CN101806883A - Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays - Google Patents
Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays Download PDFInfo
- Publication number
- CN101806883A CN101806883A CN 201010142345 CN201010142345A CN101806883A CN 101806883 A CN101806883 A CN 101806883A CN 201010142345 CN201010142345 CN 201010142345 CN 201010142345 A CN201010142345 A CN 201010142345A CN 101806883 A CN101806883 A CN 101806883A
- Authority
- CN
- China
- Prior art keywords
- transponder
- coordinate
- calibration
- terrestrial coordinate
- quick
- 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.)
- Pending
Links
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays. The method comprises the following steps: (1) selecting 3 to 4 transponders for calibrating dynamic geometric geodetic coordinates; (2) completing the measurement of distance among the transponder arrays by using a remote control based acoustic calibration method; and (3) solving the geodetic coordinates of each transponder by using a geometric method. The quick and high-precision coordinate calibration method is characterized in that: by combining a dynamic geometric geodetic coordinate calibration method and the remote control based acoustic calibration method, transponders are managed and controlled by radio/water acoustic remote control instructions, so long-baseline high-precision measurement advantages are maintained, and large-scale long-distance sailing of a working ship can be avoided simultaneously to realize high-efficiency operation.
Description
Technical field
What the present invention relates to is a kind of hydrolocation measuring method, relates generally to the calibration steps of long baseline seabed transponder arrays array element terrestrial coordinate.
Background technology
Long baseline acoustic positioning technique has advantages such as reach is wide, bearing accuracy height, is widely used in the every field of ocean operation, is bringing into play important effect in fields such as geophysical survey, sea-bed topography detection, scientific investigation and exploitation of mineral resources.Underwater sailing body navigates by water in long baseline seabed transponder arrays,, measures from the position in transponder arrays, and then finishes navigator fix and resolve as object of reference with transponder.The coordinate of transponder is as the reference coordinate, and its measuring accuracy has directly influenced navigation, the bearing accuracy of long base line system.
It is a lot of to be used for seabed transponder terrestrial coordinate Calibration Method, intersect method, ultra-short baseline method or short base-line method etc. as bee-line method, equation of condition method, long baseline convergence method, vertical line, what mainly consider when selecting measuring method is measuring accuracy and operating efficiency.What relatively extensively adopt at present, is long baseline convergence method and short baseline, ultra-short baseline method.Long baseline convergence method is to choose at least 3 measurement points at the water surface to finish subaqueous sound ranging, gps coordinate in conjunction with measurement point utilizes the sphere method of crossing to finish resolving of transponder terrestrial coordinate, the advantage of this method is to have higher measuring accuracy, but for large-scale seabed transponder arrays, need work boat to navigate by water around battle array, time-consuming consumption power, efficient is lower.Ultra-short baseline method and short base-line method are in the surveying vessel bottom basic matrix to be installed, just can finish calibrating coordinates by single measurement, but the shortcoming of this method is that the basic matrix yardstick is less, measuring accuracy is lower, be difficult to satisfy the high-acruracy survey requirement, still need long-distance navigation to reduce to measure oblique distance when a plurality of transponder of calibration, efficient is lower.
Along with the widespread use of water acoustic navigation location technology, the demand of large-scale seabed transponder arrays terrestrial coordinate high precision, high-level efficiency calibration becomes increasingly conspicuous.
Summary of the invention
The object of the present invention is to provide and a kind ofly when keeping long baseline high-acruracy survey advantage, can avoid work boat long-distance navigation on a large scale, the quick and high-precision coordinate calibration method that is applicable to large-scale seabed transponder arrays of realization high-efficiency homework.
The object of the present invention is achieved like this:
(1) chooses 3～4 transponders and carry out the calibration of dynamic geometry terrestrial coordinate;
(2) utilize the measurement of finishing distance between the transponder arrays based on acoustic calibration's method of remote control;
(3) utilize geometric method to solve the terrestrial coordinate of each transponder.
The present invention can also comprise:
1, describedly choose 3～4 transponders and carry out dynamic geometry terrestrial coordinate Calibration Method and be:
(1) work boat navigates by water around transponder to be measured by predetermined air route under the GPS guiding, finishes subaqueous sound ranging by the acoustics response mode in the navigation process; (2) terrestrial coordinate of the measurement point that write down of combined high precision GPS utilizes the ellipsoid method of crossing to solve the terrestrial coordinate of seabed transponder; (3) choose the measurement result of a plurality of measurement points in the navigation process and resolve, ask the mean value that repeatedly resolves the result to obtain the terrestrial coordinate of this transponder.
2, describedly be by the method for finishing distance between the transponder arrays based on acoustic calibration's method of remote control:
(1) by telecommand transponder to be measured is carried out the principal and subordinate management is set; (2) finish latency measurement by the acoustics response mode between the master-slave response device, and then try to achieve the distance between two transponders; (3) upload measurement data by the primary response device by telecommand.
3, the described method of the terrestrial coordinate that the geometric coordinate converter technique solves each transponder of utilizing is: utilize the terrestrial coordinate of 3～4 transponders that carried out the absolute coordinates calibration and the distance between each transponder to carry out geometry and find the solution, calculate the terrestrial coordinate of each transponder.
For realizing purpose of the present invention, need to utilize long baseline method that 3～4 transponders are carried out the terrestrial coordinate calibration, work boat is finished subaqueous sound ranging around the transponder navigation by the acoustics response mode.Because ship causes the transmitting site of interrogation pulse and the receiving position of transponder pulse not to overlap in motion,, adopt the ellipsoid method of crossing to resolve in order to satisfy the demand of high-precision calibration.
For realizing purpose of the present invention, need to obtain the terrestrial coordinate of at least 3～4 transponders in the transponder arrays, in this process, need to obtain the oblique distance information between the terrestrial coordinate of surface measurement point and itself and the transponder, the terrestrial coordinate of measurement point can obtain by high-precision GPS, and measure the oblique distance information and the velocity of sound and time delay relation is arranged all, except will guaranteeing high-precision latency measurement, when hydrologic condition is bad, also need to carry out the sound ray correction.
Characteristics of the present invention are to combine with dynamic geometry terrestrial coordinate calibration method with based on acoustic calibration's method of remote control, by the radio/underwater sound telecommand transponder is managed and controls, when keeping long baseline high-acruracy survey advantage, can avoid work boat long-distance navigation on a large scale again, realize high-efficiency homework.
Description of drawings
Fig. 1 is a dynamic geometry terrestrial coordinate calibration method operation synoptic diagram.
Fig. 2 is based on acoustic calibration's method operation synoptic diagram of remote control.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, transponder 1 anchor lies in the seabed, and sound head 3 is installed on hull bottom and stretches under water, and high-precision GPS antenna 2 is installed on directly over the sound head.Navigate by water around transponder by default air route, sound head 3 sends the distance measurement inquiring pulse, and transponder 1 confirmation of receipt effectively back sends transponder pulse, chooses some measurement points and resolve on the air route.
In conjunction with Fig. 2, transponder arrays 1 top lays radiobuoy 6, sends instruction to buoy 6 through wireless aerial 4, and buoy is transmitted to transponder 1 by underwater acoustic transducer 5 with instruction, transponder 1 returns to buoy 6 with the result after carrying out corresponding action, by buoy 6 result is uploaded.
For realizing purpose of the present invention, provide dynamic geometry terrestrial coordinate calibration method.As Fig. 1, navigate by water around transponder by default air route, establishing T is synchronizing cycle, and i is the measurement point sequence number, and the coordinate of surface measurement point is (x
i, y
i, z
i), the transponder coordinate is that (z), the time of finishing once " challenge-response " is t for x, y
i, t
iComprise round trip propagation delay t
OiAnswer delay t with transponder
Di, wherein propagation delay comprises interrogating signal propagation delay t
α iWith answer signal propagation delay t
β iIf waterborne vessel is with speed (v
x, v
y) navigation.Then resolving equation is:
{[x-x
i]
2+[y-y
i]
2+(z-z
i)
2}
1/2+
{[x
i+v
x(k)t
oi(k)-x]
2+[y
i+v
yt
oi(k)-y]
2+(z
i-z)
2}
1/2＝ct
i
i＝0，1，2，…，(N-1)
Utilize geometric method to find the solution the method for transponder coordinate for realizing purpose of the present invention, providing.Utilize telecommand to finish the measurement of distance between the transponder, from 3～4 transponders that record terrestrial coordinate, choose adjacent two arbitrarily, wherein transponder in the projection of surface level as the reference true origin, as X-axis, the vertical line in the surface level is as Y-axis at the line of the projection of surface level and reference origin for another transponder.The transponder depth direction is set up coordinate system as Z axle positive dirction, just can be in the hope of the coordinate of other transponders by geometric method.
Claims (5)
1. quick and high-precision coordinate calibration method that is applicable to large-scale seabed transponder arrays is characterized in that:
(1) chooses 3～4 transponders and carry out the calibration of dynamic geometry terrestrial coordinate;
(2) utilize the measurement of finishing distance between the transponder arrays based on acoustic calibration's method of remote control;
(3) utilize geometric method to solve the terrestrial coordinate of each transponder.
2. the quick and high-precision coordinate calibration method that is applicable to large-scale seabed transponder arrays according to claim 1 is characterized in that describedly choosing 3～4 transponders and carrying out dynamic geometry terrestrial coordinate Calibration Method and be:
(1) work boat navigates by water around transponder to be measured by predetermined air route under the GPS guiding, finishes subaqueous sound ranging by the acoustics response mode in the navigation process;
(2) terrestrial coordinate of the measurement point that write down of combined high precision GPS utilizes the ellipsoid method of crossing to solve the terrestrial coordinate of seabed transponder;
(3) choose the measurement result of a plurality of measurement points in the navigation process and resolve, ask the mean value that repeatedly resolves the result to obtain the terrestrial coordinate of this transponder.
3. the quick and high-precision coordinate calibration method that is applicable to large-scale seabed transponder arrays according to claim 1 and 2 is characterized in that describedly by the method for finishing distance between the transponder arrays based on acoustic calibration's method of remote control being:
(1) by telecommand transponder to be measured is carried out the principal and subordinate management is set;
(2) finish latency measurement by the acoustics response mode between the master-slave response device, and then try to achieve the distance between two transponders;
(3) upload measurement data by the primary response device by telecommand.
4. the quick and high-precision coordinate calibration method that is applicable to large-scale seabed transponder arrays according to claim 1 and 2, it is characterized in that the described method of the terrestrial coordinate that the geometric coordinate converter technique solves each transponder of utilizing is: utilize the terrestrial coordinate of 3～4 transponders that carried out the absolute coordinates calibration and the distance between each transponder to carry out geometry and find the solution, calculate the terrestrial coordinate of each transponder.
5. the quick and high-precision coordinate calibration method that is applicable to large-scale seabed transponder arrays according to claim 3, it is characterized in that the described method of the terrestrial coordinate that the geometric coordinate converter technique solves each transponder of utilizing is: utilize the terrestrial coordinate of 3～4 transponders that carried out the absolute coordinates calibration and the distance between each transponder to carry out geometry and find the solution, calculate the terrestrial coordinate of each transponder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010142345 CN101806883A (en) | 2010-04-09 | 2010-04-09 | Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010142345 CN101806883A (en) | 2010-04-09 | 2010-04-09 | Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101806883A true CN101806883A (en) | 2010-08-18 |
Family
ID=42608761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010142345 Pending CN101806883A (en) | 2010-04-09 | 2010-04-09 | Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101806883A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529451A (en) * | 2013-10-10 | 2014-01-22 | 哈尔滨工程大学 | Method for calibrating coordinate position of seabed transponder of water-surface mother ship |
| CN104698429A (en) * | 2015-03-24 | 2015-06-10 | 中国海洋石油总公司 | High-accuracy positioning method of deepwater subsea pipeline |
| CN104932020A (en) * | 2015-04-22 | 2015-09-23 | 国家深海基地管理中心 | Offshore test method of manned submersible long base line (LBL) positioning system |
| CN106546956A (en) * | 2016-10-25 | 2017-03-29 | 中国海洋石油总公司 | A kind of ultra-short baseline receives the method for precisely marking of basic matrix primitive position |
| CN104297727B (en) * | 2014-08-14 | 2017-04-12 | 嘉兴中科声学科技有限公司 | Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission |
| 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 |
| CN107678032A (en) * | 2017-07-21 | 2018-02-09 | 哈尔滨工程大学 | A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon |
| CN111896962A (en) * | 2020-07-25 | 2020-11-06 | 中国石油大学(华东) | Submarine transponder positioning method, system, storage medium and application |
| CN113156369A (en) * | 2021-04-26 | 2021-07-23 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN115390012A (en) * | 2022-10-28 | 2022-11-25 | 国家深海基地管理中心 | Multi-transponder coordinate measuring method, device and system for HOV (Hov) accurate positioning |
| CN116840784A (en) * | 2023-05-16 | 2023-10-03 | 中国人民解放军91550部队 | Multi-platform-based underwater fixed-point target rapid calibration system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5659520A (en) * | 1995-04-24 | 1997-08-19 | Sonatech, Inc. | Super short baseline navigation using phase-delay processing of spread-spectrum-coded reply signals |
| CN1837848A (en) * | 2006-04-27 | 2006-09-27 | 国家海洋局第一海洋研究所 | Calibration method for ultra-short baseline acoustic positioning system |
| CN101441267A (en) * | 2008-12-30 | 2009-05-27 | 哈尔滨工程大学 | Three-measuring point high precision alignment calibration method of seabed answering machine absolute location |
| CN101441266A (en) * | 2008-12-30 | 2009-05-27 | 哈尔滨工程大学 | Underwater multiple-answering machine combined navigation method |
| CN101644759A (en) * | 2008-12-23 | 2010-02-10 | 中国科学院声学研究所 | Submarine object-locating system based on dualistic structure and locating method |
-
2010
- 2010-04-09 CN CN 201010142345 patent/CN101806883A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5659520A (en) * | 1995-04-24 | 1997-08-19 | Sonatech, Inc. | Super short baseline navigation using phase-delay processing of spread-spectrum-coded reply signals |
| CN1837848A (en) * | 2006-04-27 | 2006-09-27 | 国家海洋局第一海洋研究所 | Calibration method for ultra-short baseline acoustic positioning system |
| CN101644759A (en) * | 2008-12-23 | 2010-02-10 | 中国科学院声学研究所 | Submarine object-locating system based on dualistic structure and locating method |
| CN101441267A (en) * | 2008-12-30 | 2009-05-27 | 哈尔滨工程大学 | Three-measuring point high precision alignment calibration method of seabed answering machine absolute location |
| CN101441266A (en) * | 2008-12-30 | 2009-05-27 | 哈尔滨工程大学 | Underwater multiple-answering machine combined navigation method |
Non-Patent Citations (5)
| Title |
|---|
| 《兵工学报》 20071231 张光普等 分布式水下导航、定位、通信一体化系统设计 第28卷, 第12期 * |
| 《武汉大学学报·信息科学版》 20060731 刘焱雄等 超短基线水声定位系统校准方法研究 610-612 1-5 第31卷, 第7期 2 * |
| 《海军工程大学学报》 20071031 兰华林等 一种海底应答器绝对位置的精确校准方法 32-34 1-5 第19卷, 第5期 2 * |
| 《计算机工程与应用》 20071231 兰华林等 海底应答器绝对位置快速校准 191-193 1-5 第43卷, 第22期 2 * |
| 《高技术通讯》 20071031 兰华林等 单海底应答器声学导航及应答器绝对位置校准 1056-1059 1-5 第17卷, 第10期 2 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529451A (en) * | 2013-10-10 | 2014-01-22 | 哈尔滨工程大学 | Method for calibrating coordinate position of seabed transponder of water-surface mother ship |
| CN104297727B (en) * | 2014-08-14 | 2017-04-12 | 嘉兴中科声学科技有限公司 | Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission |
| CN104698429A (en) * | 2015-03-24 | 2015-06-10 | 中国海洋石油总公司 | High-accuracy positioning method of deepwater subsea pipeline |
| CN104932020B (en) * | 2015-04-22 | 2017-09-22 | 国家深海基地管理中心 | Manned underwater vehicle Long baselines alignment system sea trial method |
| CN104932020A (en) * | 2015-04-22 | 2015-09-23 | 国家深海基地管理中心 | Offshore test method of manned submersible long base line (LBL) positioning system |
| CN106546956B (en) * | 2016-10-25 | 2019-01-04 | 中国海洋石油集团有限公司 | A kind of ultra-short baseline receives the method for precisely marking of basic matrix primitive position |
| CN106546956A (en) * | 2016-10-25 | 2017-03-29 | 中国海洋石油总公司 | A kind of ultra-short baseline receives the method for precisely marking of basic matrix primitive position |
| CN107678032A (en) * | 2017-07-21 | 2018-02-09 | 哈尔滨工程大学 | A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon |
| 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 |
| CN111896962A (en) * | 2020-07-25 | 2020-11-06 | 中国石油大学(华东) | Submarine transponder positioning method, system, storage medium and application |
| CN111896962B (en) * | 2020-07-25 | 2022-10-04 | 中国石油大学(华东) | Submarine transponder positioning method, system, storage medium and application |
| CN113156369A (en) * | 2021-04-26 | 2021-07-23 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN113156369B (en) * | 2021-04-26 | 2021-10-29 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN115390012A (en) * | 2022-10-28 | 2022-11-25 | 国家深海基地管理中心 | Multi-transponder coordinate measuring method, device and system for HOV (Hov) accurate positioning |
| CN115390012B (en) * | 2022-10-28 | 2023-01-24 | 国家深海基地管理中心 | Multi-transponder coordinate measuring method, device and system for HOV (Hov) accurate positioning |
| CN116840784A (en) * | 2023-05-16 | 2023-10-03 | 中国人民解放军91550部队 | Multi-platform-based underwater fixed-point target rapid calibration system and method |
| CN116840784B (en) * | 2023-05-16 | 2024-04-30 | 中国人民解放军91550部队 | Multi-platform-based underwater fixed-point target rapid calibration system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101806883A (en) | Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays | |
| CN100495066C (en) | Underwater GPS positioning navigation method and system without high stable frequency scale | |
| CN105547290B (en) | It is a kind of based on ultra short baseline locating system from latent device air navigation aid | |
| CN110855343B (en) | Underwater sound positioning and timing buoy and working method thereof | |
| CN109884647B (en) | Node device for underwater sound passive detection or passive positioning and distributed node system | |
| CN105182390B (en) | A kind of method of carrier Underwater Navigation | |
| CN108919274B (en) | Shallow water wave following scanning detection system based on single wave beam and working method thereof | |
| CN110294080B (en) | Method for realizing underwater accurate operation by using ultra-short baseline | |
| CN111398903B (en) | Shipborne short baseline positioning system and method | |
| CN101441267A (en) | Three-measuring point high precision alignment calibration method of seabed answering machine absolute location | |
| CN105115492A (en) | Underwater topography matching navigation system based on acoustics Doppler log | |
| CN109814069A (en) | A kind of underwater mobile node passive location method and its system based on single localizer beacon | |
| CN105004413A (en) | Acoustic propagation path comprehensive speed measuring method and apparatus for underwater target positioning | |
| CN204269114U (en) | Based on the waters of two ship model formula, beach and bank slope geospatial information measuring table | |
| CN104019803A (en) | Water area, mud flat and bank slope geospatial information measuring platform based on double-ship mode | |
| WO2021139022A1 (en) | Underwater acoustic positioning and timing buoy and underwater positioning method | |
| CN110389318B (en) | Underwater mobile platform positioning system and method based on three-dimensional six-element array | |
| CN111751856A (en) | Accurate positioning method for seabed ground reference point based on PPP technology | |
| CN105022032A (en) | Long baseline navigation positioning system absolute array measurement distance measurement correction method | |
| CN105241442B (en) | Inertial navigation based on " virtual short baseline " alignment system/underwater sound Combinated navigation method | |
| CN113895572A (en) | Overwater and underwater integrated unmanned system and method | |
| CN112068078A (en) | Combined long-baseline deep sea underwater sound positioning method | |
| CN114234932A (en) | Underwater conductor measuring method and device for obtaining data of subsea control point | |
| JP6207817B2 (en) | Underwater position-related information acquisition system | |
| CN102252674A (en) | Underwater geomagnetic positioning and navigation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20100818 |