超短基线(Ultra Short Baseline,USBL)定位系统是一种用于对水下目标进行定位的多传感器系统,融合了声学换能器基阵、罗经、GPS等,通过对各传感器的观测数据进行综合处理来获取水下目标的大地坐标。为在实验室环境下对USBL定位系统的定...超短基线(Ultra Short Baseline,USBL)定位系统是一种用于对水下目标进行定位的多传感器系统,融合了声学换能器基阵、罗经、GPS等,通过对各传感器的观测数据进行综合处理来获取水下目标的大地坐标。为在实验室环境下对USBL定位系统的定位误差进行测试以及检查维护,开发了基于Labwindows平台的目标模拟器软件。该软件能够实现以下功能:(1)读取仿真信号数据文件或外场实验数据文件;(2)将从文件中读取出的数据发送给USBL定位系统的解算单元;(3)将解算单元的定位结果通过显控界面显示。测试结果表明:该软件对各传感器的模拟情况良好,满足实际需求。展开更多
Autonomous and Remotely-operated Vehicles(ARVs)rely on precise underwater navigation via integrated Ultra-Short Baseline(USBL)acoustic positioning system and Strap-down Inertial Navigation System(SINS).However,spatiot...Autonomous and Remotely-operated Vehicles(ARVs)rely on precise underwater navigation via integrated Ultra-Short Baseline(USBL)acoustic positioning system and Strap-down Inertial Navigation System(SINS).However,spatiotemporal variations in underwater Sound Speed Profle(SSP)degrade USBL performance,reducing overall navigation accuracy.This study proposes a novel in-situ SSP correction scheme for SINS/USBL integration.We analyze SSP temporal variation with the USBL positioning scheme to build a Two Dimensional(2D)temporal SSP model;then derive partial derivatives(based on equal-gradient ray-tracing)to quantify the displacements from azimuth,incident angle,and propagation time errors;and fnally develop an adaptive two-stage information flter to estimate sound speed perturbation and detect USBL outliers.Simulations and South China Sea trials are conducted to verify its efectiveness.Compared with the traditional tight-coupling method,root mean square errors are reduced from 0.45m and 0.23 m with the traditional tightly-coupled method to 0.08 m and 0.07 m with the in-situ SSP correction scheme,representing improvements of 82.2%in the north and 69.6%in the east directions,respectively.Experimental results demonstrate that the proposed method efectively estimates the sound speed disturbance in real time,thereby signifcantly improving the performance of tightly integrated inertial-acoustic navigation systems.展开更多
文摘超短基线(Ultra Short Baseline,USBL)定位系统是一种用于对水下目标进行定位的多传感器系统,融合了声学换能器基阵、罗经、GPS等,通过对各传感器的观测数据进行综合处理来获取水下目标的大地坐标。为在实验室环境下对USBL定位系统的定位误差进行测试以及检查维护,开发了基于Labwindows平台的目标模拟器软件。该软件能够实现以下功能:(1)读取仿真信号数据文件或外场实验数据文件;(2)将从文件中读取出的数据发送给USBL定位系统的解算单元;(3)将解算单元的定位结果通过显控界面显示。测试结果表明:该软件对各传感器的模拟情况良好,满足实际需求。
基金National Natural Science Foundation of China(42304040,42174020,42174021)National Key Research and Development Program of China(No.2024YFB3909700,2024YFB3909702)+3 种基金Shandong Province Natural Science Foundation(ZR2023QD081,ZR2025MS643)National Key Laboratory of Spatial Datum(No.SKLSD2025-KF-16)Fundamental Research Funds for the Central Universities(No.24CX06045A)Qingdao Natural Science Foundation(23-2-1-65-zyyd-jch,23-2-1-217-zyyd-jch).
文摘Autonomous and Remotely-operated Vehicles(ARVs)rely on precise underwater navigation via integrated Ultra-Short Baseline(USBL)acoustic positioning system and Strap-down Inertial Navigation System(SINS).However,spatiotemporal variations in underwater Sound Speed Profle(SSP)degrade USBL performance,reducing overall navigation accuracy.This study proposes a novel in-situ SSP correction scheme for SINS/USBL integration.We analyze SSP temporal variation with the USBL positioning scheme to build a Two Dimensional(2D)temporal SSP model;then derive partial derivatives(based on equal-gradient ray-tracing)to quantify the displacements from azimuth,incident angle,and propagation time errors;and fnally develop an adaptive two-stage information flter to estimate sound speed perturbation and detect USBL outliers.Simulations and South China Sea trials are conducted to verify its efectiveness.Compared with the traditional tight-coupling method,root mean square errors are reduced from 0.45m and 0.23 m with the traditional tightly-coupled method to 0.08 m and 0.07 m with the in-situ SSP correction scheme,representing improvements of 82.2%in the north and 69.6%in the east directions,respectively.Experimental results demonstrate that the proposed method efectively estimates the sound speed disturbance in real time,thereby signifcantly improving the performance of tightly integrated inertial-acoustic navigation systems.
文摘为了解决浅水水下生产基盘潜水员游动作业时的安全与效率等问题,基于超短基线(Ultra-Short Baseline,USBL)定位技术,设计并实现潜水员游动作业数字孪生仿真系统。系统通过构建水下基盘数字孪生体和潜水员人体生物模型,结合渲染技术建立逼真海洋环境,提供虚实交互空间基准。针对潜水员动作映射与定位需求,研发基于USBL的实时数据接口,并利用Unity3D引擎构建虚实同步驱动框架代码,实现数字孪生体与物理实体间的位置同步、动作映射及可视化呈现。为确保系统可靠性,进一步设计水下实测试验方案,验证系统在实际作业场景下的仿真性能。结果表明,系统运行时,帧率(Frames Per Second,FPS)稳定在60左右,数据传输延迟在1 s以内,数据误差4%,该系统可稳定实现潜水员水下作业时位置与状态同步,具备良好性能。
