Augmented Underwater Acoustic Navigation with Systematic Error Modeling Based on Seafloor Datum Network

IF 2 4区地球科学 Q2 GEOCHEMISTRY & GEOPHYSICS

Marine Geodesy Pub Date : 2022-12-22 DOI:10.1080/01490419.2022.2162646

Junting Wang, Tianhe Xu, Yangfan Liu, Mowen Li, Long Li

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引用次数: 1

Abstract

Abstract Underwater acoustic navigation technology is an important approach to achieving high precision ocean navigation. One of the critical issues of the technology is to correct systematic errors, which are related to time delays and time-varying sound speed errors. In this study, we propose an augmented underwater acoustic navigation with systematic error model based on seafloor datum network. The proposed algorithm first selects data sets of piece-wise systematic error modeling by extracting the main periodic term of systematic errors based on the Fourier transform. Before that, the wavelet transform is used for denoising to better extract the main periodic term. Then the systematic error correction model is constructed by using the polynomial fitting method. After that, an augmented observation equation of underwater acoustic navigation with systematic error correction is constructed. Finally, an adaptive robust Kalman filter is developed for underwater acoustic navigation. The proposed algorithm is verified by an experiment in the South China Sea. The three-dimensional root mean square values of underwater acoustic navigation are 1.010 and 1.502 m in the operating range of 2.7 and 8.7 km. The results demonstrate that the proposed algorithm can efficiently reduce the influence of systematic error, thus improving underwater acoustic navigation accuracy.

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基于海底基准网络的系统误差建模增强水声导航

摘要水声导航技术是实现高精度海洋导航的重要途径。该技术的关键问题之一是校正与时间延迟和时变声速误差有关的系统误差。在这项研究中，我们提出了一种基于海底基准网络的具有系统误差模型的增强型水声导航。该算法首先基于傅立叶变换提取系统误差的主周期项，选择分段系统误差建模的数据集。在此之前，使用小波变换进行去噪，以更好地提取主周期项。然后利用多项式拟合方法建立了系统误差校正模型。在此基础上，构造了具有系统误差校正的水声导航增广观测方程。最后，提出了一种适用于水声导航的自适应鲁棒卡尔曼滤波器。通过在南海的实验验证了该算法的有效性。水声导航的三维均方根值分别为1.010和1.502 m，在2.7和8.7的工作范围内结果表明，该算法可以有效地减少系统误差的影响，从而提高水声导航的精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Marine Geodesy 地学-地球化学与地球物理

CiteScore

4.10

自引率

6.20%

发文量

审稿时长

>12 weeks

期刊介绍： The aim of Marine Geodesy is to stimulate progress in ocean surveys, mapping, and remote sensing by promoting problem-oriented research in the marine and coastal environment. The journal will consider articles on the following topics: topography and mapping; satellite altimetry; bathymetry; positioning; precise navigation; boundary demarcation and determination; tsunamis; plate/tectonics; geoid determination; hydrographic and oceanographic observations; acoustics and space instrumentation; ground truth; system calibration and validation; geographic information systems.