Citation: | MA Yueyuan, YANG Yuanxi, ZENG Anmin, XU Yangyin. Bayesian Estimation Model for Seafloor Geodetic Positioning Based on Prior Information of Offset Parameters[J]. Geomatics and Information Science of Wuhan University, 2023, 48(9): 1465-1472. DOI: 10.13203/j.whugis20200662 |
In the global navigation satellite system(GNSS)/acoustic positioning system, the transducer position needs to be obtained by rotating the GNSS(global navigation satellite system)receiver position through the offset parameter and attitude observation information. The measurement error of the offset parameter will inevitably affect the position of the transducer and thus the positioning accuracy of the seafloor control point. If the offset parameter is taken as unknown to be solved together with the seafloor control point coordinates without considering the priori information of the offset parameters, the problem of unreliable results of the observation equation due to the strong correlation between the parameters.
First, a Bayesian estimation model of GNSS-A was proposed, the influence of offset parameter error on positioning results is analyzed. Second, we derive the correlation between the position parameters and the offset parameters, explain the reasons for the ill-posed observation equation theoretically, and then a Bayesian estimation model based on prior information of offset parameters is established.
The result shows that the model can improve the equation's ill-posed problem caused by the strong correlation between the parameters, and can effectively improve the accuracy of the three-dimensional coordinates and offset parameters of the seafloor control points.
[1] |
陈俊勇, 杨元喜, 王敏, 等. 2000国家大地控制网的构建和它的技术进步[J]. 测绘学报, 2007, 36(1): 1-8. https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB200701000.htm
Chen Junyong, Yang Yuanxi, Wang Min, et al. Establishment of 2000 National Geodetic Control Network of China and It's Technological Progress[J]. Acta Geodaetica et Cartographica Sinica, 2007, 36(1): 1-8. https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB200701000.htm
|
[2] |
杨元喜, 徐天河, 薛树强. 我国海洋大地测量基准与海洋导航技术研究进展与展望[J]. 测绘学报, 2017, 46(1): 1-8. https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB201701002.htm
Yang Yuanxi, Xu Tianhe, Xue Shuqiang. Progresses and Prospects in Developing Marine Geodetic Datum and Marine Navigation of China[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(1): 1-8. https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB201701002.htm
|
[3] |
李林阳, 吕志平, 崔阳. 海底大地测量控制网研究进展综述[J]. 测绘通报, 2018(1): 8-13. https://www.cnki.com.cn/Article/CJFDTOTAL-CHTB201801002.htm
Li Linyang, Lü Zhiping, Cui Yang. Summary of the Research Progress of Seafloor Geodetic Control Network[J]. Bulletin of Surveying and Mapping, 2018(1): 8-13. https://www.cnki.com.cn/Article/CJFDTOTAL-CHTB201801002.htm
|
[4] |
刘经南, 陈冠旭, 赵建虎, 等. 海洋时空基准网的进展与趋势[J]. 武汉大学学报(信息科学版), 2019, 44(1): 17-37. doi: 10.13203/j.whugis20180340
Liu Jingnan, Chen Guanxu, Zhao Jianhu, et al. Development and Trends of Marine Space-Time Frame Network[J]. Geomatics and Information Science of Wuhan University, 2019, 44(1): 17-37. doi: 10.13203/j.whugis20180340
|
[5] |
杨元喜, 刘焱雄, 孙大军, 等. 海底大地基准网建设及其关键技术[J]. 中国科学: 地球科学, 2020, 50(7): 936-945. https://www.cnki.com.cn/Article/CJFDTOTAL-JDXK202007005.htm
Yang Yuanxi, Liu Yanxiong, Sun Dajun, et al. Seafloor Geodetic Network Establishment and Key Technologies[J]. Scientia Sinica (Terrae), 2020, 50(7): 936-945. https://www.cnki.com.cn/Article/CJFDTOTAL-JDXK202007005.htm
|
[6] |
高茹茹. 水下声学定位关键技术问题研究[D]. 西安: 长安大学, 2018.
Gao Ruru. Research on Key Techniques of Underwater Acoustic Positioning Algorithm[D]. Xi'an: Chang'an University, 2018.
|
[7] |
赵爽. 水下快速定位正则化解法研究[D]. 青岛: 中国石油大学(华东), 2018.
Zhao Shuang. Research on Regularization Algorithms for Underwater Fast Positioning[D]. Qingdao: China University of Petroleum (Huadong), 2018.
|
[8] |
王毅. 石油勘探中水下高精度定位算法研究[D]. 青岛: 中国石油大学(华东), 2014.
Wang Yi. Research on Algorithms of High-Precision Underwater Positioning in Petroleum Exploration[D]. Qingdao: China University of Petroleum (Huadong), 2014.
|
[9] |
孙文舟, 殷晓冬, 曾安敏, 等. 海底控制点定位初始入射角迭代计算方法的比较研究[J]. 武汉大学学报(信息科学版), 2020, 45(10): 1588-1593. doi: 10.13203/j.whugis20180465
Sun Wenzhou, Yin Xiaodong, Zeng Anmin, et al. Calculating the Starting Incidence Angle by Iterative Method for Positioning Seafloor Control Points[J]. Geomatics and Information Science of Wuhan University, 2020, 45(10): 1588-1593. doi: 10.13203/j.whugis20180465
|
[10] |
赵建虎, 陈鑫华, 吴永亭, 等. 顾及波浪影响和深度约束的水下控制网点绝对坐标的精确确定[J]. 测绘学报, 2018, 47(3): 413-421. https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB201803015.htm
Zhao Jianhu, Chen Xinhua, Wu Yongting, et al. Determination of Absolute Coordinate of Underwater Control Point Taking Waves and Depth's Constraint into Account[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(3): 413-421. https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB201803015.htm
|
[11] |
唐秋华, 吴永亭, 丁继胜, 等. 超短基线声学定位系统的校准技术研究[J]. 声学技术, 2006, 25(4): 281-287. https://www.cnki.com.cn/Article/CJFDTOTAL-SXJS200604002.htm
Tang Qiuhua, Wu Yongting, Ding Jisheng, et al. Calibration of Ultra-Short Baseline Acoustic Positioning System[J]. Technical Acoustics, 2006, 25(4): 281-287. https://www.cnki.com.cn/Article/CJFDTOTAL-SXJS200604002.htm
|
[12] |
杨道军, 许伟杰, 刘林泉, 等. 高精度定位标定系统水下基准方位误差分析[J]. 声学技术, 2007, 26(2): 189-192. https://www.cnki.com.cn/Article/CJFDTOTAL-SXJS200702007.htm
Yang Daojun, Xu Weijie, Liu Linquan, et al. Error Analysis of Underwater Benchmark for Precision Positioning System[J]. Technical Acoustics, 2007, 26(2): 189-192. https://www.cnki.com.cn/Article/CJFDTOTAL-SXJS200702007.htm
|
[13] |
刘焱雄, 彭琳, 吴永亭, 等. 超短基线水声定位系统校准方法研究[J]. 武汉大学学报(信息科学版), 2006, 31(7): 610-612. http://ch.whu.edu.cn/article/id/2493
Liu Yanxiong, Peng Lin, Wu Yongting, et al. Calibration of Transducer and Transponder Positions[J]. Geomatics and Information Science of Wuhan University, 2006, 31(7): 610-612. http://ch.whu.edu.cn/article/id/2493
|
[14] |
田坦. 水下定位与导航技术[M]. 北京: 国防工业出版社, 2007.
Tian Tan. Underwater Positioning and Navigation Technology[M]. Beijing: National Defense Industry Press, 2007.
|