| Doppler velocimetry sonar is a precision speed measuring and accumulating range instrument based on the principle of the Doppler effect of sound waves in water.During the installation process,it is unavoidable that the installation position of the acoustic array deviates from the center of gravity of the carrier swing,and the beam axis direction of the array deviates from the predetermined installation direction.This paper focuses on the deviation calibration problems that occur during the installation of doppler velocimetry sonar,and conducts research from two angles: the gross error processing of the calibration data,and the calibration method of the scale factor the installation declination.Aiming at the problem of gross errors in the calibration process,this paper analyzes from the perspective of gross expected drift and data variance expansion.The gross error detection method based on the phase space threshold method and the robust estimation robustness method based on M-estimation are studied,and the scope of application and characteristics of several M-estimation weight functions are analyzed.Aiming at the problem of speed measurement scale factor,this paper derives the scale factor calibration method in two cases whether the rotation matrix is known.Aiming at the problem of the calibration of the mounting deflection angle,the quaternion method,the singular value decomposition method and the Rodrigue rotation matrix method are selected to estimate.Then this paper analyzes the performance of the calibration algorithm from two perspectives: typical calibration environment and harsh calibration environment.It is proved through simulation that in the severe calibration environment,the data with mixed gross errors need to be processed in advance to remove the gross errors or the algorithm is weighted with a robust estimation weight function to offset the effects of the gross errors.Finally,the accuracy of the scale factor and installation deflection angle estimation is verified by processing the external field experimental data,which proves that the algorithm can accurately calibrate the speed scale factor and the installation angle of the acoustic array. |
