An Installation Angle Error Calibration Method in an Ultra-Short Baseline System Based on a Dual Transponder

IF 2 3区工程技术 Q2 ENGINEERING, MARINE

Polish Maritime Research Pub Date : 2023-06-01 DOI:10.2478/pomr-2023-0028

Baoheng Liu, Xiaochuan Zhang, Shuyang Jia, Sichen Zou, Deyan Tian, Lianglong Da

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引用次数: 0

Abstract

Abstract The installation error of an acoustic transceiver array is one of the important error sources in an ultra-short baseline (USBL) system. In a USBL system with a positioning accuracy of 0.5%, an installation error angle of 1° will lead to a positioning error of 1.7% times the slant distance. In this paper, a dual transponder-based installation angle error calibration method for USBL is proposed. First, the positioning errors induced by various installation angles are deduced and analysed using the linear measurement of seafloor targets. Then, an iterative algorithm is proposed that estimates the rolling alignment error, pitching alignment error, and heading alignment error, in that order. The simulation and experienced results show that, after three iterations, the estimates of the three alignment errors can converge quickly, all of the estimates converge to within 0.001° and the estimated values are very close to the true values. The horizontal positioning error caused by the installation error angle can be reduced by nearly 75%. The method has good effectiveness and robustness, and can greatly improve the positioning accuracy of the USBL system.

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基于双应答器的超短基线系统安装角误差标定方法

摘要声学收发器阵列的安装误差是超短基线（USBL）系统中的重要误差源之一。在定位精度为0.5%的USBL系统中，1°的安装误差角将导致1.7%的倾斜距离的定位误差。本文提出了一种基于双应答器的USBL安装角度误差校准方法。首先，利用海底目标的线性测量，推导和分析了不同安装角度引起的定位误差。然后，提出了一种迭代算法，按滚动对准误差、俯仰对准误差和航向对准误差的顺序进行估计。仿真和经验结果表明，经过三次迭代，三个对准误差的估计值可以快速收敛，所有估计值都收敛到0.001°以内，估计值非常接近真实值。由安装误差角度引起的水平定位误差可减少近75%。该方法具有良好的有效性和鲁棒性，可以大大提高USBL系统的定位精度。

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

Polish Maritime Research 工程技术-工程：海洋

CiteScore

3.70

自引率

45.00%

发文量

审稿时长

>12 weeks

期刊介绍： The scope of the journal covers selected issues related to all phases of product lifecycle and corresponding technologies for offshore floating and fixed structures and their components. All researchers are invited to submit their original papers for peer review and publications related to methods of the design; production and manufacturing; maintenance and operational processes of such technical items as: all types of vessels and their equipment, fixed and floating offshore units and their components, autonomous underwater vehicle (AUV) and remotely operated vehicle (ROV). We welcome submissions from these fields in the following technical topics: ship hydrodynamics: buoyancy and stability; ship resistance and propulsion, etc., structural integrity of ship and offshore unit structures: materials; welding; fatigue and fracture, etc., marine equipment: ship and offshore unit power plants: overboarding equipment; etc.