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在高精度水下声学定位中,常采用分层等梯度声线跟踪的方法对水下目标进行定位。但当声线入射角度过大时,该方法入射角的迭代解算会出现发散问题。首先,针对该问题产生的原因进行了分析,并在此基础上提出了一种新的入射角迭代方法,新方法采用曲率半径R代替Snell常数p进行迭代。利用500m水深模拟数据进行了验证,结果表明:在声线入射角较小时(如不大于80°),新方法和原方法的定位精度相当;在声线入射角度进一步增大时,新方法的定位效果优于原方法。
In high-precision underwater acoustic positioning, often using hierarchical gradient acoustic tracking method to locate the underwater target. However, when the incident angle of the sound ray is too large, the divergence problem of the iterative solution of the incident angle of the method appears. Firstly, the causes of the problem are analyzed, and a new iteration method of the incident angle is proposed. The new method uses the curvature radius R instead of the Snell constant p for iteration. The simulation results show that the accuracy of the new method is the same as that of the original method when the incident angle of the sound ray is small (for example, not more than 80 °). When the incident angle of the sound ray further increases, the new method Positioning better than the original method.