Ray Theory Application in Long Baseline System

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1、ChinaOceanEng／necr／ng，Vo1．24，No．1，PP．199—206⑥2010CllineseOceanEngineeringSociety，ISSNo890-5487RayTheoryApplicationinLongBaselineSystemJIDa．xiong(冀大雄)andLIUJian(刘健)StateKey．LaboratoryofRobotics，ShenyangInstituteofAutomation，ChineseAcademyofSciences，Shenyang110016

2、，China(Received18March2009；receivedrevisedform24June2009；accepted24Octo~r2009)I1lelongbaseline(LBL)systemiswidelyusedtolocateandtrackautonomousunderwatervehicles(AUV)throughacousticcommunication．ThreeimportantissuesarepresentedhereinLBLsystemaDplicationwithAUV．T

3、hosei$sne,swhichregardthenormalacousticcomunicationbetweenL1systemandAUValethedepthoftowedarray．thelengthofbeaconcable．andtheefectiveareaoftheAUv．，I11efirsti8sueisthekeyoftheLBLsystem．whichensuresthenor．malcommunicationbetwentowedarrayandbeacons．Thesecondissuewh

4、ichimpaetsthenormalcomunicationfromtheAUVtobeaconsinavailablerangeshouldbeconsideredafterthefirstonehasbeensettled．111enthelastissuedeter-minesthesafeworkareaoftIleAUV．Iordinarydiferentialequations(ODE)algorithmofrayiSdeducedfromsnellSlaw．The0DEalgorithmiSapplie

5、dtoobtainsoundraysfromsoundsourcetoreceiver．TheseproblemsaresolvedbythejudgmentthatwhetherrayspingingfromasoundSourcearrivesatareceiver．111eseatrialshowsthatthesemethodshavemuchvalidityandpracticality．Keywords：efectivealea；longbasdine；beaconcable；soundtrack；AUVT

6、helongbaseline(LBL)acousticpositioningsystemiswidelyappliedinautonomousunderwatervehicles(AUVs)forhighaccuracyandlongrange(Vaganayeta1．，1996；Matoseta1．，1999；Kus·sateta1．，2005)．OurdeepseaAUVusestheLBLsystemtoobtainitspositionandtocontroltheAUVbyacousticcommandifn

7、ecessary(LiandYan，2003)．TheLBLsystemcanbeoperatedatadepthof6OO0m．Fig．1showsthereleaseprocessoftheAUV．ThemainspecificationsofUsystemoftheAIIValelistedinrIhle1．Fig．1．ThereleaseprocessofAUV1Correspondingauthor．E·mail：jdx@sia．caj

8、Da—xiongandLIUJian／ChinaOceanEnginee

9、ring．24(1)，2010。199—206MainspecificationsofLBLsystemofAUVTheLBLsystemhasthreeimportantacousticinstruments．Theyaretowedarray，bottombeaconsandAUVtransceiver．Thesystemlo