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

Qianqian LI; Shoulian CAO; Fanlin YANG; Yu LUO; Qian TONG

doi:10.1007/s00343-023-2380-6

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

Ecology | Updated：2024-10-15

- An improved positioning model of deep-seafloor datum point at large incidence angle
- An improved positioning model of deep-seafloor datum point at large incidence angle
- 海洋湖沼学报(英文) 2024年42卷第1期页码：90-100
- Affiliations：
  
  1.College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150000, China
  2.College of Geodesy and Geomatics, Shandong University of Science and Technology, Qingdao 266590, China
  3.Key Laboratory of Ocean Geomatics, Ministry of Natural Resources, Qingdao 266590, China
- Author bio：
  
  luoyu@sdust.edu.cn
- Funds：
  
  the Natural Science Foundation of Shandong Province of China(ZR2022MA051);the China Postdoctoral Science Foundation(2020M670891);the SDUST Research Fund(2019TDJH103)
- DOI：10.1007/s00343-023-2380-6
  中图分类号：
- 收稿：2022-11-29，
  
  录用：2022-11-17，
  
  网络首发：2023-03-07，
  
  纸质出版：2024-01-03
- Accepted：
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An improved positioning model of deep-seafloor datum point at large incidence angle[J]. 海洋湖沼学报(英文), 2024,42(1):90-100.

LI Qianqian,CAO Shoulian,YANG Fanlin,et al.Research Paper An improved positioning model of deep-seafloor datum point at large incidence angle[J].Journal of Oceanology and Limnology,2024,42(01):90-100.
An improved positioning model of deep-seafloor datum point at large incidence angle[J]. 海洋湖沼学报(英文), 2024,42(1):90-100. DOI： 10.1007/s00343-023-2380-6.

LI Qianqian,CAO Shoulian,YANG Fanlin,et al.Research Paper An improved positioning model of deep-seafloor datum point at large incidence angle[J].Journal of Oceanology and Limnology,2024,42(01):90-100. DOI： 10.1007/s00343-023-2380-6.

摘要

Abstract

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 ray-tracing 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.

关键词

Keywords

references

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