position estimate is then used to compute a new, more accurate value of the speed of sound in water. Finally, in the second stage of the real-time adjustment procedure, the corrected speed of sound in water and the discrepancy between the original and corrected position estimates obtained in the first adjustment procedure are applied to update the coordinates of the submarine based on the second signal received from the pinger. The numerical results show that the proposed real-time adjustment system yields a significant improvement in the accuracy of the positioning fix estimates compared to those obtained from the conventional SBL method or the SBL method with the first adjustment procedure only.     

内波对多波束测深影响仿真研究

为了研究内波对多波束测深的影响,通过对内波建模,分别对四个区间的声线跟踪情况进行了研究分析。在此基础上,推导了针对曲线型梯度结构的声线跟踪模型,并根据该模型进行了仿真分析。仿真简单模拟了采用常梯度声线跟踪模型对曲线型梯度结构声速剖面进行声速改正的声线跟踪过程。采用仿真数据绘制了声线跟踪前后的声线示意图,并对归算前后的波束脚印位置进行了比较分析。仿真结果说明内波会给多波束的边缘波束带来大量尖峰状的浅点,而这些浅点难以用传统的声速改正模型消除。推导的针对曲线型梯度结构的声线跟踪模型可为内波的进一步研究提供理论依据,最后对未来的研究进行了展望。     

顾及海底地形坡度的应答器互测距能力估计

研究了在海底声速梯度为正的情况下,应答器最大互测距距离的计算方法。对于平坦地形,直接基于声线跟踪的原理计算;对于倾斜地形,首先将实际声线轨迹近似为圆弧,然后利用牛顿法迭代计算初始掠射角,进一步得到两应答器间的水平距离。仿真实验结果表明,应答器的架设高度越高,最大互测距距离越远;同样架设高度,坡度越大的地形互测距距离越短。