kinect深度距离误差_论文推荐 | 孙文舟：附加深度差和水平距离约束的深海控制点差分定位算法...

《测绘学报》

构建与学术的桥梁 拉近与权威的距离

附加深度差和水平距离约束的深海控制点差分定位算法

孙文舟¹, 殷晓冬¹, 曾安敏², 暴景阳³

1. 海军大连舰艇学院海洋测绘系, 辽宁 大连 116018;

2. 地理信息工程国家重点实验室, 陕西 西安 710054;

3. 武汉大学测绘学院, 湖北 武汉 430079

收稿日期：2018-11-07；修回日期：2019-04-01

基金项目：国家重点研发计划(2016YFB0501701)；国家自然科学基金(41876103；41874016)

第一作者简介：孙文舟(1991-), 男, 博士生, 研究方向为海洋大地测量。E-mail：1519374228@qq.com

摘要：针对现有方法确定海底控制点(应答器)三维坐标垂直解偏差大的问题，提出了附加控制点间深度差和水平距离约束的差分定位算法。首先研究了声速剖面的变化规律，并分析了声速剖面的不确定性对测距误差的影响。其次，根据测距误差的变化规律设计了相应的测线，并提出了适合这种走航策略的差分算法。仿真试验的结果显示，相比于传统方法(圆走航)，控制点垂直解的偏差由30多个cm减小到了10 cm左右，表明本文提出的方法可以有效改善控制点定位垂直解偏差大的问题。

关键词：海底控制点 差分定位 圆走航 声学测距误差 声速剖面

Differential positioning algorithm for deep-sea control points on constraint of depth difference and horizontal distance constraint

SUN Wenzhou¹, YIN Xiaodong¹, ZENG Anmin², BAO Jingyang³

1. Department of Hydrography and Cartography, Dalian Naval Academy, Dalian 116018, China;

2. State Key Laboratory of Geo-information Engineering, Xi'an 710054, China;

3. School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China

Foundation support: The National Key Research and Development Program of China(No. 2016YFB0501701); The National Natural Science Foundation of China(Nos. 41876103;41874016)

First author: SUN Wenzhou (1991—), male, PhD, majors in marine geodesy. E-mail:1519374228@qq.com.

Abstract: To solve the problem of seafloor control point (transponder) absolute positioning with a large deviation of the vertical solution, this paper proposes a differential localization algorithm with depth difference and horizontal distance constraint between underwater control points. Firstly, the variation of sound velocity profile is studied. Based on this conclusion, the influence of uncertain sound velocity profile on the ranging error is analyzed. Secondly, according to the change law of ranging error, the corresponding measuring line is designed. And an underwater differential localization algorithm for this survey strategy is proposed. Finally, simulation experiments show that the deviation of the vertical solution is reduced from more than 30 cm to about 10 cm. It implies that the new method can effectively reduce the deviation of the vertical solution of the control point positioning compared with the traditional method (circular sailing).

Key words: seafloor control points differential localization algorithm sailing circle acoustic ranging system error sound velocity profile

海底大地控制网是建立海洋大地测量基准的重要手段&#x