An improved positioning model of deep-seafloor datum point at large incidence angle

作     者：Qianqian LI Shoulian CAO Fanlin YANG Yu LUO Qian TONG Qianqian LI;Shoulian CAO;Fanlin YANG;Yu LUO;Qian TONG

作者机构：College of Underwater Acoustic EngineeringHarbin Engineering UniversityHarbin 150000China College of Geodesy and GeomaticsShandong University of Science and TechnologyQingdao 266590China Key Laboratory of Ocean GeomaticsMinistry of Natural ResourcesQingdao 266590China 

出 版 物：《Journal of Oceanology and Limnology》 (海洋湖沼学报（英文）)

年 卷 期：2024年第42卷第1期

页      面：90-100页

核心收录：

学科分类：0710[理学-生物学] 08[工学] 082403[工学-水声工程] 0707[理学-海洋科学] 0824[工学-船舶与海洋工程] 

基　　金：the Natural Science Foundation of Shandong Province of China(No.ZR2022MA051) the China Postdoctoral Science Foundation(No.2020M670891) the SDUST Research Fund(No.2019TDJH103)。 

主　　题：underwater acoustic positioning seafloor datum points large incident angle equivalent sound speed profile(ESSP) deep water 

摘      要：The inhomogeneous sound speed in seawater causes refraction of sound waves,and the elimination of the refraction effect is essential to the accuracy of underwater acoustic positioning.The raytracing method is an indispensable tool for effectively handling problems.However,this method has a conflict between localization accuracy and computational quantity.The equivalent sound speed profile(ESSP)method uses a simple sound speed profile(SSP)instead of the actual complex SSP,which can improve positioning precision but with residual error.The residual error is especially non-negligible in deep water and at large beam incidence angles.By analyzing the residual error of the ESSP method through a simulation,an empirical formula of error is presented.The data collected in the sailing circle mode(large incidence angle)of the South China Sea are used for verification.The experiments show that compared to the ESSP method,the improved algorithm has higher positioning precision and is more efficient than the ray-tracing method.