Integrated navigation systems for precise positioning in the deep ocean

For navigation in deep ocean the most important navaids are self contained dead reckoning systems (DRS) such as classical DRS with log and compass or Doppler‐DRS or inertial navigation system (INS) and the external radio navaids LORAN, Omega and Navy Navigation Satellite System (NNSS). These navaids cannot satisfy the requirements for precise surveying if they are used in the conventional manner. Accuracy can be increased by integration of the DRS with the external navaids by a computer which estimates best values of position, velocity, etc. from all available data. The DRS is used as reference system and the external navaids are used for control measurements. The measurements are compared with the same quantities computed from the positions, which are indicated of the DRS. The differences between the measured and the computed values are described by error models of the integrated navaids and processed by a filter to estimate best values of the errors of the DRS and to make corresponding corrections. The principles of least square filtering are described in detail for integrated Inertial/LORAN‐C and Inertial/Omega navigation.     

Simulation of an Inertial Acoustic Navigation System With Range Aiding for an Autonomous Underwater Vehicle

This paper presents an integrated navigation system for underwater vehicles to improve the performance of a conventional inertial acoustic navigation system by introducing range measurement. The integrated navigation system is based on a strapdown inertial navigation system (SDINS) accompanying range sensor, Doppler velocity log (DVL), magnetic compass, and depth sensor. Two measurement models of the range sensor are derived and augmented to the inertial acoustic navigation system, respectively. A multirate extended Kalman filter (EKF) is adopted to propagate the error covariance with the inertial sensors, where the filter updates the measurement errors and the error covariance and corrects the system states when the external measurements are available. This paper demonstrates the improvement on the robustness and convergence of the integrated navigation system with range aiding (RA). This paper used experimental data obtained from a rotating arm test with a fish model to simulate the navigational performance. Strong points of the navigation system are the elimination of initial position errors and the robustness on the dropout of acoustic signals. The convergence speed and conditions of the initial error removal are examined with Monte Carlo simulation. In addition, numerical simulations are conducted with the six-degrees-of-freedom (6-DOF) equations of motion of an autonomous underwater vehicle (AUV) in a boustrophedon survey mode to illustrate the effectiveness of the integrated navigation system.     

Planar trajectory planning and tracking control design for underactuated AUVs

This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized using backstepping techniques, forcing the tracking error to an arbitrarily small neighborhood of zero. Simulation results for a constant velocity trajectory, i.e. a circle, and a time-varying velocity one, i.e. a sinusoidal path, are presented. The parametric robustness is considered and it is shown that tracking remains satisfactory.     

Estimating the geostrophic velocity obtained by HF radar observations in the upstream area of the Kuroshio

A method to extract geostrophic current in the daily mean HF radar data in the Kuroshio upstream region is established by comparison with geostrophic velocity determined from the along-track altimetry data. The estimated Ekman current in the HF velocity is 1.2% (1.5%) and 48° (38°)-clockwise rotated with respect to the daily mean wind in (outside) the Kuroshio. Furthermore, additional temporal smoothing is found necessary to remove residual ageostrophic currents such as the inertial oscillation. After removal of the ageostrophic components, the HF geostrophic velocity agrees well with that from the altimetry data with rms difference 0.14 (0.12) m/s in (outside) the Kuroshio.     

顾及声速误差的USBL/SINS紧组合导航算法研究

采用水下超短基线定位系统和捷联惯导系统组合对水下潜器进行导航时,未知的声速误差会严重影响组合导航的精度.顾及超短基线定位系统的噪声水平、阵列上接收单元的误差特性以及和捷联惯导系统在导航性能的互补性,基于平面波近似原理,建立了SINS/USBL紧组合系统的状态方程和量测方程,并对未改正的声速误差在线估计,提出一种超短基线...     

Inertial Oscillations and the Galilean Transformation

This paper presents a general solution of shallow-water equations on the f-plane. The solution describes the generation of inertial oscillations by wind-pulse forcing over the background of currents arbitrarily changing in time and space in a homogeneous fluid. It is shown that the existence of such a complete solution of shallow-water equations on the f-plane is related to their invariance with respect to the generalized Galilean transformations. Examples of velocity hodographs of inertial oscillations developing over the background of a narrow jet are presented which explain the diversity in their forms.     

SINS/DGPS矢量重力测量系统滤波技术研究

以单通道捷联惯性导航系统的速度误差和姿态误差方程为状态方程,以陀螺仪误差和垂线偏差为过程噪声,以DGPS的速度与捷联惯导的速度之差为观测量,建立Kalman滤波模型,经滤波得到高精度实时导航信息。从导航信息中提取水平重力信息,进而得到垂线偏差。对高精度惯性元件构建的惯导系统进行数值仿真,仿真结果表明,组合系统可以有效提高实时导航和姿态精度,经50s平均后,可以得到精度为2″的垂线偏差。     

南海西北部半日内潮参量次谐频不稳定生成的近惯性波研究

为了研究非临界纬度上参量次谐频不稳定(parametric subharmonic instability,PSI)过程生成的近惯性波(near-inertial wave,NIW),本文基于国家重点研发项目的 准实时传输深海潜标资料,对内波速度谱、近惯性流速和动能、D2-f(半日频减惯性频)流速和动能、半日内潮流速和...     

基于可重置联邦滤波器的水下运载体导航定位方法

单一导航系统无法满足水下运载体高精度、高可靠性的导航需求,文中根据常用水下导航系统的特点,提出基于可重置联邦滤波器的水下运载体导航定位方案,设计了以惯导系统(INS)为主参考系统,声学定位系统/深度计、多普勒计程仪(DVL)、罗经为子参考系统的联邦滤波器,并进行了仿真研究。结果表明文中设计的滤波器能有效融合各个传感器的导航信息,实现水下运载体高精度导航定位,并具有一定容错性。     

水下导航定位技术在大洋科考调查中的应用

水下声学定位、惯性导航定位、多普勒声纳以及组合导航定位是目前我国大洋科考调查工作中的几种主要水下导航定位技术。通过分析常规调查装备、ROV、AUV和载人潜水器等4类主要水下科考设备的导航定位系统实测数据,给出不同水下导航定位模式的现场作业精度,为我国大洋科考调查工作中水下导航定位技术的选择与应用等工作提供参考。     

Enhancement of the inertial navigation system for the Morpheusautonomous underwater vehicles

This paper presents the design and development of an enhanced inertial navigation system that is to be integrated into the Morpheus autonomous underwater vehicle at Florida Atlantic University. The inertial measurement unit is based on the off-the-shelf Honeywell HG1700-AG25 3-axis ring-laser gyros and three-axis accelerometers and is aided with ground speed measurements obtained using an RDI Doppler-velocity-log sonar. An extended Kalman filter has been developed, which fuses together asynchronously the inertial and Doppler data, as well as the differential Global Positioning System positional fixes whenever they are available. A complementary filter was implemented to provide a much smoother and stable attitude estimate. Thus far, preliminary study has been made on characterizing the inertial navigation system-based navigation system performance, and the corresponding results and analyzes are provided     

Near inertial motion excited by wind change in a margin of the Typhoon 9019

An excitation of inertial oscillation in the upper layer east of course of Typhoon 9019 was fortuitously observed at three surface buoys deployed during the Ocean Mixed Layer Experiment (OMLET). The observed inertial oscillation was compared with wind fluctuation measured at Ocean Weather Station T (29°N, 135°E) which was placed at the center of a triangle with three vertexes occupied by the respective surface buoys. Inertial oscillation is effectively excited in the mixed layer at the eastern margin of the typhoon by a rapid decrease of wind rather than by prevailing strong wind. It is shown by means of a least square deviation that the inertial oscillation observed in the mixed layer has a period of 23.9 hours shorter than the local inertial period of 24.7 hours. This shorter period suggests that the inertial oscillation has the finite velocities of phase and group as an inertial internal wave. A theoretically obtained ratio of vertical component of group velocity to that of phase velocity, approximately agrees with observed value. The inertial internal wave is excited by fluctuation of divergence with near inertial period in the mixed layer.     

Robust ROV path following considering disturbance and measurement error using data fusion

ROV accurate path following is challenging due to system unmodeled dynamics, disturbances and navigation sensors error. The model uncertainty and disturbances are commonly treated using robust methods such as the sliding mode controller where by incorporating an integral action in the zero tracking error is also guaranteed. Practically, the ROV position data is often computed using low cost inertial measurement unit (IMU) with outputs contaminated with bias and noise. Failure of mission is an immediate consequence of employing such biased sensors. However, the problem can be circumvented using the concept of redundant measurements and data fusion. In this respect, a set of 12 measurements from IMU, magnetometer and Doppler velocity log (DVL) are employed where the last two are aided sensors. The set up is shown to be capable of providing ROV path following with zero (in average) steady state tracking error irrespective of its dynamic parameters, environmental disturbances and erroneous data; as if it enjoys the exact values of the position of the ROV. It means that the combined DVL and magnetometer are sufficient for filtering the IMU biased measurements. Various simulations conducted confirm the results.     

基于客观方法的海洋三维涡旋核心线提取

涡旋核心线是海洋中尺度涡旋结构的重要组成要素,涡旋核心线提取和可视化对于切入中尺度涡三维结构研究、开展海洋物质能量垂直运输分析具有重要意义。本文基于客观参考框架和准则,提出了使用客观化的流场参数得到区域,并提取其山谷线作为涡旋核心线的方法,实现了对海洋三维结构中尺度涡旋核心线的提取和可视化。首先,引入了最优局部参考系,使速度、速度梯度等测度转换为在运动的参考系下保持不变的客观量,提升了在海洋科学实践中的可靠性和实用性。其次,针对含有垂向速度的海洋三维流场数据,计算其空间雅可比矩阵,展示了涡旋核心区域的三维结构,实现了海洋涡旋研究从二维到三维的提升。最后,分别在多个半径大小播撒流线种子点,分析不同旋转方向的涡旋,对已提取的涡旋核心线实验结果进行验证,证明了客观海洋三维涡旋核心线提取方法的有效性及可行性。     

Inertial oscillations as deep ocean response to hurricanes

We discuss the deep ocean response to passing hurricanes (aka typhoons), which are considered as generators of near-inertial, internal waves. The analysis of data collected in the northwestern parts of the Pacific and Atlantic oceans in the hurricane season permit us to assess the deep ocean response to such a strong atmospheric forcing. A large number of moorings (more than 100) in the northwestern Pacific have allowed us to characterize the spatial features of the oceanic response to typhoons and the variable downward velocity of near-inertial wave propagation. The velocity of their downward propagation varies in the range 1–10 m/hour. It is higher in the regions of low stratification and high anticyclonic vorticity. The inertial oscillations generated by a hurricane last for 10–12 days. The mean anticyclonic vorticity in the region increases the effective frequency of inertial oscillations by 0.001–0.004 cyc/hour.     

应力-应变过程中海底沉积物微结构变化对其声速的影响

本文阐述了对海底沉积物样品在应力-应变过程中进行同步声学测量的实验工具和方法,分析了采自南海45个站位的海底沉积物样品的实验数据资料,结果表明,沉积物颗粒越粗、孔隙越小、无侧限抗压强度越大,声速越高。沉积物样品在受力应变过程中,声速具有明显的随应力而变化的特征。进一步探讨了不同应变阶段沉积物的声学特征以及应力所导致沉积物微结构变化对其声速的影响过程,这一研究将在石油地质测井和海底工程基底稳定性评价等方面具有重要的应用意义。     

深远海声速资料对比及校正方法研究

为准确获取深远海海洋声速资料,充分了解深水声速规律,选取了西太地区两个水深超过5000m的S1和S2站位的声速资料为研究对象,以SVP(声速剖面仪)实测资料为参考标准,通过对CTD资料利用Chen-Millero、Del-Grosso以及Wilson的3种经验公式计算的声速与SVP资料进行对比分析,得出Del-Grosso经验公式计算的声速误差最小。为进一步提高声速资料精度,对Del-Grosso公式进行修正,并利用另外3个站位数据进行验证,发现利用校正后的公式计算的声速资料精度明显提升,这为其他深远海区利用CTD或其他温盐深资料获取高精度声速资料提供参考。     

应力-应变过程中海底沉积物微结构变化对其声速的影响

阐述了对海底沉积物样品在应力-应变过程中进行同步声学测量的实验工具及方法,分析了采自南海45个站位的海底沉积物样品的实验数据资料,结果表明,沉积物颗粒越粗、孔隙越小、无侧限抗压强度越大,声速越高.沉积物样品在受力应变过程中,声速具有明显的随应力而变化的特征.进一步探讨了不同应变阶段沉积物的声学特征以及应力所导致沉积物微结构变化对其声速的影响过程,这一研究将在石油地质测井和海底工程基底稳定性评价等方面具有重要应用意义.     

基于二元LSTM神经网络的船舶运动预测算法研究

在海况环境下,进行船舶运动预测时。由于惯性传感器采集系统本身的电学特性,会产生误差偏移,影响预测的准确性。针对这一问题,在常规长短期记忆网络（LSTM）的基础上,设计改良了一种二元的LSTM网络架构。在船舶运动仿真平台上进行模拟船舶升沉运动实验,并通过惯性传感系统测量仿真平台实时积分位移进行计算验证。验证统计该网络预测结果峰差值均方差0.64%,均值均方差0.42%,峰值均方差0.57%,证实该网络较常规LSTM在船舶运动预测领域具有更好的针对性和适应性,更准确的对船舶运动进行预测。     

基于遗传BP神经网络的海底沉积物声速预报

在海底沉积物声速预报中,针对传统经验公式存在预测精度差、适用范围窄、缺乏物理意义等问题,在已有BP神经网络预测的基础上,运用遗传算法优化其初始权值和阈值的方法,构建出基于含水量、孔隙度的声速预报模型。将南沙海域采集得到的海底沉积物样品分为两部分,抽取120组涵盖陆架、陆坡、海槽等地貌单元的样品作为训练数据,另外剩余6组作为测试数据。经试验对比后发现,在对本区域进行声速预报时,宜采用遗传算法优化的BP神经网络,其要优于传统的单参数、双参数回归拟合预报方法和国内外其他学者所得到的经验公式。此种预报方法具有一定的科学依据和广泛的应用前景,可在今后为建立明确、统一的声速预报模型提供参考。