Open Access
表2
正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 | -65.50 | 1.931 97 | 83.59 | 83.58 | 1 180.46 | 0.42 | (1 000.24, 800.48) | ||
| 2 | 919.03 | -70.57 | 1.876 56 | 109.49 | 104.48 | 919.31 | 0.28 | |||
| 3 | 516.62 | -78.77 | 1.802 60 | 212.95 | 216.61 | 517.20 | 0.58 | |||
| 4 | 628.01 | -76.39 | 1.811 78 | 170.71 | 171.30 | 628.16 | 0.15 | |||
| 5 | 952.68 | -69.91 | 1.885 13 | 103.71 | 103.71 | 953.39 | 0.71 | |||
| 6 | 828.55 | -72.38 | 1.860 43 | 118.87 | 118.85 | 828.85 | 0.30 | |||
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