CN100565239C - A kind of system for automatic searching buoy and locating of submerged buoy - Google Patents
A kind of system for automatic searching buoy and locating of submerged buoy Download PDFInfo
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- CN100565239C CN100565239C CN 200410082871 CN200410082871A CN100565239C CN 100565239 C CN100565239 C CN 100565239C CN 200410082871 CN200410082871 CN 200410082871 CN 200410082871 A CN200410082871 A CN 200410082871A CN 100565239 C CN100565239 C CN 100565239C
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- buoy
- subsurface buoy
- unit
- subsurface
- deck
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Abstract
A kind of subsurface buoy is searched positioning system automatically.Comprise be installed on search on the ship, receive the one deck section that processing unit forms and be integrated in underwater sound answering system on the submerged buoy system acoustic release by GPS receiver, unit, acoustic release deck, integrated signal, the transducer that is connected with unit, acoustic release deck moves along triangle or circular trace with searching ship, the indication submerged buoy system sends answer signal, spatially forms virtual triangle or circular transducer array; System obtains the spatial movement track of transducer by the boat-carrying GPS receiver, and utilize the subsurface buoy answer signal that subsurface buoy is found range, get the subsurface buoy range information that locator data that GPS receiver gathers and unit, acoustic release deck are gathered, the positional information that draws submerged buoy system through space coordinate transformation and calculation procedure is shown.The present invention combines the locating information that GPS records with the subaqueous sound ranging technology, realize the space orientation of submerged buoy system.
Description
Technical field
The present invention relates to the boat-carrying subsurface buoy and automatically search and location technology, specifically a kind ofly search positioning system automatically in the subsurface buoy of one in conjunction with GPS location and subaqueous sound ranging.
Background technology
Cloth is put in the subsurface buoy in observation water territory, as a kind of self-contained, long-term, continuous, unattended recording geometry, enjoys vast ocean science worker's favor for a long time always.Because system's cloth is put under water, and the often integrated surveying instrument of many preciousnesses, therefore can reclaim the matter of utmost importance of required consideration when just becoming submerged buoy system and laying reliably.The subsurface buoy location is the basic premise that ensures that submerged buoy system reclaims smoothly.For a long time, the various countries researchist is the aspect, location of target under water, make number of research projects, and researched and developed underwater position fixing techniques such as the long baseline positioning system based on acoustic positioning technique, short baseline positioning system and hyper-base line positioning system in succession.Although these localization methods have been brought into play vital role in the work of ocean, but system needs to lay underwater acoustic transducer more than three or three at least as baseline station, location, equipment needed thereby is extremely complicated, laying difficulty, costly, is difficult to apply to go in the limited oceanographic survey of fund input.Therefore the subsurface buoy of present stage reclaims, be the GPS location that relies on when throwing in basically, determines the concrete orientation of subsurface buoy.If be not subjected to external interference, submerged buoy system is as fixed target under water, need be when not reclaiming second positioning.Yet because the influence of factors such as fishing boat trawling, ocean storm, the position of subsurface buoy might change a lot, and brings very big difficulty for the search of subsurface buoy, even directly causes reclaiming failure, system loss, causes enormous economic loss.If when reclaiming, can on the basis of existing instrument and equipment, increase certain positioning function, for submerged buoy system is reorientated, just can guarantee the reliable recovery of submerged buoy system, with the input of minimum, bring huge economic benefit, for the enforcement of oceanographic survey provides effective technical guarantee.
Summary of the invention
The purpose of this invention is to provide and a kind ofly search positioning system automatically in the boat-carrying subsurface buoy of one in conjunction with GPS location and subaqueous sound ranging.
To achieve these goals, technical solution of the present invention is: by GPS (GPS) receiver, unit, acoustic release deck, integrated signal receives processing unit (being stored in the computing machine with program form), and the underwater sound answering system that is integrated on the submerged buoy system acoustic release is formed, GPS (GPS) receiver, unit, acoustic release deck, integrated signal receives processing unit and forms one deck section, described GPS receiver is connected with the computer realization communication by serial ports with unit, acoustic release deck, described external unit is controlled and is sampled by the integrated signal received processing program (master routine) that moves in the computing machine; One deck section is installed on searches on the ship, transducer on the unit, acoustic release deck moves along triangle (or circular) track with searching ship, and constantly indicate submerged buoy system to send answer signal, thereby spatially formed a virtual triangle (or circular) transducer array; System obtains the spatial movement track of transducer by boat-carrying GPS receiver, and the subsurface buoy answer signal that utilizes transducer to receive is found range to subsurface buoy, the subsurface buoy range information that utilizes locator data that the GPS receiver collects and unit, acoustic release deck to collect, draw the positional information of submerged buoy system through space coordinate transformation and calculation procedure, and shown.
The present invention has following advantage:
1. the present invention utilizes the GPS positioning principle, and the locating information with GPS records combines with the subaqueous sound ranging technology, realizes the space orientation of submerged buoy system.
2. the present invention only uses a underwater acoustic transducer as locating base station, has simplified the complicacy of system.Transducer moves along triangle (or circular) track with searching ship, and constantly indicates submerged buoy system to send answer signal, thereby has spatially formed a virtual triangle (or circular) transducer array.System obtains the spatial movement track of transducer by carrier-borne GPS, and the subsurface buoy answer signal that utilizes transducer to receive finds range to subsurface buoy, calculates the locus of subsurface buoy thus.Thereby utilize a underwater acoustic transducer to realize the function of a plurality of locating base station.
3, the present invention utilizes computer technology that common subsurface buoy reclaimer GPS, acoustic responder, unit, release deck are integrated, and realizes the accurate location of submerged buoy system, and system operation is easy, reliable, economic and practical.
4. because virtual triangle (or circular) transducer array has been formed the locating base station array, the subsurface buoy locating accuracy will improve greatly.
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention.
Fig. 2 is a main program flow chart of the present invention.
Fig. 3 is a subsurface buoy location Calculation program flow diagram of the present invention.
Embodiment
Referring to Fig. 1, the native system structure is by GPS (GPS) receiver that is installed on the search ship, unit, acoustic release deck, integrated signal receives processing unit (being stored in the computing machine with program form), and the underwater sound answering system that is integrated on the submerged buoy system acoustic release is formed, GPS (GPS) receiver, unit, acoustic release deck, integrated signal receives processing unit and forms one deck section, described GPS receiver is connected with the computer realization communication by serial ports with unit, acoustic release deck, described external unit is controlled and is sampled by the integrated signal received processing program (master routine) that moves in the computing machine; One deck section is installed on searches on the ship, transducer on the unit, acoustic release deck moves along triangle (or circular) track with searching ship, and constantly indicate submerged buoy system to send answer signal, thereby spatially formed a virtual triangle (or circular) transducer array.System obtains the spatial movement track of transducer by carrier-borne GPS receiver, and the subsurface buoy answer signal that utilizes transducer to receive is found range to subsurface buoy, the subsurface buoy range information that utilizes locator data that the GPS receiver collects and unit, acoustic release deck to collect, draw the positional information of submerged buoy system through space coordinate transformation and calculating (being stored in the computing machine), and shown with program form.
As shown in Figure 2, described handling procedure idiographic flow is:
1) reads in default system communication setting;
2) changed serial port communications setting as required, and set the GPS of every leg and the hits of unit, acoustic release deck;
3) judge whether to start the sampling of first leg? as for not, then wait for; As for being then to continue next step;
4) sample counter is counted zero clearing;
5) read in GPS and subsurface buoy range information, deposit positional information array 1 (P in
1), sample counter adds 1;
6) do you judge whether sampling number enough? as for not, then return step 5) and continue sampling.As for being then to continue next step;
7) judge whether to start the sampling of second leg? as for not, then wait for; As for being then to continue next step;
8) sample counter is counted zero clearing;
9) read in GPS and subsurface buoy range information, deposit positional information array 2 (P in
2), sample counter adds 1;
10) do you judge whether sampling number enough? as for not, then return step 9) and continue sampling.As for being then to continue next step;
11) judge whether to start the sampling of the 3rd leg? as for not, then wait for; As for being then to continue next step;
12) sample counter is counted zero clearing;
13) read in GPS and subsurface buoy range information, deposit positional information array 3 (P in
3), sample counter adds 1;
14) do you judge whether sampling number enough? as for not, then return step 13) and continue sampling.As for being then to enter subsurface buoy location Calculation program.
Wherein: positional information array P
1, P
2, P
3Saving format be:
First classifies latitude as;
Second classifies longitude as;
The 3rd classifies the distance R between boat-carrying nautical receiving set and the subsurface buoy as.
As shown in Figure 3, described subsurface buoy location Calculation program idiographic flow is:
1) calculating location information array length, and give variable mea_size with its assignment, as length of the cycle; If loop variable n=0;
2) calculating location information array 2 and 3 P
2(n) and P
3(n) with respect to P
1(n) azimuth angle theta
21(n), θ
31(n);
3) P of calculating location information array 2 and positional information array 3
2(n) and P
3(n) with respect to P
1(n) distance L
21(n), L
31(n);
4) with P
1(n) as the initial point of space coordinates, calculate P according to following formula
2(n) and P
3(n) spatial value:
X
2(n)＝L
21(n)*Sin(θ
21(n))；
Y
2(n)＝L
21(n)*Cos(θ
21(n))；
X
3(n)＝L
31(n)*Sin(θ
31(n))；
Y
3(n)＝L
31(n)*Cos(θ
31(n))；
5) according to subsurface buoy and space known point P
1(n), P
2(n), P
3(n) distance R
1(n), R
2(n), R
3(n) volume coordinate of calculating subsurface buoy;
6) space coordinate conversion with subsurface buoy becomes latitude and longitude coordinates;
7) deposit array Lat, Lon, loop variable n=n+1 in;
8) do you judge loop ends condition, n=mea_size? as for not, then return step 2) as for being then to continue next step;
9) obtain mean value and the variance of Lat and Lon respectively;
10) with being rejected as singular point greater than three times of points more than the variance of mean value among Lat and the Lon, draw array Lat1 and Lon1;
11) ask the mean value of Lat1 and Lon1 respectively, as the final position coordinate Lat0 and the Lon0 of subsurface buoy;
12) show the subsurface buoy positioning measurement result.
The calculating principle of systematic survey:
The positioning principle of system adopts and the similar space orientation technique in GPS location, promptly for three known coordinate points that are positioned at non-same straight line on the space, when any unknown point on the space is known to above-mentioned distance, then can determine the volume coordinate of this unknown point at 3.
Three known points of hypothesis space are respectively A, B, C, and its coordinate is respectively (X
A, Y
A, Z
A), (X
B, Y
B, Z
B), (X
C, Y
C, Z
C) unknown point is respectively R to above-mentioned distance at 3
A, R
B, R
C, then should to be positioned at the centre of sphere be that A, B, C, radius are respectively R to unknown point
A, R
B, R
CThe intersection point place of three balls.Seek timestamp, three known points are laying a little of unit, acoustic release deck acoustic transducer, owing to all press close to the sea level, can establish Z
A=Z
B=Z
C=0.If the subsurface buoy coordinate be (X, Y, Z), then by the solving equation group:
(X-X
A)
2+ (Y-Y
A)
2+ Z
2=R
A 2System of equations (1)
(X-X
B)
2+(Y-Y
B)
2+Z
2＝R
B 2
(X-X
C)
2+(Y-Y
C)
2+Z
2＝R
C 2
Can get two groups and separate,, remove separating of Z＞0 because subsurface buoy cloth is put under water, can try to achieve the subsurface buoy coordinate (X, Y, Z).
When reclaiming subsurface buoy, search ship at first according to original position record that lays, arrive subsurface buoy and lay the place, when implementing to measure, the search ship is advanced along triangle (or circular) track in the region of search, and be three leg A, B, C with three limits (or three sections camber lines of circular trace) of triangular trajectory, the every leg hits n according to default writes down the positional information [(X that collects from GPS respectively simultaneously
A(1), Y
A(1)), (X
A(2), Y
A(2)) ... (X
A(n), Y
A(n))], [(X
B(1), Y
B(1)), (X
B(2), Y
B(2)) ... (X
B(n), Y
B(n))], [(X
C(1), Y
C(1)), (X
C(2), Y
C(2)) ... (X
C(n), Y
C], and the subsurface buoy range information [R that collects by unit, acoustic release deck (n))
A(1), R
A(2) ... R
A(n)], [R
B(1), R
B(2) ... R
B(n)], [R
B(1), R
B(2) ... R
B(n)].According to the condition of system of equations (1) and Z＞0, try to achieve the coordinate set (X (1), Y (1), Z (1)) of subsurface buoy then, (X (2), Y (2), Z (2)) ... (X (n), Y (n), Z (n)).Obtain the mean value (X that this does the mark set
m, Y
m, Z
m) and standard variance δ x, δ y, δ z is used as differ the coordinate points that surpasses 3 times of standard variances with mean value in the coordinate set as singular point, from coordinate set, reject, remaining point is done draw after average the subsurface buoy coordinate (X, Y, Z).
Claims (4)
1. system for automatic searching buoy and locating of submerged buoy, comprise the GPS receiver that is installed on the search ship, unit, acoustic release deck, the integrated signal that is stored in the computing machine with program form receives processing unit, and be integrated in underwater sound answering system on the submerged buoy system acoustic release, it is characterized in that: global position system GPS receiver, unit, acoustic release deck, integrated signal receives processing unit and forms one deck section, described GPS receiver is connected with the computer realization communication by serial ports with unit, acoustic release deck, external unit is controlled and is sampled by the integrated signal received processing program that moves in the computing machine; One deck section is installed on searches on the ship, the transducer that is connected with unit, acoustic release deck moves along triangle or circular trace with searching ship, and constantly indicate submerged buoy system to send answer signal, spatially form a virtual triangle or circular transducer array; Automatically seek and demarcate the position system obtains transducer by the boat-carrying GPS receiver spatial movement track, and the subsurface buoy answer signal that utilizes transducer to receive is found range to subsurface buoy, get the subsurface buoy range information that locator data that GPS receiver gathers and unit, acoustic release deck are gathered, draw the positional information of submerged buoy system through space coordinate transformation and calculation procedure, and shown.
2. according to the described system for automatic searching buoy and locating of submerged buoy of claim 1, it is characterized in that: described integrated signal received processing program idiographic flow is:
1) reads in default system communication setting;
2) changed serial port communications setting as required, and set the GPS of every leg and the hits of unit, acoustic release deck;
3) judge whether to start the sampling of first leg? as for not, then wait for; As for being then to continue next step;
4) sample counter is counted zero clearing;
5) read in GPS and subsurface buoy range information, deposit positional information array 1 in, i.e. P
1, sample counter adds 1;
6) do you judge whether sampling number enough? as for not, then return step 5) and continue sampling, as for being then to continue next step;
7) judge whether to start the sampling of second leg? as for not, then wait for; As for being then to continue next step;
8) sample counter is counted zero clearing;
9) read in GPS and subsurface buoy range information, deposit positional information array 2 in, i.e. P
2, sample counter adds 1;
10) do you judge whether sampling number enough? as for not, then return step 9) and continue sampling, as for being then to continue next step;
11) judge whether to start the sampling of the 3rd leg? as for not, then wait for; As for being then to continue next step;
12) sample counter is counted zero clearing;
13) read in GPS and subsurface buoy range information, deposit positional information array 3 in, i.e. P
3, sample counter adds 1;
14) do you judge whether sampling number enough? as for not, then return step 13) and continue sampling, as for being then to enter subsurface buoy location Calculation program.
3. according to the described system for automatic searching buoy and locating of submerged buoy of claim 2, it is characterized in that: wherein: positional information array P
1, P
2, P
3Saving format be: first classifies latitude as; Second classifies longitude as; The 3rd classifies the distance R between boat-carrying nautical receiving set and the subsurface buoy as.
4. according to the described system for automatic searching buoy and locating of submerged buoy of claim 1, it is characterized in that: described calculation procedure idiographic flow is:
1) calculating location information array length, and give variable mea_size with its assignment, as length of the cycle; If loop variable n=0;
2) calculating location information array 2 and 3 P
2(n) and P
3(n) with respect to P
1(n) azimuth angle theta
21(n), θ
31(n);
3) P of calculating location information array 2 and positional information array 3
2(n) and P
3(n) with respect to P
1(n) distance L
21(n), L
31(n);
4) with P
1(n) as the initial point of space coordinates, calculate P according to following formula
2(n) and P
3(n) spatial value:
X
2(n)＝L
21(n)*Sin(θ
21(n))；
Y
2(n)＝L
21(n)*Cos(θ
21(n))；
X
3(n)＝L
31(n)*Sin(θ
31(n))；
Y
3(n)＝L
31(n)*Cos(θ
31(n))；
5) according to subsurface buoy and space known point P
1(n), P
2(n), P
3(n) distance R
1(n), R
2(n), R
3(n) volume coordinate of calculating subsurface buoy;
6) space coordinate conversion with subsurface buoy becomes latitude and longitude coordinates;
7) deposit array Lat, Lon, loop variable n=n+1 in;
8) do you judge loop ends condition, n=mea_size? as for not, then return step 2) as for being then to continue next step;
9) obtain mean value and the variance of Lat and Lon respectively;
10) with being rejected as singular point greater than three times of points more than the variance of mean value among Lat and the Lon, draw array Lat1 and Lon1;
11) ask the mean value of Lat1 and Lon1 respectively, as the final position coordinate Lat0 and the Lon0 of subsurface buoy;
12) show the subsurface buoy positioning measurement result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410082871 CN100565239C (en) | 2004-12-07 | 2004-12-07 | A kind of system for automatic searching buoy and locating of submerged buoy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410082871 CN100565239C (en) | 2004-12-07 | 2004-12-07 | A kind of system for automatic searching buoy and locating of submerged buoy |
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| Publication Number | Publication Date |
|---|---|
| CN1786733A CN1786733A (en) | 2006-06-14 |
| CN100565239C true CN100565239C (en) | 2009-12-02 |
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| CN 200410082871 Expired - Fee Related CN100565239C (en) | 2004-12-07 | 2004-12-07 | A kind of system for automatic searching buoy and locating of submerged buoy |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1971305B (en) * | 2006-12-01 | 2010-09-08 | 哈尔滨工程大学 | Intelligent responder of deep water |
| CN107462891B (en) * | 2017-08-11 | 2020-12-15 | 自然资源部第三海洋研究所 | Three-point type deep sea submerged buoy positioning method |
| CN108008145B (en) * | 2017-12-29 | 2023-08-08 | 中国科学院海洋研究所 | Wireless real-time system for deep sea submerged buoy |
| CN109479787B (en) * | 2018-11-19 | 2021-05-28 | 华南农业大学 | Unmanned navigation feeding boat and feeding method |
| CN109540172A (en) * | 2018-12-27 | 2019-03-29 | 中国船舶重工集团公司第七0研究所 | A kind of Target moving parameter estimation method for submarine mine platform |
| CN110456803B (en) * | 2019-08-22 | 2023-04-18 | 嘉兴中科声学科技有限公司 | Sound beacon, sound beacon control device and application method thereof |
| CN110703202B (en) * | 2019-10-22 | 2022-06-21 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider and unmanned surface vehicle |
| CN113428298A (en) * | 2021-07-28 | 2021-09-24 | 国家深海基地管理中心 | Small submerged buoy system and laying and recycling method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1147302A (en) * | 1994-04-14 | 1997-04-09 | 威尔·保尔 | Three-D displacement of body with computer interface |
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2004
- 2004-12-07 CN CN 200410082871 patent/CN100565239C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1147302A (en) * | 1994-04-14 | 1997-04-09 | 威尔·保尔 | Three-D displacement of body with computer interface |
Non-Patent Citations (5)
| Title |
|---|
| GPS模块用于声呐浮标. 楼菊芳.声学与电子工程，第2(总第58期)期. 2000 * |
| 一种浮标定位方法研究. 杨日杰，温少丹，张欣，崔旭涛.系统仿真学报，第16卷第10期. 2004 * |
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| 无线遥控、浮标式水下目标跟踪定位系统. 殷冬梅，惠俊英，孙圣和，冯海泓，宋新见.系统工程与电子技术，第26卷第9期. 2004 * |
| 用海洋GPS进行水下运动载体的三维定位. 张晓明，陈跃.海洋测绘，第2期. 2001 * |
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| Publication number | Publication date |
|---|---|
| CN1786733A (en) | 2006-06-14 |
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