Real-time acoustic positioning method by appying robust estimation for seabed exploration
FANG Yihan1, HU Wenkai1, YU Sujun2
1. School of Automation, China University of Geosciences, Wuhan, Hubei 430074, China;
2. Geophysical Equipment Research Center, BGP Inc., CNPC, Zhuozhou, Hebei 072751, China
Abstract：Due to the fact that there are a large number of burst noise and gross errors in the real-time acoustic positioning process of seabed exploration,these unqualified observations will seriously affect the positioning accuracy of seabed transponders if they are not processed correctly. This paper analyzes the application fields and limitations of intersection positioning with depth constraints,differential positioning based on weight selection iteration,and positioning methods considering sound ray bending. Toward better positioning accuracy and reliability,this paper proposes a real-time acoustic positioning method based on robust estimation,which considers the working characteristics of real-time positioning and single-direction navigation in the acoustic positioning data acquisition of seabed exploration. Specifically,the possible range of observation values is given to eliminate burst noise, and the gross errors are detected by the probability and statistical hypothesis method. Moreover,the extreme value function is constructed to determine the weight matrix of the observation values,and the spatial position of the seabed transponder is obtained through iterative calculations. The simulations and field data analysis reveal that the proposed method can effectively eliminate the burst noise and gross errors and obtain the optimal unbiased estimation. Compared with the current real-time acoustic positioning software based on least square estimation,the proposed method improves the internal coincidence accuracy of acoustic positioning in seabed exploration and the reliability of positioning results. It meets the needs of real-time route correction of a lofting navigation ship and ensures the lofting accuracy of seabed geophones.
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