基于卡尔曼滤波的海上地震勘探导航定位算法
|
摘要
本文分析了海上地震勘探船的导航定位系统及数据同步采集的特点,提出利用卡尔曼滤波技术建立表征海上勘探船运动特性的数学模型,通过GPS设备输出的时间更新和位置测量更新,预测下一时段内勘探船定位网络的解,以此确定勘探船的位置及其与地震勘探设计航迹的相对关系等信息。在海上现场实际应用的效果表明,本文算法的预测结果与实测结果非常接近。
With the analysis to the characteristic of the navigation system and data synchronous acquisition on off-shore exploration vessel,the application of Kalman filtering technique in establishing the math model used to describe the dynamic characteristic of the vessel was proposed in this paper.Based on the model and the output refreshment of time and position from GPS equipment,the solution of positioning network for the vessel in the next time period was predicted and then the location of the vessel and its relative relation to the designed route of seismic exploration were determined.The realistic application on the off-shore acquisition showed that the prediction results from the algorithm are very close to the results actually measured.
With the analysis to the characteristic of the navigation system and data synchronous acquisition on off-shore exploration vessel,the application of Kalman filtering technique in establishing the math model used to describe the dynamic characteristic of the vessel was proposed in this paper.Based on the model and the output refreshment of time and position from GPS equipment,the solution of positioning network for the vessel in the next time period was predicted and then the location of the vessel and its relative relation to the designed route of seismic exploration were determined.The realistic application on the off-shore acquisition showed that the prediction results from the algorithm are very close to the results actually measured.
引文
[1]杨世学,刘宇明等.SPECTRA综合导航系统在海洋勘探中的应用.海洋测绘,2002,22(6):22~25Yang Shi-xue,Liu Yu-ming.The use of SPECTRA in-tegrated navigation system in marine survey.Hydrog-raphic Surveying and Charting,2002,22(6):22~25
[2]冯凯,陈刚,罗敏学.二次定位技术的应用.石油地球物理勘探,2006,41(3):346~349Feng Kai,Chen Gang,Luo Min-xue.Application ofsecondary positioning technique.OGP.2006,41(3):346~349
[3]方守川.OBC地震勘探二次定位算法.CPS/SEG北京2009国际地球物理会议,2009Fang Shou-chuan.Algorithm study on secondary posi-tioning system of OBC.∥The CPS/SEG Beijing 2009Conference and Exposition,2009
[4]秦永元.卡尔曼滤波与组合导航原理.陕西西安:西北工业大学出版社,2004
[5]杨元喜.自适应动态导航定位.北京:测绘出版社,2006
[6]崔希璋,於宗俦,陶本藻等.广义测量平差.湖北武汉:武汉大学出版社,2005
[7]方守川,耿少波等.GATOR综合导航系统的关键技术剖析.物探装备,2006,16(2):141~144Fang Shou-chuan,Geng Shao-bo et al.Analysis of keytechnique in GATOR navigation system.Equipmentfor Geophysical Prospecting,2006,16(2):141~144
[8]Greg Welch.An introduction to the Kalman Filter.http://www.cs.unc.edu/~tracker/media/pdf/SIG-GRAPH2001_Course Pack 08.pdf
[2]冯凯,陈刚,罗敏学.二次定位技术的应用.石油地球物理勘探,2006,41(3):346~349Feng Kai,Chen Gang,Luo Min-xue.Application ofsecondary positioning technique.OGP.2006,41(3):346~349
[3]方守川.OBC地震勘探二次定位算法.CPS/SEG北京2009国际地球物理会议,2009Fang Shou-chuan.Algorithm study on secondary posi-tioning system of OBC.∥The CPS/SEG Beijing 2009Conference and Exposition,2009
[4]秦永元.卡尔曼滤波与组合导航原理.陕西西安:西北工业大学出版社,2004
[5]杨元喜.自适应动态导航定位.北京:测绘出版社,2006
[6]崔希璋,於宗俦,陶本藻等.广义测量平差.湖北武汉:武汉大学出版社,2005
[7]方守川,耿少波等.GATOR综合导航系统的关键技术剖析.物探装备,2006,16(2):141~144Fang Shou-chuan,Geng Shao-bo et al.Analysis of keytechnique in GATOR navigation system.Equipmentfor Geophysical Prospecting,2006,16(2):141~144
[8]Greg Welch.An introduction to the Kalman Filter.http://www.cs.unc.edu/~tracker/media/pdf/SIG-GRAPH2001_Course Pack 08.pdf
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心