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研究了测量水中载体相对于海底速度的相关测速理论和信号处理方法。在速度存在随机分量的情形下,获得了在夫琅和费区域内适用的声呐阵时空相关函数,它是由零阶、一阶和二阶贝塞尔函数组成,波形不变原理能良好地成立,这是相关测速的理论模型。提出了局域最小二乘估计作为速度估计准则,采用序列二次规划法作为最优化的方法,由此建立了声相关测速的信号处理方法。在深海进行了多次系统试验,实验数据与理论模型基本符合;检验了深海3560 m水深时的闭环试验测速误差;进行了变速试验和漂泊试验,上述性能均为优良。最后给出了声相关速度计程仪(CVL)与GPS的线性回归分析, 它们之间有良好的相关性。 CVL均方根误差不大于(1．4％v+3)cm／s,其中v为航速。
The relative velocities theory and signal processing methods for measuring the carrier in water relative to the seabed velocity are studied. The space-time correlation function of the sonar array which is suitable for the Fraunhofer region is obtained under the condition that there is a random component of the velocity. The time-space correlation function of the sonar array is composed of the zero order, the first order and the second order Bessel functions. Set up, this is the theoretical model of the relevant speed. The local least squares estimation is proposed as the speed estimation criterion and the sequence quadratic programming method is used as the optimization method. Thus, the signal processing method of acoustic correlation velocity measurement is established. Several systematic tests were carried out in the deep sea. The experimental data are in good agreement with the theoretical model. The closed-loop speed test at a depth of 3560 m was tested, and the speed change test and the drifting test were carried out. The above performances were excellent. Finally, a linear regression analysis of the Acoustic Velocity Log (CVL) and GPS is given, with good correlation between them. CVR root mean square error of not more than (1.4% v + 3) cm / s, where v is the speed.