水下目标定位标校系统研究
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摘要
随着海洋开发步伐的加快,水声定位技术正受到越来越多的关注。水声定位系统的研制方特别是接收方需要对系统的定位精度进行校验,以便检测系统的精度或者验收系统。本文以高精度水下目标定位标校系统的研制为目标,对标校系统的硬件设计、定位精度、相关算法和软件设计进行研究,最后给出陆上验证试验结果。
为了给出水下目标的精确位置,本文设计了以浮筒作为载体的水下目标定位标校系统平台,相比于船载式平台,浮筒具有更大的灵活性。研究了影响系统定位误差的相关因素：水下圆柱杆的挠曲变形、航向角测量误差和纵倾横摇角测量误差、GPS数据和方位姿态仪数据同步误差、硬件安装误差和GPS定位误差等,并分析了系统的综合定位精度。介绍了WGS-84坐标系到BJ-54坐标系的转换方法和转换程序设计算法。利用GPS定位数据和方位姿态仪测量数据,通过水下基准坐标变换,解算出水下基准的大地坐标。根据系统要求利用VC++6.0设计编写了标校系统显控软件,利用两个串口实时同步地接收GPS和方位姿态仪数据,解算出水下基准位置坐标,可实时显示GPS天线点和水下目标点的运动轨迹,保存数据并可对数据进行回放。
最后,对标校系统进行了陆上验证试验,详细分析了试验中引入误差的相关因素,对试验数据的分析结果表明,作为模拟目标的水下基准的定位误差满足精度指标要求,可为水下目标定位系统提供高精度的海上位置标准。
More and more attention is paid to the underwater acoustic positioning technology due to the fast development of ocean exploitation. The underwater acoustic positioning system manufacturer, especially the named consignee needs to calibrate the system accuracy in order to check and accept it. Based on practical project and aiming at manufacturing the underwater acoustic positioning calibration system with high precision, the thesis researches the hardware design, positioning accuracy, correlative algorithm, display console software of the calibration system and analyses the results of the land validated experiment at last.
In order to give the precise coordinates of the underwater target, the buoy is designed as carrier of the underwater acoustic positioning calibration system, which has high maneuverability compared with ship. The correlative factors influencing accuracy of the calibration system are researched such as bending distortion of underwater columniform lever, heading angle measurement error, pitch and roll angle measurement error, synchronization time error between GPS data and attitude gyro data, hardware installation error and GPS positioning error and so on. The integrated positioning accuracy of the calibration system is also analyzed in the thesis. The received data of GPS belong to WGS-84 coordinate reference frame, which should be transferred to BJ-54 reference frame. The transfer of axes between WGS-84 and BJ-54 and the algorithm of procedure are presented in the thesis. The geodetic coordinates of underwater reference point are resolved using coordinate conversion algorithm matrix, which utilizes both GPS data and attitude gyro data of the calibration system. The display console software is developed by VC++ 6.0 according to the requirement of calibration system, which received GPS and attitude gyro data using two serial ports real-timely and synchronously. The software is able to show the traces of the GPS antenna and underwater target, save data and playback them.
In the end, the land validated experiment of the calibration system is done and the error factors of it are researched in detail. The results of the experiment show that the positioning error of the underwater positioning datum mark, which is considered as simulated target, measures up to the standard of the project and is able to provide the position criterion for underwater acoustic positioning system on the sea.
为了给出水下目标的精确位置,本文设计了以浮筒作为载体的水下目标定位标校系统平台,相比于船载式平台,浮筒具有更大的灵活性。研究了影响系统定位误差的相关因素：水下圆柱杆的挠曲变形、航向角测量误差和纵倾横摇角测量误差、GPS数据和方位姿态仪数据同步误差、硬件安装误差和GPS定位误差等,并分析了系统的综合定位精度。介绍了WGS-84坐标系到BJ-54坐标系的转换方法和转换程序设计算法。利用GPS定位数据和方位姿态仪测量数据,通过水下基准坐标变换,解算出水下基准的大地坐标。根据系统要求利用VC++6.0设计编写了标校系统显控软件,利用两个串口实时同步地接收GPS和方位姿态仪数据,解算出水下基准位置坐标,可实时显示GPS天线点和水下目标点的运动轨迹,保存数据并可对数据进行回放。
最后,对标校系统进行了陆上验证试验,详细分析了试验中引入误差的相关因素,对试验数据的分析结果表明,作为模拟目标的水下基准的定位误差满足精度指标要求,可为水下目标定位系统提供高精度的海上位置标准。
More and more attention is paid to the underwater acoustic positioning technology due to the fast development of ocean exploitation. The underwater acoustic positioning system manufacturer, especially the named consignee needs to calibrate the system accuracy in order to check and accept it. Based on practical project and aiming at manufacturing the underwater acoustic positioning calibration system with high precision, the thesis researches the hardware design, positioning accuracy, correlative algorithm, display console software of the calibration system and analyses the results of the land validated experiment at last.
In order to give the precise coordinates of the underwater target, the buoy is designed as carrier of the underwater acoustic positioning calibration system, which has high maneuverability compared with ship. The correlative factors influencing accuracy of the calibration system are researched such as bending distortion of underwater columniform lever, heading angle measurement error, pitch and roll angle measurement error, synchronization time error between GPS data and attitude gyro data, hardware installation error and GPS positioning error and so on. The integrated positioning accuracy of the calibration system is also analyzed in the thesis. The received data of GPS belong to WGS-84 coordinate reference frame, which should be transferred to BJ-54 reference frame. The transfer of axes between WGS-84 and BJ-54 and the algorithm of procedure are presented in the thesis. The geodetic coordinates of underwater reference point are resolved using coordinate conversion algorithm matrix, which utilizes both GPS data and attitude gyro data of the calibration system. The display console software is developed by VC++ 6.0 according to the requirement of calibration system, which received GPS and attitude gyro data using two serial ports real-timely and synchronously. The software is able to show the traces of the GPS antenna and underwater target, save data and playback them.
In the end, the land validated experiment of the calibration system is done and the error factors of it are researched in detail. The results of the experiment show that the positioning error of the underwater positioning datum mark, which is considered as simulated target, measures up to the standard of the project and is able to provide the position criterion for underwater acoustic positioning system on the sea.
引文
[1]李启虎.水声学研究进展.声学学报.2001,26(4)：295-301页
[2]李守军,包根生,吴水根.水声定位技术的发展现状与展望.海洋技术.2005,24(1)：131-135页
[3]Kussat, N. H., Chadwell, C. D., Zimmerman, R. Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements. IEEE Journal of Oceanic Engineering,2005,30(1):153-164P
[4]丁士圻,徐新盛,王智元,惠俊英.船载式远程高精度水声定位系统.海洋工程.1996,14(4)：16-21页
[5]王燕,梁国龙.一种适用于长基线水声定位系统的声线修正方法.哈尔滨工程大学学报.2002,23(5)：32-34页
[6]江南,黄建满,李娜.长基线水下定位的新技术研究.仪器仪表学报.2004,S2(25)：77-80页
[7]吴永亭,周兴华,杨龙.水下声学定位系统及其应用.海洋测绘.2003,23(4)：18-21页
[8]王泽民,罗建国,陈琴仙,田力.水下高精度立体定位导航系统.声学与电子工程.2005,2：1-3页
[9]蔡艳辉,杨新红.差分GPS水下定位系统的解析法分析.大地测量与地球动力学.2008,28(6)：101-106页
[10]王权,程鹏飞,章传银,等.差分GPS水下立体定位系统.测绘科学.2006,31(5)：18-21页
[11]www.kongsberg-simrad.com
[12]News Oceano. www.ixsea-oceano.com/news/20020125.html
[13]Posidonia-Transponder User's Manual. www.oceano.co.uk/tech
[14]郑翠娥,孙大军,张殿伦.一种基于超短基线的高精度多目标水声定位技术研究.海军工程大学学报.2007,19(2)：12-16页
[15]唐秋华,吴永亭,丁继胜,等.超短基线声学定位系统的标校技术研究.声学技术.2006,25(4)：284-287页
[16]Hsin-Hung Chen, In-situ alignment calibration of attitude and short baseline sensors for precision underwater positioning. Ocean Engineering,2008,35:1448-1462P
[17]Y. Watanabe, H. Ochi, T. Shimura, T. Hattori. A tracking of AUV with integration of SSBL acoustic positioning and transmitted INS data. Proc. IEEE/MTS Oceans 2008 Bremen, May 2008
[18]A. Nishitani, T. Horn, Y. Nishida and H. Mizoguchi. Portable Ultrasonic 3D Tag System Based on a Quick Calibration Method. In IEEE International conference on Systems, Man and Cybernetics,2004
[19]W. Manners. Hydrodynamic force on moving circular cylinder submerged in a genenal fluid flow Cylinders. Proceedings:Mathmatic and Physical Sciences. Vol.438, No. 1903(Aug.8,1992):331-339P
[20]W. Manners, R. C. T. Rainy. Hydrodynamic force on fixed submerged cylinders. Proceedings:Mathmatic and Physical Sciences. Vol.436, No.1896(Jan.8,1992):13-32P
[21]Trumars J. M. V, Tarp-Johansen Niels Jacob, Krogh Thomas. The effect of wave modeling on offshore wind turbine fatigue loads. Proceedings of Copenhagen Offshore Wind 2005, October:26-28P
[22]杨道军,许伟杰,翁国忠.船底运动小直径圆柱受力挠曲分析.海洋工程.2006,24(4)：49-55页
[23]叶春生,沈国光.海洋内波对小尺度圆柱体作用力的分析与计算.天津大学学报.2005,38(2)：102-108页
[24]黄祥鹿,陆鑫森.海洋工程流体力学及结构动力响应.上海：上海交通大学出版社,1992：37-56页
[25]张玲,王爱群.关于小直径垂直桩柱结构的波浪力响应.上海：上海交通大学出版社,1992：37-56页
[26]李孟国.用波浪弥散关系确定波长的方法.中国港湾建设.2002,6：33-34页
[27]黄锡荃.水文学.北京：高等教育出版社,1993：166-172页
[28]刘德辅,王超,林欣.波浪力系数Cd、Cm的不确定性分析.中国造船.1991,(2)：29-37页
[29]单辉祖.材料力学(Ⅰ).北京：高等教育出版社,1999：308页
[30]陈汉宝,陈波,刘海源.中国海浪方向谱的分析研究.水道港口.2006,27(2)：69-73页
[31]刘林泉.水声综合测控系统关键技术研究.哈尔滨工程大学博士学位论文.2008：85-96页
[32]陈子,许枫.GPS时钟同步在水下定位系统中的应用.微计算机应用.2008,29(8)：86-89页
[33]徐绍铨,张华海.GPS测量原理及应用.武汉：武汉大学出版社,1998：16-26页
[34]周忠谟,易杰军,周琪.GPS卫星测量原理及应用.北京：测绘出版社,1995
[35]王解先.GPS精密定轨与定位.上海：同济大学出版社,1997
[36]高艳芳,戚树军,李晓昌.将WGS-84坐标转换为北京54坐标的一种实用方法.2008,30(6)：519-522页
[37]王解先,王军,陆彩萍.WGS-84与北京54坐标的转换问题.大地测量与地球动力学.2003,23(3)：70-73页
[38]张楠,董晓晶,张健.WGS-84坐标系与BJ-54坐标系的转换方法及精度探讨.制造业自动化.2009,31(12)：162-164页
[39]刘缨.一种工程中实用的WGS-84到BJ-54坐标系转换方法.现代电子技术.2005,23：85-87页
[40]李甜.WGS84与北京54坐标转换研究.商品储运与养护.2008,30(8)：111-112页
[41]龚建伟,熊光明.Visual C++/Turbo C串口通信编程实践(第2版).北京：电子工业出版社,2007：16-44页
[2]李守军,包根生,吴水根.水声定位技术的发展现状与展望.海洋技术.2005,24(1)：131-135页
[3]Kussat, N. H., Chadwell, C. D., Zimmerman, R. Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements. IEEE Journal of Oceanic Engineering,2005,30(1):153-164P
[4]丁士圻,徐新盛,王智元,惠俊英.船载式远程高精度水声定位系统.海洋工程.1996,14(4)：16-21页
[5]王燕,梁国龙.一种适用于长基线水声定位系统的声线修正方法.哈尔滨工程大学学报.2002,23(5)：32-34页
[6]江南,黄建满,李娜.长基线水下定位的新技术研究.仪器仪表学报.2004,S2(25)：77-80页
[7]吴永亭,周兴华,杨龙.水下声学定位系统及其应用.海洋测绘.2003,23(4)：18-21页
[8]王泽民,罗建国,陈琴仙,田力.水下高精度立体定位导航系统.声学与电子工程.2005,2：1-3页
[9]蔡艳辉,杨新红.差分GPS水下定位系统的解析法分析.大地测量与地球动力学.2008,28(6)：101-106页
[10]王权,程鹏飞,章传银,等.差分GPS水下立体定位系统.测绘科学.2006,31(5)：18-21页
[11]www.kongsberg-simrad.com
[12]News Oceano. www.ixsea-oceano.com/news/20020125.html
[13]Posidonia-Transponder User's Manual. www.oceano.co.uk/tech
[14]郑翠娥,孙大军,张殿伦.一种基于超短基线的高精度多目标水声定位技术研究.海军工程大学学报.2007,19(2)：12-16页
[15]唐秋华,吴永亭,丁继胜,等.超短基线声学定位系统的标校技术研究.声学技术.2006,25(4)：284-287页
[16]Hsin-Hung Chen, In-situ alignment calibration of attitude and short baseline sensors for precision underwater positioning. Ocean Engineering,2008,35:1448-1462P
[17]Y. Watanabe, H. Ochi, T. Shimura, T. Hattori. A tracking of AUV with integration of SSBL acoustic positioning and transmitted INS data. Proc. IEEE/MTS Oceans 2008 Bremen, May 2008
[18]A. Nishitani, T. Horn, Y. Nishida and H. Mizoguchi. Portable Ultrasonic 3D Tag System Based on a Quick Calibration Method. In IEEE International conference on Systems, Man and Cybernetics,2004
[19]W. Manners. Hydrodynamic force on moving circular cylinder submerged in a genenal fluid flow Cylinders. Proceedings:Mathmatic and Physical Sciences. Vol.438, No. 1903(Aug.8,1992):331-339P
[20]W. Manners, R. C. T. Rainy. Hydrodynamic force on fixed submerged cylinders. Proceedings:Mathmatic and Physical Sciences. Vol.436, No.1896(Jan.8,1992):13-32P
[21]Trumars J. M. V, Tarp-Johansen Niels Jacob, Krogh Thomas. The effect of wave modeling on offshore wind turbine fatigue loads. Proceedings of Copenhagen Offshore Wind 2005, October:26-28P
[22]杨道军,许伟杰,翁国忠.船底运动小直径圆柱受力挠曲分析.海洋工程.2006,24(4)：49-55页
[23]叶春生,沈国光.海洋内波对小尺度圆柱体作用力的分析与计算.天津大学学报.2005,38(2)：102-108页
[24]黄祥鹿,陆鑫森.海洋工程流体力学及结构动力响应.上海：上海交通大学出版社,1992：37-56页
[25]张玲,王爱群.关于小直径垂直桩柱结构的波浪力响应.上海：上海交通大学出版社,1992：37-56页
[26]李孟国.用波浪弥散关系确定波长的方法.中国港湾建设.2002,6：33-34页
[27]黄锡荃.水文学.北京：高等教育出版社,1993：166-172页
[28]刘德辅,王超,林欣.波浪力系数Cd、Cm的不确定性分析.中国造船.1991,(2)：29-37页
[29]单辉祖.材料力学(Ⅰ).北京：高等教育出版社,1999：308页
[30]陈汉宝,陈波,刘海源.中国海浪方向谱的分析研究.水道港口.2006,27(2)：69-73页
[31]刘林泉.水声综合测控系统关键技术研究.哈尔滨工程大学博士学位论文.2008：85-96页
[32]陈子,许枫.GPS时钟同步在水下定位系统中的应用.微计算机应用.2008,29(8)：86-89页
[33]徐绍铨,张华海.GPS测量原理及应用.武汉：武汉大学出版社,1998：16-26页
[34]周忠谟,易杰军,周琪.GPS卫星测量原理及应用.北京：测绘出版社,1995
[35]王解先.GPS精密定轨与定位.上海：同济大学出版社,1997
[36]高艳芳,戚树军,李晓昌.将WGS-84坐标转换为北京54坐标的一种实用方法.2008,30(6)：519-522页
[37]王解先,王军,陆彩萍.WGS-84与北京54坐标的转换问题.大地测量与地球动力学.2003,23(3)：70-73页
[38]张楠,董晓晶,张健.WGS-84坐标系与BJ-54坐标系的转换方法及精度探讨.制造业自动化.2009,31(12)：162-164页
[39]刘缨.一种工程中实用的WGS-84到BJ-54坐标系转换方法.现代电子技术.2005,23：85-87页
[40]李甜.WGS84与北京54坐标转换研究.商品储运与养护.2008,30(8)：111-112页
[41]龚建伟,熊光明.Visual C++/Turbo C串口通信编程实践(第2版).北京：电子工业出版社,2007：16-44页
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