Subsea metrology surveys are conducted to determine accurately the relative horizontal and vertical distance between subsea assets, as well as their relative heading and attitude. This information is then used by pipe-line engineers to design connection pieces to join the assets together. Based on acoustic measurement technology and the fusion of acoustic positioning, inertial navigation, Doppler velocity log, pressure gauge, sound velocity meter data under water, the EKF-SLAM algorithm was described in this paper. It can realize the cm level accuracy, and operating mode is simple, no depth and visibility constraints. It can effectively improve the work efficiency to save the time and cost.%水下计量技术普遍应用于海管法兰之间相对空间位置和方位角的测量,其结果直接关系到水下膨胀弯的设计和预制是否准确.文章阐述了基于EKF-SLAM算法,融合水下声学定位、惯性导航、多普勒计程仪、压力计、声速计等数据的水下声学惯导计量技术,它能够实现厘米级的测量精度,而且作业方式简单,不受水深和能见度的限制,可有效提高海上工作效率,节约海上施工成本.
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