杜凯^1,2, 吴永亭^1,2, 梁文彪³, 李治远², 胡俊², 豆虎林²
1.山东科技大学 测绘科学与工程学院, 山东 青岛 266590;2.自然资源部第一海洋研究所, 山东 青岛 266061;3.武汉大学 测绘学院, 湖北 武汉 430079

摘要:
为了解决深海拖曳系统定位异常、不连续以及误差积累的问题，提出了一种联合惯性导航系统（INS）和超短基线定位系统（USBL）的组合定位方法，利用在航声线跟踪实现USBL的高精度定位，顾及INS和USBL系统的互补性，并结合Kalman滤波构建了INS+USBL的组合定位模型。将该组合定位模型应用于"向阳红01"船深海拖曳系统在南海的定位实验并与USBL的定位结果比对，实验表明，组合定位方法有效地解决了深拖系统定位异常且不连续问题。INS+USBL组合定位方法可以满足深海拖曳系统的稳健可靠定位，对于深远海定位具有重要意义。
关键词:深海拖曳系统超短基线系统惯性导航系统组合定位一点一方位推算
DOI：10.11759/hykx20181005001
分类号:P229.1
基金项目:国家重点研发计划（2016YFB051703）

Stable and credible combined position method for deep towing systems
DU Kai^1,2, WU Yong-ting^1,2, LIANG Wen-biao³, LI Zhi-yuan², HU Jun², DOU Hu-lin²
1.College of Geomatics, Shandong University of Science and Technology, Qingdao 266590, China;2.First Institute of Oceanography, MNR, Qingdao 266061, China;3.School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
Abstract:
To solve the problem of abnormal positioning, discontinuity, and error accumulation in deep towing systems, this paper proposes a combined positioning method of inertial navigation system (INS) and ultra-short baseline (USBL) positioning system, which realizes USBL high-precision positioning through the tracking method of the navigation sound line. This paper takes into account the complementarity of the INS and USBL systems, combined with Kalman filtering to construct a combined positioning model of INS+USBL. The model is applied to the positioning experiment of the "Xiangyanghong 01" deep towing system in the South China Sea and compared with the positioning results of USBL. The experiment shows the combined positioning method effectively solves the problem of abnormal positioning and discontinuity of the deep towing system. The combined INS+USBL positioning method can achieve stable and reliable positioning of deep-sea towing systems and is of great significance for deep-sea positioning.
Key words:deep towing systemultra-short baselineinertial navigation systemintegrated positionone-point and one azimuth positioning estimation





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