CN108318863B - Submarine beacon-based passive positioning method and system for underwater unmanned equipment - Google Patents
Submarine beacon-based passive positioning method and system for underwater unmanned equipment Download PDFInfo
- Publication number
- CN108318863B CN108318863B CN201711455229.4A CN201711455229A CN108318863B CN 108318863 B CN108318863 B CN 108318863B CN 201711455229 A CN201711455229 A CN 201711455229A CN 108318863 B CN108318863 B CN 108318863B
- Authority
- CN
- China
- Prior art keywords
- positioning
- submarine beacon
- submarine
- underwater
- beacon nodes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A passive positioning method for underwater unmanned equipment based on a submarine beacon comprises the following steps: step 1, numbering, clock synchronization taming and laying the submarine beacon nodes in sequence by a ship foundation, completing position calibration of the submarine beacon nodes through a short-baseline underwater sound positioning system, and sending positioning results to corresponding submarine beacon nodes; step 2, the submarine beacon node combines the self serial number, longitude, latitude, depth and other information into a positioning message; according to the sending time sequence of the positioning message, the submarine beacon node positioned at the vertex of a square grid sends the positioning message through an acoustic transceiver module with the integrated positioning/communication function; and 3, receiving the positioning message of the submarine beacon node by the underwater unmanned equipment, and transmitting the longitude, the latitude, the depth and the arrival time of the positioning message in the positioning message to a resolving module. And when the positioning messages of 4 submarine beacon nodes are received, position calculation is carried out. The invention also includes a system for carrying out the method of the invention.
Description
Technical Field
The invention belongs to the field of positioning of underwater unmanned equipment, and particularly relates to a method and a system for realizing positioning of a submarine beacon node by adopting a short-baseline underwater acoustic positioning system and realizing passive autonomous positioning of the underwater unmanned equipment based on the submarine beacon node.
Background
Under new international conditions, countries face increasingly severe ocean rights and interests, and underwater security becomes the key of the game of the big country. Therefore, establishing a marine environment three-dimensional monitoring system becomes an urgent strategic task for all countries. Meanwhile, with the wide application of the underwater unmanned equipment in marine activities such as marine exploration, engineering construction and seabed salvage, the positioning technology of the underwater unmanned equipment is generally concerned.
Satellite Positioning systems such as a Global Positioning System (GPS) and a BeiDou Navigation Satellite System (BDS) realize accurate Positioning of land and sea equipment through electromagnetic waves. However, these systems cannot be used for the positioning of underwater unmanned equipment due to the strong absorption of electromagnetic waves by seawater.
The sound wave has good propagation characteristics in an underwater environment, and can be used as a carrier for underwater long-distance information transmission. Therefore, the underwater unmanned equipment is often positioned by using an underwater acoustic positioning system. According to the length of the base line, the underwater sound positioning system can be divided into a long base line, a short base line and an ultra-short base line. Long baseline positioning systems typically require deployment of multiple baseline array elements at the seafloor, with baseline lengths between hundreds of meters and thousands of meters. The system realizes positioning calculation by measuring the distance between the underwater unmanned equipment and the submarine beacon node. The long baseline positioning system has the advantages of higher positioning precision; the disadvantage is that the process of laying, calibrating and recovering the base line array elements is complicated. The short baseline positioning system is used for mounting a baseline array element on a carrier, and the length of the baseline is between a few meters and dozens of meters. The system obtains the slant distance by measuring the propagation time of the sound wave, and obtains the azimuth angle by the time difference or the phase difference of the sound wave propagating to different base line array elements, thereby realizing the positioning calculation. The short baseline positioning system has the advantages of relatively simple system composition and convenient use; the disadvantage is that the baseline array elements on the carrier need to be precisely aligned to form a good geometry and are susceptible to carrier noise. The ultra-short baseline positioning system installs a baseline array element on a carrier, and the length of the baseline is usually in the centimeter level. The system obtains the azimuth angle by measuring the phase difference of the sound wave transmitted to each base line array element to realize positioning calculation. The ultrashort baseline positioning system has the advantages of high system integration level and convenient use; the defects are that the measuring distance is short, and the positioning precision is lower than that of the two systems.
Based on the above principle, several underwater acoustic positioning systems based on the submarine beacon node are proposed in the industry. Through retrieval, Harbin engineering university discloses an underwater sound positioning system based on a plurality of submarine beacon nodes, but the limitation is that the clock synchronization of underwater unmanned equipment and the submarine beacon nodes is assumed, which is difficult to achieve in practice; the people's liberation military 91388 army of China discloses a small-aperture array-based underwater acoustic positioning system, compared with a long-baseline underwater acoustic positioning system, the system can obtain higher positioning accuracy, but the system is complex in composition, and the distribution difficulty of submarine beacon nodes is higher; the Shanghai university of transportation discloses an underwater acoustic positioning method based on equivalent sound velocity, the method utilizes Time Difference of Arrival (TDOA) to calculate the equivalent sound velocity, and reduces the influence of background noise through Kalman filtering, thereby improving the positioning precision, but the method needs multiple iterations and has higher calculation complexity.
In addition, most of the existing underwater sound positioning systems have the following problems:
1. the underwater unmanned equipment is required to send a response signal in the positioning process. Because the underwater unmanned equipment is powered by the battery, some underwater unmanned equipment is not provided with a signal transmitting device and cannot transmit a response signal in consideration of energy conservation. In addition, in the scene of special safety requirements, the underwater unmanned device cannot transmit signals due to concealment.
2. The resolving algorithm assumes that the speed of sound is fixed. In an underwater environment, the speed of sound varies with temperature, salinity and depth, which if solved at a fixed speed of sound reduces the accuracy of the positioning.
3. The solution algorithm assumes that the sound ray travels along a straight line. In underwater environments, the sound rays bend towards the water layer with smaller sound velocity, which reduces the accuracy of the positioning if processed according to a straight-line propagating model.
In order to solve the above problems, it is necessary to realize passive autonomous positioning of the underwater unmanned device under the conditions that the submarine beacon node and the underwater unmanned device cannot maintain synchronous clocks and a response mechanism is not adopted.
Disclosure of Invention
In order to solve the technical problems, the invention provides a passive autonomous positioning method and system for underwater unmanned equipment based on a submarine beacon node. The system comprises a ship base, at least 4 seabed beacon nodes and underwater unmanned equipment.
A passive positioning method of underwater unmanned equipment based on a submarine beacon comprises the following steps:
and 11, numbering the submarine beacon nodes, and writing the serial numbers into the main control modules of the submarine beacon nodes.
And step 12, synchronously taming the submarine beacon nodes to keep the clocks of the submarine beacon nodes synchronous.
And 13, arranging the 1 st submarine beacon node in the target sea area on the ship foundation.
And step 14, after the value of the pressure sensor of the submarine beacon node is not changed any more, sending sinking information to inform the ship base.
And step 15, after receiving the sinking information of the submarine beacon nodes, the ship base sails around the arrangement points of the submarine beacon nodes, stops at a place with good sea conditions, and finishes the position calibration of the submarine beacon nodes through the carried short-baseline underwater acoustic positioning system.
And step 16, the ship base sends the positioning result and the information for starting underwater positioning to the submarine beacon node, completes the position calibration of the submarine beacon node and prompts the submarine beacon node to enter a working state.
And 17, repeating the steps 13-16 to finish the arrangement and the position calibration of all the submarine beacon nodes.
In step 13, the deployment topology of the submarine beacon nodes is as follows: if the number of the submarine beacon nodes is 4, the 4 submarine beacon nodes form a square grid, and the submarine beacon nodes are positioned at the top points of the square grid; if the number of the submarine beacon nodes is more than 4, the deployment topology of the rest submarine beacon nodes still adopts the square grids as basic units, and the square grids are spliced with the 1 st square grid to cover the target sea area.
In step 15, the specific process of the position calibration of the submarine beacon node is as follows: after receiving the sinking information of the submarine beacon nodes, the ship base sails around the deployment points of the submarine beacon nodes, stops in a place with good sea conditions, receives Beidou satellite navigation signals through a Beidou satellite receiver, determines the position coordinates of the short-baseline underwater acoustic positioning array, and then sends inquiry signals through a short-baseline underwater acoustic positioning system of the ship base. After receiving the inquiry signal, the submarine beacon node sends a response signal by the transponder. According to the response signal, the short-baseline underwater acoustic positioning system of the ship base acquires the slant range and the azimuth of the submarine beacon node, calculates the position coordinates of the submarine beacon node relative to the ship base short-baseline array, converts the position coordinates into longitude, latitude and depth information and sends the longitude, latitude and depth information to the corresponding submarine beacon node.
and 21, after receiving the signal for starting underwater positioning, the submarine beacon node generates a positioning message according to the information of the node serial number, longitude, latitude, depth and the like.
And step 22, according to the time sequence design of the positioning message transmission, the 4 submarine beacon nodes of one square grid simultaneously transmit the positioning messages.
In step 22, the positioning message sending time sequence of the submarine beacon node is designed as follows:
step 221. number the square grid of the topology.
And step 222, simultaneously sending positioning messages by the 4 submarine beacon nodes of the 1 st square grid.
And 223, after a fixed time interval, simultaneously sending the positioning message by the 4 submarine beacon nodes of the 2 nd square grid.
And 224, repeating the steps until all the submarine beacon nodes with the square grids send positioning messages, and finishing the sending of the first round of positioning messages.
Step 225, repeat step 222 and step 224, and start the next round of sending the positioning message.
In step 22, the signal transmission of the subsea beacon node uses Multiple frequency-shift keying (MFSK), the main control module of the subsea beacon node converts a binary code to be transmitted into an M-ary symbol through serial/parallel conversion, and selects a carrier frequency through the symbol to transmit the signal.
and 31, the acoustic receiving module with the comprehensive positioning/communication function of the underwater unmanned equipment is in a monitoring state, and once the positioning message of the submarine beacon node is received, the arrival time of the positioning message is recorded. And when the positioning messages of 4 submarine beacon nodes are received, the position is calculated.
And 32, the main control module of the underwater unmanned equipment reads the contents of the positioning message and transmits the longitude, the latitude, the depth and the arrival time of the positioning message to the resolving module.
And 33, converting the longitude, the latitude and the depth of the submarine beacon node into world geodetic systems 4 (WGSs 4) coordinates by a resolving module of the underwater unmanned equipment.
And 34, a resolving module of the underwater unmanned equipment resolves WGSs4 coordinates of the position of the underwater unmanned equipment according to WGSs4 coordinates of 4 submarine beacon nodes and arrival time of 4 positioning messages.
And step 35, converting the calculated WGSs4 coordinates into longitude, latitude and depth by a resolving module of the underwater unmanned equipment to serve as a positioning result.
In step 33, WGSs4 is defined as: the origin is the centroid of the earth, and the z-axis of the rectangular spatial coordinate system points to the direction of a protocol polar (CTP) defined by the Bureau International de l' Heure (BIH); the x axis points to the intersection point of the zero meridian plane defined by BIH and the CTP equator; the y-axis and the z-axis, the x-axis constituting the right-hand coordinate system.
In step 34, the specific calculation step is:
step 341, the underwater unmanned device receives the positioning message of 4 submarine beacon nodes in a square grid, and the resolving module converts the longitude, latitude and depth of the ith (i is 1,2,3,4) submarine beacon node into WGSs4 coordinates (x is x)i,yi,zi) (ii) a The underwater unmanned device has (x, y, z) coordinates to be solved in WGSs 4.
Step 342, assume the subsea beacon is at t0The positioning messages are sent at the same time, and the time when the underwater unmanned equipment receives the positioning message of the ith submarine beacon node is tiThe unsynchronized time difference between the submarine beacon node and the underwater unmanned equipment is tau, and the distance between the ith submarine beacon node and the underwater unmanned equipment is rhoiThe speed of sound is c.
Step 343, the distance measurement equation can be obtained
Eliminating sending time t of positioning message0And a time difference τ not synchronized, the above formula is rewritten as
In the above formula,. DELTA.ti1＝ti-t1。
The square of the above formula is obtained by subtracting two by two
In the above formula, the first and second carbon atoms are,
step 344. with ρ1As a pivot, (x, y, z) is expressed with respect to ρ1First order function of
In the above formula
Step 345, will
Substituting into the ranging equation (5) to obtain the value about rho1Quadratic equation of one unit
In the above formula
β＝2[a11(a12-x1)+a21(a22-y1)+a31(a32-z1)]，γ＝(a12-x1)2+(a22-y1)2+(a32-z1)2。
Step 346. solve the above equation, will
Is substituted back to
The WGSs4 coordinates (x, y, z) of the underwater drone are obtained.
The system for implementing the passive positioning method of the underwater unmanned equipment based on the submarine beacon comprises at least 4 submarine beacon nodes, the underwater unmanned equipment and a ship base. In addition, the system of the invention needs to realize the positioning of the submarine beacon by means of a Beidou satellite navigation system and a short-baseline underwater sound positioning system.
The submarine beacon node comprises a first main control module, a transponder of a short-baseline underwater sound positioning system, a first acoustic transceiver module with a comprehensive positioning/communication function, a pressure sensor and the like, and is responsible for sending a positioning message.
The underwater unmanned device comprises a second main control module, an acoustic second receiving module with a comprehensive positioning/communication function, a second resolving module and the like.
The ship base comprises a short-baseline underwater acoustic positioning system, a Beidou satellite receiver, a third acoustic transceiver module with a comprehensive positioning/communication function, a third resolving module and the like. The ship base is an auxiliary positioning system, is deployed in the sea area covered by the submarine beacon nodes and is responsible for the arrangement, position calibration and working state monitoring of the submarine beacon nodes.
The number of the submarine beacon nodes is at least 4, and the deployment topology is as follows: the 4 submarine beacon nodes form a square grid, and the submarine beacon nodes are positioned at the top points of the square grid; if the number of the submarine beacon nodes is more than 4, the deployment topology of the rest submarine beacon nodes still adopts the square grids as basic units, and the square grids are spliced with the 1 st square grid to cover the target sea area.
The positioning signal sending time sequence of the submarine beacon node is as follows: taking a square grid as a unit, and simultaneously sending positioning messages by 4 submarine beacon nodes positioned on the square grid; after a fixed time interval, the seabed beacon node on the next square grid vertex sends a positioning message; and finishing the sending of the first round of positioning messages until all the square grids send the positioning messages. And repeating the steps and starting the next round of sending the positioning message.
The signal transmission of the submarine beacon nodes adopts Multiple frequency-shift keying (MFSK), and 4 submarine beacon nodes located at the vertex of a square grid simultaneously transmit positioning messages. The main control module of the submarine beacon node converts binary codes to be transmitted into M-system code elements through serial/parallel conversion, and selects carrier frequencies through the code elements to transmit signals.
The positioning calculation process of the underwater unmanned equipment is as follows:
when a second acoustic receiving module with the comprehensive positioning/communication function of the underwater unmanned equipment receives positioning messages of 4 submarine beacon nodes, a second main control module of the underwater unmanned equipment decodes longitude, latitude and depth information in the messages, and transmits the information and the arrival time of the positioning messages to a second resolving module of the underwater unmanned equipment; and the second resolving module of the underwater unmanned equipment substitutes the received information into a ranging equation to complete self position resolving.
The invention has the advantages of
Compared with the existing underwater sound positioning method based on the submarine beacon node, the underwater sound positioning method has the beneficial effects that:
in the positioning process, the underwater unmanned equipment does not send any signal, only needs to receive the positioning message from the submarine beacon node to realize the passive positioning of the underwater unmanned equipment, saves energy and is hidden in the whole process, and has the potential of wide application in practice; in the positioning process, clocks of the submarine beacon nodes and the underwater unmanned equipment do not need to be synchronized, and the clock offset of the underwater unmanned equipment does not influence the positioning result.
Drawings
FIG. 1 is a general block diagram of a system for carrying out the process of the present invention.
Fig. 2 is a deployment topology of an example subsea beacon of the present invention.
FIG. 3 is a flow chart of steps of an example of the present invention.
FIG. 4 is a graphical representation of simulation errors for one scenario of an example of the invention.
Detailed Description
The present invention will be described in more detail with reference to the accompanying drawings, but the present invention is not limited to the drawings, and the structure of the drawings is omitted or scaled differently from the actual size, for illustrative reference only.
A passive positioning method of underwater unmanned equipment based on a submarine beacon comprises the following steps:
and 11, numbering the submarine beacon nodes, and writing the serial numbers into the main control modules of the submarine beacon nodes.
And step 12, synchronously taming the submarine beacon nodes to keep the clocks of the submarine beacon nodes synchronous.
And 13, arranging the 1 st submarine beacon node in the target sea area on the ship foundation.
And step 14, after the value of the pressure sensor of the submarine beacon node is not changed any more, sending sinking information to inform the ship base.
And step 15, after receiving the sinking information of the submarine beacon nodes, the ship base sails around the arrangement points of the submarine beacon nodes, stops at a place with good sea conditions, and finishes the position calibration of the submarine beacon nodes through the carried short-baseline underwater acoustic positioning system.
And step 16, the ship base sends the positioning result and the information for starting underwater positioning to the submarine beacon node, completes the position calibration of the submarine beacon node and prompts the submarine beacon node to enter a working state.
And 17, repeating the steps 13-16 to finish the arrangement and the position calibration of all the submarine beacon nodes.
In step 13, the deployment topology of the submarine beacon nodes is as follows: if the number of the submarine beacon nodes is 4, the 4 submarine beacon nodes form a square grid, and the submarine beacon nodes are positioned at the top points of the square grid; if the number of the submarine beacon nodes is more than 4, the deployment topology of the rest submarine beacon nodes still adopts the square grids as basic units, and the square grids are spliced with the 1 st square grid to cover the target sea area.
In step 15, the specific process of the position calibration of the submarine beacon node is as follows: after receiving the sinking information of the submarine beacon nodes, the ship base sails around the deployment points of the submarine beacon nodes, stops in a place with good sea conditions, receives Beidou satellite navigation signals through a Beidou satellite receiver, determines the position coordinates of the short-baseline underwater acoustic positioning array, and then sends inquiry signals through a short-baseline underwater acoustic positioning system of the ship base. After receiving the inquiry signal, the submarine beacon node sends a response signal by the transponder. According to the response signal, the short-baseline underwater acoustic positioning system of the ship base acquires the slant range and the azimuth of the submarine beacon node, calculates the position coordinates of the submarine beacon node relative to the ship base short-baseline array, converts the position coordinates into longitude, latitude and depth information and sends the longitude, latitude and depth information to the corresponding submarine beacon node.
and 21, after receiving the signal for starting underwater positioning, the submarine beacon node generates a positioning message according to the information of the node serial number, longitude, latitude, depth and the like.
And step 22, according to the time sequence design of the positioning message transmission, the 4 submarine beacon nodes of one square grid simultaneously transmit the positioning messages.
In step 22, the positioning message sending time sequence of the submarine beacon node is designed as follows:
step 221. number the square grid of the topology.
And step 222, simultaneously sending positioning messages by the 4 submarine beacon nodes of the 1 st square grid.
And 223, after a fixed time interval, simultaneously sending the positioning message by the 4 submarine beacon nodes of the 2 nd square grid.
And 224, repeating the steps until all the submarine beacon nodes with the square grids send positioning messages, and finishing the sending of the first round of positioning messages.
Step 225, repeat step 222 and step 224, and start the next round of sending the positioning message.
In step 22, the signal transmission of the subsea beacon node uses Multiple frequency-shift keying (MFSK), the main control module of the subsea beacon node converts a binary code to be transmitted into an M-ary symbol through serial/parallel conversion, and selects a carrier frequency through the symbol to transmit the signal.
and 31, the acoustic receiving module with the comprehensive positioning/communication function of the underwater unmanned equipment is in a monitoring state, and once the positioning message of the submarine beacon node is received, the arrival time of the positioning message is recorded. And when the positioning messages of 4 submarine beacon nodes are received, the position is calculated.
And 32, the main control module of the underwater unmanned equipment reads the contents of the positioning message and transmits the longitude, the latitude, the depth and the arrival time of the positioning message to the resolving module.
And 33, converting the longitude, the latitude and the depth of the submarine beacon node into world geodetic systems 4 (WGSs 4) coordinates by a resolving module of the underwater unmanned equipment.
And 34, a resolving module of the underwater unmanned equipment resolves WGSs4 coordinates of the position of the underwater unmanned equipment according to WGSs4 coordinates of 4 submarine beacon nodes and arrival time of 4 positioning messages.
And step 35, converting the calculated WGSs4 coordinates into longitude, latitude and depth by a resolving module of the underwater unmanned equipment to serve as a positioning result.
In step 33, WGSs4 is defined as: the origin is the centroid of the earth, and the z-axis of the rectangular spatial coordinate system points to the direction of a protocol polar (CTP) defined by the Bureau International de l' Heure (BIH); the x axis points to the intersection point of the zero meridian plane defined by BIH and the CTP equator; the y-axis and the z-axis, the x-axis constituting the right-hand coordinate system.
In step 34, the specific calculation step is:
step 341, the underwater unmanned device receives the positioning message of 4 submarine beacon nodes in a square grid, and the resolving module converts the longitude, latitude and depth of the ith (i is 1,2,3,4) submarine beacon node into WGSs4 coordinates (x is x)i,yi,zi) (ii) a The underwater unmanned device has (x, y, z) coordinates to be solved in WGSs 4.
Step 342, assume the subsea beacon is at t0The positioning messages are sent at the same time, and the time when the underwater unmanned equipment receives the positioning message of the ith submarine beacon node is tiThe unsynchronized time difference between the submarine beacon node and the underwater unmanned equipment is tau, and the distance between the ith submarine beacon node and the underwater unmanned equipment is rhoiThe speed of sound is c.
Step 343, the distance measurement equation can be obtained
Eliminating sending time t of positioning message0And a time difference τ not synchronized, the above formula is rewritten as
In the above formula,. DELTA.ti1＝ti-t1。
The square of the above formula is obtained by subtracting two by two
In the above formula, the first and second carbon atoms are,
step 344. with ρ1As a pivot, (x, y, z) is expressed with respect to ρ1First order function of
In the above formula
Step 345, will
Substituting into the ranging equation (5) to obtain the value about rho1Quadratic equation of one unit
In the above formula
β＝2[a11(a12-x1)+a21(a22-y1)+a31(a32-z1)]，γ＝(a12-x1)2+(a22-y1)2+(a32-z1)2。
Step 346. solve the above equation, will
Is substituted back to
The WGSs4 coordinates (x, y, z) of the underwater drone are obtained.
The invention relates to an example of an underwater unmanned equipment positioning system based on Beidou beacons, which consists of 6 submarine beacon nodes, a ship base and 1 underwater glider; in addition, the system needs to realize the position calibration of the submarine beacon nodes by means of a Beidou satellite navigation system and a short-baseline underwater sound positioning system. In this example, the underwater glider acts as an underwater drone. As shown in fig. 1.
The 6 submarine beacon nodes are distributed on the seabed by a ship base and are provided with a main control module, an acoustic transceiver module with comprehensive positioning/communication function, a transponder of a short-baseline underwater acoustic positioning system and the like; before the submarine beacon nodes are laid, clock synchronization taming is carried out by the ship base; after the submarine nodes are laid, the short-baseline underwater sound positioning system of the ship base is used for completing position calibration of the submarine beacon nodes. And each submarine beacon node encodes the information of the position of the submarine beacon node and the sequence number into a positioning message according to the time sequence table and transmits the positioning message to the outside.
2 underwater gliders serve as underwater unmanned equipment and are provided with a main control module, an acoustic receiving module with a comprehensive positioning/communication function, a resolving module and the like; when the underwater glider receives the positioning message, the self positioning is completed through the resolving module.
The ship base is provided with a short-baseline underwater acoustic positioning system, a Beidou satellite receiver, an acoustic transceiver module with a comprehensive positioning/communication function and a calculation module, and is responsible for arrangement, position calibration and working state monitoring of the submarine beacon nodes.
The 6 submarine beacon nodes are designed to adopt the topological structure shown in FIG. 2, wherein A-F respectively represent the 6 submarine beacon nodes to form a square I and a square II, the side length of a square grid is 4.5km, and the submarine beacon nodes are positioned at the top points of the square grid.
The positioning step of the underwater unmanned equipment is shown in fig. 3, and the position calibration of the submarine beacon node is completed by a ship base through a short-baseline underwater acoustic positioning system; the method comprises the following steps that a submarine beacon node acquires depth information through a pressure sensor, and combines the information of the submarine beacon node, such as the sequence number, longitude, latitude, depth and the like of the submarine beacon node into a positioning message;
4 submarine beacon nodes on the vertex of the square grid I simultaneously send respective positioning messages; after a fixed time interval, 4 submarine beacon nodes on the vertex II of the square grid simultaneously transmit respective positioning messages, so that the first round of positioning message transmission is completed; and repeating the steps and starting the next round of broadcasting sequence.
The signal transmission of the submarine beacon nodes adopts MFSK modulation, and 4 submarine beacon nodes positioned at the vertex of a square grid simultaneously transmit positioning messages. The main control module of the submarine beacon node converts binary codes to be transmitted into M-system code elements through serial/parallel conversion, and selects carrier frequencies through the code elements to transmit signals.
The acoustic receiving system with the integrated positioning/communication function of the underwater glider is in a monitoring state, records the arrival time of a positioning message once receiving a positioning signal, reads the positioning message, and sends the content of the positioning message and the arrival time thereof to a resolving module;
when a second acoustic receiving module with the comprehensive positioning/communication function of the underwater unmanned equipment receives positioning messages of 4 submarine beacon nodes, a second main control module of the underwater unmanned equipment decodes longitude, latitude and depth information in the messages, and transmits the information and the arrival time of the positioning messages to a second resolving module of the underwater unmanned equipment; and the second resolving module of the underwater unmanned equipment substitutes the received information into a ranging equation to complete self position resolving.
The above-described solving steps are simulated in conjunction with the detailed data.
Step 41, setting state parameters:
assuming that the coordinates of the 4 calibrated seafloor beacons are (-1,5, -1012), (3996, -3, -1276), (4003,3993, -1619) and (-2,4002, -2112), respectively, the initial true position of the underwater glider is (1235,3678, -896), the mean of the component velocities in the x, y and z directions is (0.5,0.5,0.1), and the movement is maintained at this velocity. The system carries out observation every 30s and records the arrival time difference t ═ delta t of the positioning message of the submarine beacon node21 Δt31 Δt41]T。
Step 42, setting parameter error:
the speed of the underwater glider is disturbed to a certain extent due to the influence of factors such as water flow fluctuation, the actual speed obeys the mean value as the true value, and the covariance matrix is
Is normally distributed.
Because the clock of the underwater glider has certain offset, the recorded t obeys the mean value as the true value, and the covariance matrix is
Is normally distributed.
Step 43, calculating the position error of the underwater glider
The difference between the calculated position and the true position is calculated, as shown in fig. 3, and the position error in the x and y directions is within 15 m.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (2)
1. The passive positioning method of the underwater unmanned equipment based on the submarine beacon comprises the following steps:
step 1, laying and position calibration of a submarine beacon node, which comprises the following specific steps:
step 11, numbering the submarine beacon nodes, and writing the serial numbers into the master control modules of the submarine beacon nodes;
step 12, synchronously taming the submarine beacon nodes to keep clocks of the submarine beacon nodes synchronous;
step 13, laying the 1 st submarine beacon node in the target sea area by the ship foundation;
step 14, after the numerical value of the pressure sensor of the submarine beacon node is not changed any more, the submarine beacon node sends sinking information to inform a ship base;
step 15, after receiving the sinking information of the submarine beacon nodes, the ship base sails around the arrangement points of the submarine beacon nodes, stops at a place with good sea conditions, and finishes the position calibration of the submarine beacon nodes through the carried short-baseline underwater sound positioning system;
step 16, the ship base sends the positioning result and the information for starting underwater positioning to the submarine beacon node, completes the position calibration of the submarine beacon node and prompts the submarine beacon node to enter a working state;
step 17, repeating the steps 13-16 to finish the arrangement and position calibration of all the submarine beacon nodes;
in step 13, the deployment topology of the submarine beacon nodes is as follows: if the number of the submarine beacon nodes is 4, the 4 submarine beacon nodes form a square grid, and the submarine beacon nodes are positioned at the top points of the square grid; if the number of the submarine beacon nodes is more than 4, the deployment topology of the rest submarine beacon nodes still adopts the square grids as basic units, and the square grids are spliced with the 1 st square grid to cover the target sea area;
in step 15, the specific process of the position calibration of the submarine beacon node is as follows: after receiving the sinking information of the submarine beacon nodes, the ship base sails around the deployment points of the submarine beacon nodes, stops in a place with good sea conditions, receives Beidou satellite navigation signals through a Beidou satellite receiver, determines the position coordinates of the short-baseline underwater acoustic positioning array, sends inquiry signals through a short-baseline underwater acoustic positioning system of the ship base, and sends response signals through a transponder after receiving the inquiry signals; according to the response signal, the short-baseline underwater acoustic positioning system of the ship base acquires the slant range and the azimuth of the submarine beacon node, calculates the position coordinates of the submarine beacon node relative to the ship base short-baseline array, converts the position coordinates into longitude, latitude and depth information and sends the longitude, latitude and depth information to the corresponding submarine beacon node;
step 2, the submarine beacon node sends a positioning signal, and the specific steps are as follows:
step 21, after receiving a signal for starting underwater positioning, the submarine beacon node generates a positioning message from the information of the node serial number, longitude, latitude and depth;
step 22, according to the time sequence design of the positioning message transmission, the 4 submarine beacon nodes of one square grid simultaneously transmit the positioning messages;
in step 22, the positioning message sending time sequence of the submarine beacon node is designed as follows:
step 221, numbering square grids of the topology;
step 222, simultaneously sending positioning messages by 4 submarine beacon nodes of the 1 st square grid;
step 223, after a fixed time interval, 4 submarine beacon nodes of the 2 nd square grid simultaneously send positioning messages;
step 224, repeating the steps until all the submarine beacon nodes of the square grids send positioning messages, and finishing sending the first round of positioning messages;
step 225, repeating the step 222 and the step 224, and starting to send the next round of positioning messages;
in step 22, the signal transmission of the subsea beacon node adopts Multiple frequency-shift keying (MFSK), the main control module of the subsea beacon node converts a binary code to be transmitted into an M-ary symbol through serial/parallel conversion, and selects a carrier frequency through the symbol to transmit a signal;
step 3, resolving the position of the underwater unmanned equipment, which comprises the following specific steps:
31, the acoustic receiving module with the comprehensive positioning/communication function of the underwater unmanned equipment is in a monitoring state, and once the positioning message of the submarine beacon node is received, the arrival time of the positioning message is recorded; when positioning messages of 4 submarine beacon nodes are received, position calculation is carried out;
step 32, a main control module of the underwater unmanned equipment reads the contents of the positioning messages and transmits the longitude, the latitude, the depth and the arrival time of the positioning messages to a resolving module;
step 33, converting the longitude, the latitude and the depth of the submarine beacon node into world geodetic systems 4 (WGSs 4) coordinates by a resolving module of the underwater unmanned equipment;
step 34, a resolving module of the underwater unmanned equipment resolves WGSs4 coordinates of the position of the underwater unmanned equipment according to WGSs4 coordinates of 4 submarine beacon nodes and arrival time of 4 positioning messages;
step 35, converting the calculated WGSs4 coordinates into longitude, latitude and depth by a resolving module of the underwater unmanned equipment to serve as a positioning result;
in step 33, WGSs4 is defined as: the origin is the centroid of the earth, and the z-axis of the rectangular spatial coordinate system points to the direction of a protocol polar (CTP) defined by the Bureau International de l' Heure (BIH); the x axis points to the intersection point of the zero meridian plane defined by BIH and the CTP equator; a y-axis and a z-axis, the x-axis constituting a right-hand coordinate system;
in step 34, the specific calculation step is:
step 341, the underwater unmanned equipment receives the positioning messages of 4 submarine beacon nodes in a square grid, and the resolving module converts the longitude, the latitude and the depth of the ith submarine beacon node into WGSs4 coordinates (x)i,yi,zi) Wherein i is 1,2,3, 4; the coordinate to be solved of the underwater unmanned device in the WGSs4 is (x, y, z);
step 342, assume the subsea beacon is at t0The positioning messages are sent at the same time, and the time when the underwater unmanned equipment receives the positioning message of the ith submarine beacon node is tiThe unsynchronized time difference between the submarine beacon node and the underwater unmanned equipment is tau, and the distance between the ith submarine beacon node and the underwater unmanned equipment is rhoiThe speed of sound is c;
step 343, the distance measurement equation can be obtained
Eliminating sending time t of positioning message0And a time difference τ not synchronized, the above formula is rewritten as
In the above formula,. DELTA.ti1＝ti-t1；
The square of the above formula is obtained by subtracting two by two
In the above formula, the first and second carbon atoms are,
step 344. with ρ1As a pivot, (x, y, z) is expressed with respect to ρ1First order function of
In the above formula
Step 345, will
Substituting into the ranging equation (5) to obtain the value about rho1Quadratic equation of one unit
In the above formula
β＝2[a11(a12-x1)+a21(a22-y1)+a31(a32-z1)]，γ＝(a12-x1)2+(a22-y1)2+(a32-z1)2；
Step 346. solve the above equation, will
Is substituted back to
The WGSs4 coordinates (x, y, z) of the underwater drone are obtained.
2. A system for implementing the passive subsea beacon-based positioning method for underwater unmanned devices according to claim 1, characterized in that: the system consists of at least 4 submarine beacon nodes, underwater unmanned equipment and a ship base;
the submarine beacon node comprises a first main control module, a transponder of a short-baseline underwater sound positioning system, a first acoustic transceiver module with comprehensive positioning/communication functions and a pressure sensor, and is responsible for sending a positioning message;
the underwater unmanned equipment comprises a second main control module, an acoustic second receiving module with a comprehensive positioning/communication function and a second resolving module;
the ship base comprises a short-baseline underwater acoustic positioning system, a Beidou satellite receiver, a third acoustic transceiver module with a comprehensive positioning/communication function and a third resolving module, is an auxiliary positioning system, is deployed in the sea area covered by the submarine beacon nodes and is responsible for distribution, position calibration and monitoring of the working state of the submarine beacon nodes;
the number of the submarine beacon nodes is at least 4, and the deployment topology is as follows: the 4 submarine beacon nodes form a square grid, and the submarine beacon nodes are positioned at the top points of the square grid; if the number of the submarine beacon nodes is more than 4, the deployment topology of the rest submarine beacon nodes still adopts the square grids as basic units, and the square grids are spliced with the 1 st square grid to cover the target sea area;
the positioning signal sending time sequence of the submarine beacon node is as follows: taking a square grid as a unit, and simultaneously sending positioning messages by 4 submarine beacon nodes positioned on the square grid; after a fixed time interval, the seabed beacon node on the next square grid vertex sends a positioning message; completing the sending of the first round of positioning messages until all the square grids send the positioning messages; repeating the steps and starting the next round of sending the positioning message;
the signal transmission of the submarine beacon nodes adopts multi-frequency-shift keying (MFSK), 4 submarine beacon nodes positioned at the vertex of a square grid simultaneously transmit positioning messages, a main control module of the submarine beacon nodes converts binary codes to be transmitted into M-system code elements through serial/parallel conversion, and selects carrier frequencies through the code elements to transmit signals;
the positioning calculation process of the underwater unmanned equipment is as follows:
when a second acoustic receiving module with the integrated positioning/communication function of the underwater unmanned equipment receives positioning messages of 4 submarine beacon nodes, a second main control module of the underwater unmanned equipment decodes information of longitude, latitude and depth in the messages, and transmits the information and the arrival time of the positioning messages to a second resolving module of the underwater unmanned equipment; and the second resolving module of the underwater unmanned equipment substitutes the received information into a ranging equation to complete resolving of the position of the underwater unmanned equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455229.4A CN108318863B (en) | 2017-12-28 | 2017-12-28 | Submarine beacon-based passive positioning method and system for underwater unmanned equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455229.4A CN108318863B (en) | 2017-12-28 | 2017-12-28 | Submarine beacon-based passive positioning method and system for underwater unmanned equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108318863A CN108318863A (en) | 2018-07-24 |
| CN108318863B true CN108318863B (en) | 2020-11-24 |
Family
ID=62893920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711455229.4A Active CN108318863B (en) | 2017-12-28 | 2017-12-28 | Submarine beacon-based passive positioning method and system for underwater unmanned equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108318863B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814069B (en) * | 2019-01-22 | 2021-04-27 | 浙江大学 | Underwater mobile node passive positioning method and system based on single positioning beacon |
| CN110196425B (en) * | 2019-05-16 | 2021-03-12 | 北京大学 | Passive acoustic positioning method for underwater target by mobile platform |
| CN110366095B (en) * | 2019-05-28 | 2020-06-19 | 浙江大学 | Underwater node distributed positioning system and method |
| CN111999702B (en) * | 2020-04-14 | 2024-05-07 | 哈尔滨工程大学 | Passive underwater navigation communication positioning system and method |
| CN111487580B (en) * | 2020-05-09 | 2022-04-26 | 中国船舶科学研究中心 | Multifunctional acoustic beacon and deep sea long baseline array type calibration method |
| CN111578944B (en) * | 2020-05-22 | 2021-12-21 | 浙江大学 | Underwater glider positioning method based on single beacon |
| CN111857014B (en) * | 2020-08-06 | 2022-07-12 | 天津优控智行科技有限公司 | Remote control method for mining unmanned dump truck |
| CN112558010A (en) * | 2020-11-23 | 2021-03-26 | 西北工业大学 | Accurate positioning device and method for sound source in alkylbenzene medium |
| CN113945892B (en) * | 2021-10-11 | 2022-05-03 | 哈尔滨工程大学 | Method for measuring three-dimensional motion trail of body target |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5119341A (en) * | 1991-07-17 | 1992-06-02 | The United States Of America As Represented By The Secretary Of The Air Force | Method for extending GPS to underwater applications |
| CN101547048B (en) * | 2008-03-05 | 2013-04-17 | 中国科学院嘉兴无线传感网工程中心 | Indoor positioning method based on wireless sensor network |
| CN101661098B (en) * | 2009-09-10 | 2011-07-27 | 上海交通大学 | Multi-robot automatic locating system for robot restaurant |
| RU2599902C1 (en) * | 2015-09-08 | 2016-10-20 | Общество с ограниченной ответственностью "Лаборатория подводной связи и навигации" | Method of navigating underwater objects and system for its implementation |
| CN105093180B (en) * | 2015-09-16 | 2018-07-20 | 欧舶智能科技（上海）有限公司 | A kind of underwater robot location system and method |
| CN105929405B (en) * | 2016-04-15 | 2019-02-01 | 燕山大学 | Underwater moving target co-located method under asynchronous clock |
| CN107390171B (en) * | 2017-08-03 | 2020-10-09 | 厦门大学 | Underwater sensor node positioning method based on TOA ranging and Doppler effect |
| CN107340531A (en) * | 2017-08-08 | 2017-11-10 | 南京中探海洋物联网有限公司 | A kind of positioner and method of underwater passive basic point |
-
2017
- 2017-12-28 CN CN201711455229.4A patent/CN108318863B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108318863A (en) | 2018-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108318863B (en) | Submarine beacon-based passive positioning method and system for underwater unmanned equipment | |
| Shi et al. | Anchor self-localization algorithm based on UWB ranging and inertial measurements | |
| CN100495066C (en) | Underwater GPS positioning navigation method and system without high stable frequency scale | |
| US11305854B2 (en) | Deep-sea low-cost long-endurance collaborative navigation and positioning system | |
| CN104316045B (en) | A kind of AUV based on SINS/LBL interacts aided positioning system and localization method under water | |
| CN109814069B (en) | Underwater mobile node passive positioning method and system based on single positioning beacon | |
| CN110855343B (en) | Underwater sound positioning and timing buoy and working method thereof | |
| US20160054425A1 (en) | Tracking a Radio Beacon from a Moving Device | |
| CN107664758B (en) | Deep sea navigation positioning system and method based on long baseline or ultra-short baseline networking | |
| JP6987854B2 (en) | Devices and methods for positioning underwater devices | |
| CN104197939A (en) | Multi-reference-point under-water vehicle combination navigation method based on underwater information network | |
| CN109839650A (en) | A kind of compatible RTK localization method of unmanned plane, system, equipment and storage medium | |
| CN114089399A (en) | Broadcast type underwater navigation positioning system and method | |
| CN112346102A (en) | Underwater acoustic positioning navigation time service system | |
| CN103675872B (en) | Based on positioning system and the localization method thereof in GNSS signal source | |
| CN111578944B (en) | Underwater glider positioning method based on single beacon | |
| CN108445453B (en) | Positioning method, device, system and computer storage medium | |
| CN111142144B (en) | Underwater acoustic positioning and timing buoy and underwater positioning method | |
| Crosbie et al. | Synchronous navigation of AUVs using WHOI micro-modem 13-bit communications | |
| CN108762049A (en) | A kind of underwater time service method and system based on sound field reciprocal theorem | |
| CN112285652A (en) | Underwater glider positioning method utilizing single beacon virtual arrival time difference | |
| CN116609815A (en) | Intelligent positioning system and method for submarine aircraft | |
| CN116545568A (en) | System and method for adding ultra-high precision time stamp of short wave signal | |
| CN201716421U (en) | Small underwater vehicle combined navigation device | |
| CN104392108B (en) | A kind of long-range positioning system (Loran) and method using iteration difference algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |