Abstract:

A motion parameter estimation method based on acoustic measurement is proposed for identifying the kinetic characteristics of high dynamic underwater vehicle. In the proposed method, the position and velocity data series are obtained by point-by-point solution, and then the data jitters caused by random errors are removed by functional reconstruction and coefficient identification, so a smooth and continuous parameter sequence is obtained. In simulation, the high dynamic underwater vehicle moves from the depth of several tens of meters to surface, and the motion parameter is measured by the seabed four-receiver array. The simulated results show that the estimated parameter sequence has higher accuracy in vertical direction than the point-by-point solved one, and the root mean square errors (RMSE) of position and velocity are reduced by 27.8% and 47.2%, respectively. Calculations based on large samples indicate that the estimated parameter sequence approaches the true value, and the deviations of position and velocity are 0.042m and 0.056m/s, respectively. The water-tank test results show that the estimated parameter sequence generated by the high dynamic physical model is well consistent with the inertial sensor data, and the RMSEs of position and velocity in vertical direction are 0.024m and 0.141m/s, respectively. The proposed method can provide an accurate, smooth and continuous parameter sequence for the high dynamic underwater vehicle in performance testing and has certain engineering application value in sea trials.

Key words: high dynamic underwater vehicle, polynomial function, motion parameter estimation, underwater acoustic measurement