CN100495066C - Underwater GPS positioning navigation method and system without high stable frequency scale - Google Patents
Underwater GPS positioning navigation method and system without high stable frequency scale Download PDFInfo
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- CN100495066C CN100495066C CNB2003101184409A CN200310118440A CN100495066C CN 100495066 C CN100495066 C CN 100495066C CN B2003101184409 A CNB2003101184409 A CN B2003101184409A CN 200310118440 A CN200310118440 A CN 200310118440A CN 100495066 C CN100495066 C CN 100495066C
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Abstract
The invention discloses a kind of underwater GPS allocation and navigation system and method without high stable frequency scale. The system is made up of GPS satellite constellation, four or more GPS floating marks, underwater navigation transceiver, data control centre, sea level wireless communication loop and hydroacoustics communication loop. The method is: when the object underwater needed to be located, the underwater navigation transceiver sends out hydroacoustics localization signal to the GPS floating mark, the floating mark transmits the hydroacoustics localization signal, the GPS signal and the posture calibration data wirelessly to the data control centre, and the data are processed with the difference signal, works out the position and time sending out the localization signal of the underwater object, the position and time data are transmitted to the underwater navigation transceiver by the hydroacoustics communication system, it can carry on navigation or time service. The invention can be applied to underwater object tracing, underwater localization and navigation, underwater precise timer service, measuring project control and project structure sample, it needs no high stable frequency scale.
Description
Technical field
The present invention relates to a kind of Position Fixing Navigation System of GPS under water and method of not having the high stable frequency marking, specifically, relate to and a kind ofly utilize dynamic net that several GPS buoys of sea form, utilize acoustic positioning technique to realize the method and system of location navigation and time service under water again as the sea dynamic geodesy benchmark and the time reference of location under water.
Background technology
Sea and the location navigation under water basic premise that to be all ocean development activities develop with the ocean hi-tech.Ocean development need be obtained on a large scale, accurate marine environment data, need carry out sea floor exploration, sampling, underwater construction etc., modern naval battle also develop into gradually relate to space, aerial, sea, under water with the three-dimensional warfare in multilayer space, seabed.All these needs sea and location navigation support under water.
Present most widely used Underwater Acoustic Positioning System mainly contains long baseline positioning system, short baseline positioning system and ultra short baseline locating system etc.
Long baseline positioning system utilize the seabed not the underwater sound signal transponder of laying in advance more than 3 or 3 of conllinear as basic matrix beacon unit, synchronous by standard time clock, the emission sound pulse, according to the sphere positioning principle, use COMPUTER CALCULATION, to boats and ships or the platform location that is loaded with the transponder that receives pulse that beacon is sent out in sea or the water.Being navigated by water in the scanning of control marine site by lash ship earlier after laying basic matrix, determine the accommodation with global position system, make the coordinate of basic matrix beacon unit each point in view of the above earlier, is boats and ships, platform, equipment location undetermined with this coordinate again.The laying of conventional long baseline positioning system seabed transponder array, calibrate and keep the comparison difficulty, time-consuming costing.When the degree of depth less than between the primitive apart from the time, its dark error at measurment in sea very big (normal resolve), and be not suitable for the location under water (lay and detect, transport etc.) in rectangle marine site under water as submarine line with the pressure transducer combination.
The basic matrix linear-scale of short baseline underwater position fixing technique, often is contained on boats and ships or the platform to the basic matrix distance much smaller than tested submarine target, and principle of work is with long baseline location.It needs on the target cover sync beacon to be installed under water, and beacon is launched the dipulse signal by regular time and cycle, and by synchronous clock control signal x time.Short baseline underwater position fixing technique requires each measurement all must use the beacon dipulse that submarine target is carried out clock synchronization, because clock synchronization requires the frequency of dipulse to have a certain distance, limited the underwater effect distance, thereby short baseline the positioning action distance is general maximum under water can not surpass hundreds of rice, therefore do not use basically at present as independent underwater position fixing technique.
The ultra short baseline locating system base length is less than the emission wave length of sound, put into water by boats and ships or platform, it is to arrive phase differential and the submarine target accepted between the unit by measuring-signal to realize the location to the oblique distance that receives between the battle array, and its gordian technique is to determine to receive battle array real-time three-dimensional coordinate and attitude.Traditional attitude determination method precision is low, and submarine target also needs on the target sync beacon to be installed under water to the oblique distance measurement that receives between the battle array, thereby causes bearing accuracy low short with operating distance.Angle of release between submarine target and short baseline or ultra-short baseline basic matrix surpasses a certain angle (being generally 30 degree), and bearing accuracy can significantly reduce under water, and it is unreliable to cause locating.Thereby short baseline is located with the low precision of submarine target that the ultra-short baseline underwater positioning system only is fit to local marine site among a small circle.
In sum, though above-mentioned underwater positioning system has been brought into play vital role in marine resources development and utilization, oceanographic engineering construction, ocean military technology, demarcate that difficulty is big, measuring accuracy is not satisfactory, reach is limited.
GPS (GPS) a kind ofly collects the location, decides that appearance and time service are multi-functional to be the all-round navigational system of one.High-precision difference GPS has become the important technical of the accurate regularly location of moving object and relative navigation, and gps carrier phase difference technology is that the attitude determination of moving object has been opened up new way.
1991, the James Youngberg of USAF has proposed the notion of GPS under water, this thought is directly extended GPS thought under the sea, promptly replace gps satellite with the GPS buoy, replace gps signal with underwater sound signal, realize being quite analogous to the thought of location navigation under water of GPS space orientation airmanship.Because this thought requires the GPS buoy to have real-time underwater sound signal coding and emission function, and submarine target can receive and handle a large amount of underwater sound signals from the GPS buoy fast, thereby the power supply of underwater sound data transmission, GPS buoy all compare difficulty with safeguarding, positioning cost is bigger with the realization difficulty under water.
With the GPS buoy is that locating under water of support is a new technology that grew up in recent years, the United States Patent (USP) (US Patent No:5.597.285) of the intelligent GPS buoyage (GIB) that French Ministry of National Defence in 1996 obtains, and entrusted by U.S. Department of Defense to have developed global head to overlap gps system-GPS underwater target tracking system under water in calendar year 2001.When the sea personnel need understand the position of submarine target or carrier, locate the underwater sound signal pulse from the sea to request of location transmitters emission under water, location transmitters is launched the hydrolocation signal after receiving this signal under water, receive this hydrolocation signal and gps signal by the GPS buoy, by radio with the data transmission of differential reference station and GPS buoy to Data Control Center, position by Data Control Center and to calculate and tracing display.
Because anhydrous acoustic communication link is connected between Data Control Center and the underwater navigation transceiver, this system only suitable sea tracking mode is located under water.Submarine target can not initiatively require the location, thereby can not realize underwater navigation and time service function, also can't realize Underwater Engineering setting-out robotization.Particularly, need high-precision atomic clock under water, and positioning error degenerating gradually totally in time, is the greatest drawback of this system.Adopting the sound ray compensation to improve velocity of sound precision is that this system locatees necessary under water.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of positioning navigation method of GPS under water that does not have the high stable frequency marking, realize submarine target being followed the tracks of from (sea, bank or aerial) waterborne or positioning function in, realize the robotization location navigation of submarine target, function such as accurate time transmission under water.
In order to solve the problems of the technologies described above, the invention provides a kind of positioning navigation method of GPS under water that does not have the high stable frequency marking, by gps satellite constellation, at least five GPS buoys, underwater navigation transceiver, Data Control Center, sea Radio Communications Link and under water the system that forms of underwater sound communication link finish the location and the navigation of submarine target, it is characterized in that may further comprise the steps:
(a) the underwater navigation transceiver is to GPS buoy locating hydrophones emission hydrolocation signal;
(b) after the GPS buoy receives the hydrolocation signal, hydrolocation signal data (being buoyed hydrophone Time delay measurement signal data) and gps signal data are encoded and modulate, and utilize radiotelegraphy to be sent to Data Control Center; And
(c) Data Control Center carries out overall treatment with the radio signal of each GPS buoy, utilizes time or phase differential point-score to calculate the position and the hydrolocation signal x time of submarine target or carrier.
On the basis of such scheme, can realize tracking mode location, sea and two kinds of functions of active location navigation under water.Sea tracking mode located subscriber is at Data Control Center, and the user of active location navigation under water under water.When wherein adopting sea tracking mode targeting scheme, (a) also comprises before in described step: when the sea personnel need understand the motion state of submarine target or carrier, Data Control Center is to the step of a request location underwater sound signal pulse of underwater navigation transceiver emission of submarine target or carrier, after the underwater navigation transceiver receives this pulse, again to GPS buoy emission hydrolocation signal.
When adopting active location navigation scheme under water, in described step (a) the underwater navigation transceiver to GPS buoy emission hydrolocation signal when target or carrier need be located under water under water the user initiatively send, and further comprising the steps of in step (c) back:
Data Control Center carries out underwater sound signal coding and modulation to the position and the moment data of submarine target or carrier, utilizes underwater sound projector that this modulation signal is transmitted into the underwater navigation transceiver; And
The underwater navigation transceiver further calculates navigational parameter and current time after obtaining the three-dimensional position and hydrolocation signal x time of submarine target or carrier.
In order to improve locating accuracy, in the said method, Data Control Center can utilize differential GPS (DGPS) method to measure the motion state parameters of GPS buoy from the gps signal of a differential GPS base station reception GPS differential signal and each GPS buoy together.
The present invention also provides a kind of system that can realize the positioning navigation method of GPS under water of described no high stable frequency marking, comprise gps satellite constellation, at least five GPS buoys, Data Control Center, sea Radio Communications Link, underwater navigation transceiver and underwater sound communication link under water, wherein:
Described GPS buoy utilizes gps antenna to receive gps signal, utilize locating hydrophones to receive the hydrolocation signal, utilize GPS receiver clock interface to carry out the Time delay measurement of hydrolocation signal, set up the time reference of location under water, after with described gps signal, described Time delay measurement signal and buoy status data coding, modulation, be emitted to Data Control Center by wireless aerial;
Described underwater navigation transceiver response request hydrolocation signal generates or directly generates the hydrolocation signal by user interface, and this hydrolocation signal is transmitted into described GPS buoy by transmitting transducer, receive location and the moment result data that passes under the described Data Control Center by the communication transducer, further calculate navigational parameter and current time;
After described Data Control Center receives the radio signal of GPS buoy, utilize the motion state parameters of the gps signal data in real time mensuration GPS buoy of each buoy, and reduction constitutes the sea dynamic geodesy benchmark of location under water to the buoy locating hydrophones; According to the time data of described Time delay measurement, adopt time differencing method to determine the three-dimensional position of underwater navigation transceiver and be transmitted into the underwater navigation transceiver, thereby the underwater navigation transceiver need not the high stable frequency marking;
Described sea Radio Communications Link is carried out the signal real-time Transmission of GPS buoy to the various signals of the buoy of Data Control Center, differential reference station to the GPS differential signal of Data Control Center;
The described link of underwater sound communication is under water carried out the underwater sound data communication between Data Control Center and the underwater navigation transceiver;
System adopts the geodetic surveying coordinate system, and maintenance is consistent with the reference frame of land, spatial information.
As from the foregoing, the present invention is the location navigation under water and the time dissemination system of a kind of integrated global-positioning technology, GPS accurate time transmission technology and ocean water audio technology etc.Have high-efficiency and economic, arrange net flexibly, advantage such as applied range.Especially by changing the underwater sound transfer mode of existing gps system under water, alleviate underwater sound data transmission burden, fundamentally changed the Passive Mode of in the past locating under water, improved the performance of system, reduce the complexity of system, thereby can realize submarine target or carrier robotization location and navigation; The present invention is by the frequency marking of high stable under water in the homogeneous system of differential position elimination under water, and velocity of sound influence dropped to a very low level, there is not the high stable frequency marking under water, under the situation of sound ray compensation, also can reach higher bearing accuracy under water, thus realize submarine target or carrier robotization location navigation, under water accurate time transmission, measure Engineering Control and engineering setting out.
Description of drawings
Fig. 1 is an overall system pie graph of the present invention, the general structure of descriptive system and signal flow among the figure;
Fig. 2 is an embodiment of the invention differential reference station functional block diagram;
Fig. 3 is an embodiment of the invention GPS buoy functional block diagram;
Fig. 4 is an embodiment of the invention underwater navigation transceiver function module map;
Fig. 5 is an embodiment of the invention Data Control Center functional block diagram.
Fig. 6 is the schematic flow sheet of embodiment of the invention sea tracking mode localization method;
Fig. 7 is the embodiment of the invention schematic flow sheet of active localization method under water.
Embodiment
The dynamic positioning system of DGPS under water of the no high stable frequency marking of the embodiment of the invention by gps satellite constellation 1, differential GPS base station 2, five GPS buoys (in ship base data control center) 3, underwater navigation transceiver 4, ship base data control center 5, sea Radio Communications Link 6 and under water the underwater sound communication link form 7, as shown in Figure 1.
The localization method under water that system adopts is, utilize gps satellite constellation, differential reference station, five or five real-time sea dynamic geodesy benchmark that constitute with these GPS buoy locating hydrophones of setting up of dynamic space network for location that above GPS buoy is formed, utilize buoy GPS receiver clock interface, set up the time reference of location under water; Form dynamic space network for location under water by the transmitter of GPS buoy locating hydrophones, underwater navigation transceiver, utilize time or phase differential point-score dynamically to determine the coordinate of underwater navigation transceiver in the geodetic surveying coordinate system.The sea signal adopts the radio form to transmit in real time, and exchange data using underwater sound communication form transmits under water.System directly adopts the geodetic surveying coordinate system, and maintenance is consistent with the reference frame of land, spatial information.
Said system can have two kinds of working methods, and a kind of is sea tracking mode locator meams, as shown in Figure 6, may further comprise the steps:
When the sea personnel need understand the motion state of submarine target or carrier, Data Control Center was to request location underwater sound signal pulse of underwater navigation transceiver emission of submarine target or carrier; Step 100.
After the transponder of underwater navigation transceiver receives this pulse, to each GPS buoy locating hydrophones emission hydrolocation signal (not having any modulation signal); Step 110.
After the GPS buoy receives the hydrolocation signal, buoy signal (comprising gps signal, buoyed hydrophone Time delay measurement signal, buoy gps antenna attitude calibrating signal, buoyed hydrophone deviation calibrating signal and buoy status signal etc.) data are encoded and modulate, and utilize radiotelegraphy to be sent to Data Control Center; Step 120.
Data Control Center will carry out overall treatment from the GPS differential signal of difference base station and the radio signal of each GPS buoy, calculate the position of submarine target or carrier, just realize the real-time follow-up of submarine target; Step 130.
In the step 110 of present embodiment, in order to guarantee the hi-Fix requirement of system, the hydrolocation signal type is selected linear FM signal for use.For the dirigibility of protection system conceptual design, the hydrolocation signal is produced by signal processing module.Its frequency range is 15.0KHz-22.5KHz, and pulse width is 20ms.Handle by coherent matched filter, the Time delay measurement resolution of hydrolocation signal is 0.13ms, can reach the accuracy requirement of underwater sound signal Time delay measurement.For guaranteeing the underwater sound operating distance greater than 1500 meters, sound source level is got 170dB.Its maximum underwater sound operating distance can reach 3000 meters.
In the step 120 of present embodiment; the gps signal in the buoy, hydrolocation signal data (comprising buoyed hydrophone Time delay measurement signal and buoyed hydrophone deviation calibrating signal), GPS buoy attitude calibration data and buoy status data adopt pseudo-random code broadband communication mode to the wireless data transmission of Data Control Center; can realize many pieces of buoys multiplexing to same communication channel; and utilize its CDMA function; concentric float is not carried out geocoding, realize to the not separation and the identification of concentric float data.
In the step 130 of present embodiment, may further comprise the steps again:
Utilize the motion state parameters (position, speed, acceleration etc.) of the gps signal data in real time mensuration GPS buoy of base station differential signal and each buoy;
The attitude calibration data that utilizes buoy with position (terrestrial coordinate) reduction in real time of GPS receiver antenna phase center to the buoy locating hydrophones.By GPS receiver clock interface, provide the time reference of buoyed hydrophone Time delay measurement; (the buoyed hydrophone Time delay measurement is meant that the hydrolocation signal arrives the time measurement of buoyed hydrophone, and time reference is when adopting GPS with buoy GPS receiver interface)
The time data that utilizes the hydrolocation signal is determined the three-dimensional position (terrestrial coordinate) of underwater navigation transceiver by the time method of difference.
Wherein, the mensuration of GPS buoy movement state parameter adopts conventional DGPS technology-pseudo range difference GPS.For the location of the GPS buoy of close together, can adopt real-time dynamic positioning RTK technology, to obtain high orientation precision.
In order to improve the bearing accuracy of system, to the locating hydrophones of buoy, present embodiment also carries out calibration of buoy gps antenna and the calibration of buoyed hydrophone deviation with the real-time reduction of the terrestrial coordinate of gps antenna phase center.The calibration of buoy gps antenna is rotated and the tilt parameters realization by the buoy of 3-dimensional digital compass The real time measure, and ultrashort positioning system is adopted in locating hydrophones offset correction.For guaranteeing the stable reception of hydrolocation signal, the buoy locating hydrophones need be transferred certain depth, adopts between locating hydrophones and the buoy float to be flexible coupling, thereby certain offset can take place.For realizing the offset calibration of buoy locating hydrophones, need the auxiliary reception nautical receiving set to be installed in the cable junction of buoy bottom, form the ultra-short baseline battle array by four little nautical receiving sets, the auxiliary water acoustic transmitter that is connected directly over the buoy locating hydrophones uses auxiliary sound calibration steps to carry out the hydrophone position offset correction.
Submarine target is located, GPS buoy (locating hydrophones) is thought known point, to same hydrolocation signal, when selected GPS buoy as the reference point, can measure the time delay that it arrives all the other different GPS buoys, obtain point to be located to the range difference between two GPS buoys arbitrarily, therefore just obtain an equation, given 4 GPS buoys can be able to 3 simultaneously independently apart from observed reading, just can solve the three dimensional space coordinate of point to be located under water.
But underwater navigation transceiver and underwater sound signal propagated error asynchronous with GPS buoy clock all can influence the bearing accuracy of submarine target.In order to improve bearing accuracy, present embodiment adopts time differencing method or phase differential point-score to realize the solid location of submarine target.
If the three-dimensional coordinate of subsea equipment is that (z), positioning signal instantaneous three-dimensional coordinate constantly is (x to GPS buoy i receiving under water for x, y
i, y
i, z
i), equipment to the underwater sound signal travel-time of buoy i be t
i, phase change is
Then have
t
i＝ρ
i(x，y，z)/c (1)
ρ in the formula
i(x, y z) are the oblique distance of buoy i to subsea equipment, are the functions of device coordinate, and c is the velocity of sound, and f is the underwater sound signal frequency.When with t
iDuring for observed quantity, influence clocking error (calling clock correction under water in the following text), underwater sound signal delay time error and the GPS buoy clock correction under water of having of error.After wherein GPS buoy clock correction was accurately estimated by above-mentioned GPS technology, error effect can be ignored fully, and the underwater sound signal time-delay will adopt the correction of sounding wave velocity way to weaken, but can not fully eliminate, and its deviation is called velocity of sound residual error.With (1) under water the approximate coordinates of equipment (approximate coordinates can adopt the view of time of two above buoys to measure, under the situation of not considering any error effect, calculate) locate by Taylor series expansion, get once item, and consider the influence of clock correction Δ t and velocity of sound residual delta c, have:
The amount of subscripting in the formula " 0 " is the approximate value of corresponding amount, and formula (3) is called under water point to be located with respect to the time observation equation of buoy i, is called for short the time observation equation of buoy i.In like manner, the time observation equation of buoy j is:
Because GPS buoy maximal phase apart from several kilometers, therefore can think that velocity of sound residual error is the same under water,,, first difference (subtracting each other) is carried out in (3) (4) gets for eliminating clock correction under water so formula (3) (4) velocity of sound residual error is equal:
Dt in the formula
Ij=t
i-t
j, B subtracts each other the corresponding constant in back for (3) (4) formula.(5) formula is exactly to utilize time differencing method to realize the observation equation of location under water.Observation equation has 4 unknown numbers, so the three-dimensional under water location of time differencing method needs 4 GPS buoys at least.
Time differencing method stereotaxic technique has under water been eliminated clock correction under water fully, and velocity of sound residual error is as the unknown parameter real-time resolving, and at this moment, the present invention need increase a GPS buoy, i.e. at least 5 GPS buoys.If the error after velocity of sound residual error is estimated is m
Δ c, then velocity of sound residual error evaluated error to the influence of observation time is:
Therefore, the time differencing method underwater position fixing technique has been eliminated clock correction under water fully, and the sonic velocity change influence is reduced to very low degree.Thus, with at present other under water localization method compare, the time differencing method underwater position fixing technique has improved locating accuracy under water greatly.
In addition, also can adopt phase differential to assign to locate under water, its under water the location observation equation be:
The phase differential point-score need resolve phase differential (promptly
) integer ambiguity.In like manner and since the phase differential point-score under water the location observation equation do not comprise the initial phase and the underwater sound signal x time of underwater sound signal x time, therefore also eliminated clock correction under water fully, and the sonic velocity change influence be reduced to very low degree.
The time reference of system of the present invention adopt GPS unified the standard time-during GPS.Because the trajectory accuracy of gps satellite broadcast ephemeris has reached 260 centimetres, as long as the satellite of observation more than four just can real-time resolving goes out the clock correction of GPS receiver on the buoy, carry out clock synchronization by this way, can satisfy the requirement of locating under water the buoy clock synchronization.When buoy and the nearer use of benchmark distance between sites RTK technology, can calculate the more clock correction of high accurate GPS receiver by the integer ambiguity (OTF) of real-time resolving gps carrier signal phase.The present invention also can adopt other method for synchronous.
The another kind of working method of said system is active under water locator meams, can realize that the robotization of submarine target location navigation, accurate time transmission, underwater survey under water dynamically control and engineering setting out.As shown in Figure 7, it may further comprise the steps:
When submarine target or carrier need be located, under water the user by the underwater navigation transceiver to each GPS buoy emission hydrolocation signal; Step 200.
After the GPS buoy receives the hydrolocation signal, hydrolocation signal data, gps signal data and GPS buoy attitude calibration data encoded and modulate after utilize radiotelegraphy to be sent to Data Control Center; Step 210.
Data Control Center will be decoded from the radio signal of difference base station and each GPS buoy, calculate the position and the hydrolocation signal x time of submarine target or carrier, then it is carried out underwater sound signal coding and modulation, utilize underwater sound projector that this modulation signal is transmitted into the underwater navigation transceiver; Step 220.
After the underwater navigation transceiver is decoded described modulation signal, just can determine the three-dimensional position of submarine target or carrier, calculate navigational parameter and current time, thereby realize location navigation and time service function under water; Step 230.
The algorithm that this locator meams adopted is identical with sea tracking mode locator meams, just utilizes locating information further to realize navigation function.
The task of subsea equipment navigation is to calculate the deviation of actual walking route of subsea equipment and designed lines in real time, and calculates the course and correct attitude.Consider that the GPS buoy only locatees by the space networks transmission under water, then the subsea equipment navigational parameter can be fully calculated by the three-dimensional coordinate of current epoch of subsea equipment and last epoch.That is to say that the three-dimensional coordinate of current epoch of subsea equipment and last epoch is the fully necessary assurance of stereo navigation under water of GPS buoy.Therefore, can realize the robotization navigation feature of subsea equipment according to underwater navigation transceiver three-dimensional coordinate time series.
The mathematical model and the implementation of the navigation of present embodiment subsea equipment are as follows:
Observation equation adopts time difference observation equation (5) formula, and wherein the coordinate approximate value can be estimated by the coordinate of preceding two epoch.Three-dimensional coordinate with current epoch and last epoch is formed state equation, just can set up the Kalman filter model (generally adopting the adaptive Kalman filter model) of subsea equipment navigation, estimates the subsea equipment three-dimensional coordinate of current epoch.
Utilize filtering and the coordinate poor (three-component) that estimates to set up filtering residual error feedback model, correct the coefficient of filtering system state equation, can fully weaken velocity of sound residual error time varying system influence in the navigation procedure.Therefore, the adaptive Kalman filter navigation model has not only been eliminated the coloured noise of difference sequence positioning time epoch under water, and has progressively improved the accuracy of model.Thereby improved the precision of subsea equipment navigation greatly.
For reducing the complexity of underwater sound data transmission, adaptive Kalman filter is located at Data Control Center, under water in the equipment navigation procedure, the underwater navigation transceiver only receives single epoch of the three-dimensional coordinate time series from Data Control Center, the underwater navigation transceiver will according to designed lines with single epoch the three-dimensional coordinate time series be converted to navigational parameter and export to the user.Can certainly after calculating navigational parameter, Data Control Center be transferred to the underwater navigation transceiver again.
In the present embodiment, the data transfer between underwater navigation transceiver and the Data Control Center is finished by underwater sound data communication.The underwater sound data communication of present embodiment adopts the broadband communication mode, promptly can realize multiobject data communication under water, can improve the reliability of data communication again, increases underwater sound communication distance.For guaranteeing the reliable reception of underwater sound communication data, to have the underwater sound signal of different delay in the receiving end coherent combination from different paths, be merged into stronger useful signal, the energy of each many ways channel is fully utilized, turn bane into boon, and adopt two dimension coupling fast algorithm and Technology of Adaptive Equalization, make the communication bit error rate be lower than 10
-5, communication distance is greater than 5kM.
The embodiment of the invention does not have each functions of components module map of the Position Fixing Navigation System of GPS under water of high stable frequency marking such as Fig. 2 to shown in Figure 5.
As shown in Figure 2, differential GPS base station 2 is provided with GPS receiver 22, the gps signal that receives according to gps antenna 21 calculates at GPS differential signal computing module 24 and generates differential signals, by wireless transmission differential signal module 25 this differential signal is transmitted into Data Control Center by radio emissioning antenna 26 then.Certainly need to measure the accurate coordinates 23 of differential reference station in advance.
As shown in Figure 3, the buoy float of GPS buoy 3 is fluid-tight water seal cabins 31, the outer above water of watertight compartment is equipped with gps antenna 32 and wireless aerial 33, and the outer underwater portion of watertight compartment is equipped with locating hydrophones 35 and connects firmly the underwater sound projector 36 that is used for the locating hydrophones calibration on it.Comprise the GPS module 311 that is connected with gps antenna, the ultra-short baseline battle array 312 that is used for the locating hydrophones offset correction, the Underwater acoustic signal processing module 313 that is used for the hydrolocation signal Processing in the watertight compartment, with the hydrolocation signal lag measurement module 314 of GPS module interface, be used for the 3-dimensional digital compass 315 of buoy attitude calibration and power supply control module 316 and data-modulated and wireless transport module 317.Wherein, the data of gathering from GPS module 311, Time delay measurement module 314,3-dimensional digital compass 315 and nautical receiving set offset correction ultra-short baseline array module 316 all need by being transmitted into Data Control Center after the radio modulation.In addition, the GPS buoy is thrown in floating system 37, the universal connection gravitational equilibrium system 38 of dangling, power supply 39 servicing units such as grade in addition; Watertight compartment also is useful on the watertight charging plug and the watertight power switch of buoy charging outward.
As shown in Figure 4, outside the high pressure watertight compartment 41 of underwater navigation transceiver 4 location transmitting transducer 42, the communication transducer 43 that is used for Data Control Center order and exchanges data and a user interface 44 are arranged.The position that be furnished with hydrolocation signal generation module 411 in the watertight compartment, links to each other with the communication transducer and positioning signal x time Data Receiving and decoder module 412, the user under water who links to each other with the positioning signal generation module ask respond module 413, be used to count record positioning signal x time stablizes crystal oscillator 414 with the hanging down of mistiming of current time.User interface 44 comprises navigational parameter computing module 441, accurate time transmission receiver module 442 and navigation, setting-out or time service request module 443.In addition, the watertight compartment of underwater navigation transceiver also is useful on the watertight charging plug and the watertight power switch of buoy charging outward, and the external power supply weather proof receptacle etc.The user can send request by navigation, setting-out or the time service request module 443 of user interface 44 under water, or the request of sending according to Data Control Center 5 location underwater sound signal, activate positioning signal generation module 411 by respond module 413 and produce the hydrolocation signal, again by transmitting transducer 42 emissions.The position data that 412 pairs of data control centers of position and positioning signal x time Data Receiving and decoder module pass for 5 times adopts the relevant treatment technology of coupling to carry out outputing to navigational parameter computing module 441 and accurate time transmission receiver module 442 after the demodulation, the navigational parameter computing module 441 relatively subsea equipment navigation destination in this position data and the user interface has just obtained navigational parameter, carries out data transfer by user interface and carrier under water again.
As shown in Figure 5, Data Control Center comprises that multichannel GPS buoy and difference station signal receive and demodulating equipment 51, data processing work station 52, underwater sound communication transducer 53 under water and velocity of sound section plotter 54 (optional).The real time data processing work at data processing work station comprises GPS buoy locating hydrophones real-time positioning computing module 521, is used for buoy GPS location, locating hydrophones offset correction and buoy attitude and corrects; Buoy hydrolocation signal Processing 522 modules are used for according to the attitude calibration data of buoy position (terrestrial coordinate) reduction in real time of GPS receiver antenna phase center to the buoy locating hydrophones; Different GPS buoy clock synchronization computing modules 523, real-time resolving goes out the clock correction of GPS receiver on the buoy; Submarine target location and hydrolocation signal x time computing module 524 are used for the time data according to the nautical receiving set Time delay measurement, adopt time differencing method to determine the three-dimensional position of underwater navigation transceiver; And system state is calculated and visual 525, submarine target navigation or time service response 526, submarine target tracking request 527 (trace command generations), underwater sound signal modulation 528, position and modules such as parameter volume 529 constantly, wherein, underwater sound signal modulation module 528, submarine target navigation or time service respond module 526, submarine target tracking request module 527 all are connected with underwater sound communication transducer 53, are used for order and exchanges data with the underwater navigation transceiver.In order to improve bearing accuracy under water, the present embodiment Data Control Center also is provided with the velocity of sound that is connected with velocity of sound section plotter and proofreaies and correct and sound ray compensating module 520, (according to positioning accuracy request, sea situation and weather decide at regular intervals by the time interval for velocity of sound section plotter, as 1～2 hour) measure the velocity of sound section of operation sea area seawater (from the sea to the seabed), be used for the initial correction of sounding wave velocity of hydrolocation signal.
As from the foregoing, the Position Fixing Navigation System of GPS under water of no high stable frequency marking of the present invention, by changing the underwater sound transfer mode of existing gps system under water, alleviated underwater sound data transmission burden, fundamentally changed the Passive Mode of in the past locating under water, improve the performance of system, reduced the complexity of system, thereby can realize submarine target or carrier robotization location and navigation.
In addition, the system that the present invention relates to adopts time differencing method to locate under water, eliminated the influence that clock correction is under water brought fully, therefore there is not the high stable frequency marking on the underwater navigation transceiver, there is not clock synchronization issue under water yet, can reaches higher bearing accuracy under water yet even without the compensation of the velocity of sound of velocity of sound section plotter.
In addition, the Position Fixing Navigation System of GPS under water of no high stable frequency marking of the present invention need not to demarcate under water, have very high space flexibility, can be in the extremely short time (about 30 minutes) Fast Installation.The Position Fixing Navigation System of GPS under water based on no high stable frequency marking, navigation, the seabed resources that can realize the precision measurement control of Underwater Engineering and engineering structure setting-out on the spot under water, remote energy transportation, unmanned remote controlled seabed delivery vehicle survey with the location navigation of substrate charting, from the sea to the search of submarine target tracking mode and supervision, subsea pipeline laying setting-out and fault detect real-time positioning and function such as accurate time transmission under water, will promote the modernization of marine resources development, oceanographic engineering construction and ocean military technology greatly.
The above only is a specific embodiment of the present invention, and those skilled in the art can spirit according to the present invention make various variations to concrete scheme of the present invention.
For example, the Data Control Center of the Position Fixing Navigation System of GPS under water of no high stable frequency marking can be built on the operations offshore ship, also can build land (island) in, perhaps on the aircraft, form the Data Control Center of continental rise or space base, differential reference station wherein can integrate with continental rise data center, and at this moment the GPS differential signal just need not wireless transmission.When adopting ship base data control center, can save a GPS buoy, wherein GpS receiver and nautical receiving set are directly installed on the operation ship just passable.
If only need follow the tracks of or locate to submarine target, can remove module only relevant in the underwater navigation transceiver of the present invention with navigation, just passable as a hydrolocation transmitter, as need not user interface, navigational parameter computing module, position and positioning signal x time Data Receiving and decoder module etc. under water.
In order to improve the location navigation precision, adopted a lot of additional device and algorithms among the above embodiment, based on the requirement of cost or different bearing accuracy, device that has and corresponding software module can be omitted.
For example, during underwater operation, can remove the relevant hardware and software of three-dimensional compass, nautical receiving set offset correction and buoy attitude correction under the environment on stormy waves such as rivers and lakes;
Differential reference station under water location navigation, time service precision is less demanding or ocean when using, can not want yet.And utilize the gps signal data of each buoy, adopt existing GPS accurate one-point positioning method to replace the DGPS technology of present embodiment, the motion state parameters of The real time measure GPS buoy;
When the accuracy requirement of location navigation, time service, measurement Engineering Control and engineering setting out is not very high, can remove correlation modules such as correction of the velocity of sound section plotter and the velocity of sound and sound ray compensation anywhere.
Be quite analogous to land GPS technology, utilize the underwater navigation transceiver of native system to navigate relatively under water, geometric sense observations relatively such as base measurement, vertical line or angle setting-out, or utilize the simultaneous observation of two navigation transceivers, can eliminate underwater sound velocity of sound residual error, sea dynamic geodesy benchmark and time reference and other error effects of the overwhelming majority, its precision will be much larger than the precision of location itself under water.
The quantity of GPS buoy can be more than five, and is abundant and distribute when reasonable when the GPS buoy, can serve a plurality of users simultaneously.
Claims (10)
1, a kind of positioning navigation method of GPS under water that does not have the high stable frequency marking, by gps satellite constellation, at least five GPS buoys, underwater navigation transceiver, Data Control Center, sea Radio Communications Link and under water the underwater sound communication link finish the Kinematic Positioning of submarine target or carrier, it is characterized in that may further comprise the steps:
(a) the underwater navigation transceiver is to GPS buoy locating hydrophones emission hydrolocation signal;
(b) after the GPS buoy receives the hydrolocation signal, hydrolocation signal data and gps signal data are encoded and modulate, and utilize radiotelegraphy to be sent to Data Control Center; And
(c) Data Control Center carries out overall treatment with the radio signal of each GPS buoy, utilizes time or phase differential point-score to calculate the position of submarine target or carrier.
2, the positioning navigation method of GPS under water of no high stable frequency marking as claimed in claim 1, it is characterized in that, described step (a) also comprises before: when the sea personnel need understand the motion state of submarine target or carrier, Data Control Center is to the step of a request location underwater sound signal pulse of underwater navigation transceiver emission of submarine target or carrier, after described underwater navigation transceiver receives this pulse, again to GPS buoy emission hydrolocation signal.
3, the positioning navigation method of GPS under water of no high stable frequency marking as claimed in claim 1, it is characterized in that, in the described step (a) the underwater navigation transceiver to GPS buoy emission hydrolocation signal when target or carrier need be located under water under water the user initiatively send, and further comprising the steps of in step (c) back:
Data Control Center carries out signal encoding and modulation with submarine target position and the underwater sound signal x time that calculates, and utilizes underwater sound projector that this modulation signal is transmitted into the underwater navigation transceiver; And
The underwater navigation transceiver further calculates navigational parameter and current time after obtaining position and moment data.
4, as the positioning navigation method of GPS under water of claim 2 or 3 described no high stable frequency markings, it is characterized in that, the middle GPS buoy of described step (b) is also encoded GPS buoy attitude calibration data, buoy locating hydrophones deviation calibration data and buoy status data and is modulated and be sent to Data Control Center, and described step (c) may further comprise the steps again:
Utilize the motion state parameters of the gps signal data in real time mensuration GPS buoy of base station differential signal and each buoy, perhaps directly utilize the motion state parameters of the gps signal data in real time mensuration GPS buoy of each buoy;
The attitude calibration data that utilizes buoy with the real-time reduction in position of GPS receiver antenna phase center to the buoy locating hydrophones, by GPS receiver clock interface, the time reference that provides the buoy locating hydrophones that the hydrolocation signal lag is measured;
According to the time data of hydrolocation signal, utilize time or phase differential point-score to determine the three-dimensional position of underwater navigation transceiver.
5, the positioning navigation method of GPS under water of no high stable frequency marking as claimed in claim 1, it is characterized in that, the come together motion state parameters of The real time measure GPS buoy of the gps signal that Data Control Center also receives GPS differential signal and each GPS buoy from differential GPS base station.
6, the positioning navigation method of GPS under water of no high stable frequency marking as claimed in claim 3, it is characterized in that, when calculating the three-dimensional position of submarine target or carrier, be to form state equation with the three-dimensional coordinate of current epoch and last epoch, set up the adaptive Kalman filter model of submarine target or carrier navigation, estimate the three-dimensional coordinate of the current epoch of submarine target or carrier.
7, a kind of Position Fixing Navigation System of GPS under water that does not have the high stable frequency marking, comprise gps satellite constellation, at least five GPS buoys, Data Control Center, sea Radio Communications Link, it is characterized in that also comprising underwater navigation transceiver and underwater sound communication link under water, wherein:
Described GPS buoy utilizes gps antenna to receive gps signal, utilize locating hydrophones to receive the hydrolocation signal, utilize GPS receiver clock interface to carry out the Time delay measurement of hydrolocation signal, set up the time reference of location under water, after with described gps signal, described Time delay measurement signal and buoy status data coding, modulation, be emitted to Data Control Center by wireless aerial;
Described underwater navigation transceiver response request hydrolocation signal generates or directly generates the hydrolocation signal by user interface, and this hydrolocation signal is transmitted into described GPS buoy by transmitting transducer, receive the positioning result data that pass under the described Data Control Center by the communication transducer, further calculate navigational parameter;
After described Data Control Center receives the radio signal of GPS buoy and differential reference station, utilize the motion state parameters of the gps signal data in real time mensuration GPS buoy of each buoy, and reduction constitutes the sea dynamic geodesy benchmark of location under water to the buoy locating hydrophones; According to the time data of described Time delay measurement, employing time or phase differential point-score are determined the three-dimensional position of underwater navigation transceiver and are transmitted into the underwater navigation transceiver;
Described sea Radio Communications Link is carried out the signal real-time Transmission of GPS buoy to the various signals of Data Control Center, differential reference station to the GPS differential signal of Data Control Center;
The described link of underwater sound communication is under water carried out the underwater sound data communication between Data Control Center and the underwater navigation transceiver;
System adopts the geodetic surveying coordinate system, and maintenance is consistent with the reference frame of land, spatial information.
8, the Position Fixing Navigation System of GPS under water of no high stable frequency marking as claimed in claim 7, it is characterized in that, also be provided with 3-dimensional digital compass and buoy locating hydrophones deviation calibrating installation on the described GPS buoy, be used for the real-time reduction in the position of gps antenna phase center to the buoy locating hydrophones, digital compass is used to measure the rotation of GPS buoy and the tilt parameters attitude calibration data as the GPS buoy; Buoy locating hydrophones deviation calibrating installation is made up of ultra-short baseline battle array and auxiliary water acoustic transmitter, the ultra-short baseline battle array is installed in the buoy bottom to be had, the auxiliary water acoustic transmitter be connected in the buoy locating hydrophones directly over, utilize auxiliary sound calibration steps to carry out the hydrophone position offset correction; Described GPS buoy is sent to Data Control Center with above-mentioned attitude calibration data and deviation calibration data and calibrates computing.
9, the Position Fixing Navigation System of GPS under water of no high stable frequency marking as claimed in claim 7, it is characterized in that, also comprise a differential GPS base station, be used to utilize gps antenna reception gps signal and generate differential signal, described differential signal is transmitted into described Data Control Center by the wireless transmit antenna; Described Data Control Center utilizes the gps signal data of base station differential signal and each buoy to measure the motion state parameters of GPS buoy jointly.
10, the Position Fixing Navigation System of GPS under water of no high stable frequency marking as claimed in claim 7 is characterized in that, described Data Control Center also comprises a velocity of sound section plotter and corresponding velocity of sound correction and sound ray compensation operation module.
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