| 俞佳男,徐文滔,刘祖斌,卢奂采.适用于MAUV的变基线定位系统[J].高技术通讯(中文),2021,31(3):315~326 |
| 适用于MAUV的变基线定位系统 |
| Variable baseline positioning system for MAUV |
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| DOI：10.3772/j.issn.1002-0470.2021.03.012 |
| 中文关键词: 多关节潜器（MAUV）； 变基线； 水下定位； 时延估计； Bellhop 仿真 |
| 英文关键词: multi-joint autonomous underwater vehicle（MAUV）， variable baseline， underwater positioning， time delay estimation， Bellhop simulation |
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| 中文摘要: |
| 为了满足多关节潜器（MAUV）在深海进行精细化探测的需要，实现其在基线长度实时变化的情况下仍能进行高精度定位，设计并实现了一种适用于MAUV的变基线定位系统。该定位系统通过水听器阵列获得潜标发射的线性调频（LFM）水声信号，利用同步时延估计算法得到时延信息；辅助以光纤陀螺仪、关节转角传感器数据，通过基线解算算法更新基线长度及姿态参数；结合温盐深仪、多普勒计程仪数据，利用变基线定位算法计算得到MAUV的三维位置坐标。通过基于Bellhop的定位仿真及消声水池实验验证，结果表明该定位系统具有稳定性强、定位精度高的优点，其定位精度优于斜距的1%，能满足MAUV在深海工作的定位要求。 |
| 英文摘要: |
| In order to meet the need of refined detection of multi-joint autonomous underwater vehicle (MAUV) in deep sea and to realize its high-precision positioning under the real-time change of baseline length, a variable baseline positioning system for MAUV is designed and developed. The variable baseline positioning system includes a beacon located near the sea bed which emitts linear frequency modulation (LFM) acoustic signal, and a hydrophone array mounts on MAUV to receive the signal. The time delay of the signal is calculated by a synchronous time delay estimation algorithm; added data from fiber optic gyroscope and turning angle sensor, the baseline length and attitude angle are updated by a baseline calculation algorithm; in the end, combined with the data of a conductivity-temperature-depth system and a doppler velocity log, the three-dimensional coordinates of the MAUV are obtained by the variable baseline positioning algorithm. Results of simulations based on Bellhop and experiments in an anechoic water tank show that the variable baseline positioning system has advantages of strong stability and high positioning accuracy, and its positioning accuracy is better than 1% of the slant distance, which meets the positioning requirements of MAUV in the deep sea. |
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