【作者】 陈凯；

【导师】 赵安邦；

【作者基本信息】 哈尔滨工程大学 ， 水声工程， 2011， 硕士

【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。更多还原

【Abstract】 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.更多还原