Open Access
表1
负梯度声速段声线修正和UUV定位效果
| 节点 | 真实水平距离/m | 节点处真实声线信息 | 传统声线修正方法效果 | 基于掠射角声线修正和UUV定位方法效果 | ||||||
| 迭代法 | 有效声速法 | |||||||||
| 掠射角/(°) | 传播时间/s | 水平距离估计RMSE/m | 水平距离/m | 水平距离误差/m | UUV位置估计/m | |||||
| 1 | 1 180.04 | -23.93 | 0.858 47 | 37.39 | 37.38 | 1 180.06 | 0.02 | (1 000.52, 799.52) | ||
| 2 | 919.03 | -30.84 | 0.712 17 | 40.50 | 40.49 | 919.56 | 0.53 | |||
| 3 | 516.62 | -47.08 | 0.504 75 | 51.61 | 51.61 | 516.72 | 0.10 | |||
| 4 | 628.01 | -40.85 | 0.552 21 | 45.51 | 45.51 | 628.05 | 0.04 | |||
| 5 | 952.68 | -29.97 | 0.731 60 | 39.94 | 39.93 | 952.71 | 0.03 | |||
| 6 | 828.55 | -33.89 | 0.664 14 | 41.62 | 41.61 | 829.01 | 0.46 | |||
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