Estimation of the Practically Attainable Accuracy of Modern Ultrashort Baseline Hydroacoustic Navigation Systems for Underwater Robots

摘要

A method for designing hydroacoustic navigation systems with ultrashort baseline (HANS USBL) for underwater robots is proposed. The possibility of their application for navigation support of underwater robots is shown. Estimation of the antennas and navigation signals used to determine their potential accuracy is presented. It is noted that high accuracy of angle measurements is attainable in the case of sparse antennas. A mathematical model for calculation of the random error component for various multielement antennas is described. The sources of systematic errors in real antennas are analyzed. The procedures and techniques for calibration of the HANS USBL accuracy based on accurate range measurement, as well as on the data of the onboard navigation system of an underwater robot and ship navigation equipment are discussed. An example of processing real data obtained during the system operation in deep sea is given. A conclusion is made about the feasibility of designing high-accurate HANS USBL using circular axisymmetric antennas with a small number of elements and statistical methods of signal processing.