平台运动对声学导航圆交汇模型的影响及误差分析

Acoustic navigation technology is widely used for autonomous navigation of underwater mobile platforms. The commonly used acoustic navigation models are mostly circle intersection models. The model is simple in structure and convenient in calculation, but it does not consider the influence of platform motion. It is a static model. Under the condition of platform motion, the time when the platform receives each underwater acoustic beacon (underwater star station node) and the spatial position of the platform are different, that is, there is a difference in time and space, which will cause model mismatch and affect navigation accuracy. Aiming at the above problems, this paper deduces the formula of model mismatch error caused by platform motion, quantitatively analyzes the influence of motion on navigation accuracy and the spatial distribution of error, and focuses on the influence of navigation speed and heading angle on navigation accuracy. The simulation verification is carried out. The results show that the mismatch error of the acoustic navigation circle intersection model exists only when considering the influence of the platform motion, and it is related to the spatial position of the platform in the array. The error space characteristics are approximate concentric elliptic distribution; the model mismatch error is related to the navigation parameters of the platform. The model mismatch error is sensitive to the speed change. As the navigation speed increases, the approximate linear trend increases and the impact is serious. The heading angle has little influence on the global precision variation range, which mainly affects the space of the model mismatch error. The distribution is embodied as a kind of "rotation" with the heading angle, and the direction of the ellipse is aligned with the direction of motion of the platform.