A ship-board acoustic difference positioning method based on selection weight iteration
Zhao Shuang1, Wang Zhenjie1,2, Wu Shaoyu3, Wang Yi4, Liu Huimin1, Shan Rui5
1. School of Geosciences, China University of Petroleum(East China), Qingdao, Shandong 266580, China; 2. Laboratory for Marine Mineral Resources, National Laboratory for Marine Science and Technology, Qingdao, Shandong 266071, China; 3. BGP Inc., CNPC, Zhuozhou, Hebei 072751, China; 4. Offshore Oil Engineering Corporation, CNOOC, Qingdao, Shandong 266520, China; 5. Qingdao Institute of Marine Geology, China Geological Survey, Qingdao, Shandong 266071, China
Abstract：There are systematic errors such as transponder time delay errors during underwater positioning.It is difficult to eliminate or correct this kind of systematic errors if we use conventional geometric positioning methods,which severely degrade positioning accuracy.To overcome this issue,we adopt the epoch difference to weaken or eliminate the systematic error.Based on ship-board underwater positioning in the oil geophysical prospecting,a corresponding underwater difference model is put forward.Meanwhile,we use the robust estimation based on the selection weight iteration in consideration of inevitable gross errors of underwater acoustic measurements.We use both numerical and real data to test the effectiveness of the proposed method.The results show that the positioning accuracy of the proposed method is better than conventional geometric methods and our domestic BPS underwater positioning equipment can provide a positioning precision less 1m within 50m water depth.
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