On the principle and applications of the joint adjustment method for GNSS/A positioning of the underwater geodetic control point(Invited)
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摘要: 为分析海面换能器位置误差对海底大地控制点定位精度的影响规律，我们提出了GNSS声学(GNSS/Acoustic，GNSS/A )定位联合平差(joint adjustment, JA)方法. 针对联合平差方法理论证明不足及无深海数据验证的问题，本文进一步阐述了联合平差方法的原理，给出了联合平差方法严密的优越性证明和精度评定公式. 最后采用松花湖数据和南海数据进行验证，联合平差方法可以提高传统GNSS/A方法2%~26%的定位精度，展示联合平差方法在湖区和深海区的应用效果.Abstract: On the impact of the coordinate errors of the acoustic transducer on the positioning accuracy of the undersea geodetic control point, we proposed a joint adjustment method of the seafloor geodetic control point for GNSS/A underwater precise positioning, whose crux was treating the positions of both transducer and transponder as unknown parameters in the acoustic ranging equation. The paper further expounds the principle of the joint adjustment method, for the shortcomings in the proof of the superiority of the joint adjustment method and the lack of verification of deep-sea data, the strict superiority proof and the precision evaluation formula of the joint adjustment method are given in this paper. Using Songhua Lake data and South China Sea data for verification, the precision of seafloor geodetic control point positioning with the proposed method is improved by 2% to 26%. The application effect of the joint adjustment method in the lake area and the deep-sea area is shown.
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表 1 海底应答器定位结果与精度统计
m PRN 方法 海底应答器定位结果 偏差_U RMS E N U E N U C02 LS 315690.3981 4841955.1130 −60.7708 0.0291 0.0164 0.0166 0.0061 JA 315690.3985 4841955.1128 −60.7718 0.0284 0.0157 0.0160 0.0058 C04 LS 315697.7689 4841835.0949 −59.8797 0.2642 0.0148 0.0150 0.0073 JA 315697.7938 4841835.0788 −59.9355 0.2105 0.0096 0.0098 0.0051 C08 LS 315736.3626 4841896.6657 −60.2694 0.1051 0.0158 0.0145 0.0057 JA 315736.4328 4841896.6636 −60.2922 0.0823 0.0096 0.0096 0.0038 
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表 2 海底应答器定位结果及其精度统计表
m 方法 E N U RMS E N U LS 2438927.5608 491999.1574 −1960.1448 0.1218 0.1235 0.0538 JA 2438927.5216 491999.1857 −1960.2278 0.0899 0.0912 0.0397
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