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 PDF

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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
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transponder
geodetic
coordinate
calibration method
transponders
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梁国龙
张光普
付进
王燕
林旺生
嵇建飞
范展
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Harbin Engineering University
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Harbin Engineering University
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Abstract

本发明提供的是一种适用于大范围海底应答器阵的快速高精度坐标校准方法。(1)选取3~4个应答器进行动态几何大地坐标校准;(2)利用基于遥控的声学校准方法完成应答器阵之间距离的测量;(3)利用几何法求解出每个应答器的大地坐标。本发明的特点是将动态几何大地坐标校准法和基于遥控的声学校准方法相结合,借助无线电/水声遥控指令对应答器进行管理和控制,在保持长基线高精度测量优势的同时,又可以避免工作船大范围远距离航行,实现高效率作业。

Figure 201010142345

The invention provides a fast and high-precision coordinate calibration method suitable for large-scale submarine transponder arrays. (1) Select 3 to 4 transponders for dynamic geometric geodetic calibration; (2) Use the acoustic calibration method based on remote control to complete the measurement of the distance between the transponder arrays; (3) Use the geometric method to solve for each transponder geodetic coordinates of . The feature of the present invention is that it combines the dynamic geometric geodetic coordinate calibration method with the acoustic calibration method based on remote control, manages and controls the transponder with the help of radio/underwater acoustic remote control commands, and maintains the advantages of long baseline high-precision measurement. It can avoid large-scale and long-distance navigation of workboats and realize high-efficiency operations.

Figure 201010142345

Description

Be applicable to the quick and high-precision coordinate calibration method of large-scale seabed transponder arrays
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)

1.一种适用于大范围海底应答器阵的快速高精度坐标校准方法,其特征是:1. A fast and high-precision coordinate calibration method applicable to large-scale submarine transponder arrays is characterized in that: (1)选取3~4个应答器进行动态几何大地坐标校准;(1) Select 3 to 4 transponders for dynamic geometric geodetic calibration; (2)利用基于遥控的声学校准方法完成应答器阵之间距离的测量;(2) Using remote-based acoustic calibration method to complete the measurement of the distance between transponder arrays; (3)利用几何法求解出每个应答器的大地坐标。(3) Solve the geodetic coordinates of each transponder by geometric method. 2.根据权利要求1所述的适用于大范围海底应答器阵的快速高精度坐标校准方法,其特征是所述的选取3~4个应答器进行动态几何大地坐标校准的方法为:2. The fast and high-precision coordinate calibration method applicable to large-scale seabed transponder arrays according to claim 1 is characterized in that the method of selecting 3 to 4 transponders for dynamic geometric geodetic coordinate calibration is: (1)工作船在GPS引导下按预定航路绕待测应答器航行,在航行过程中通过声学应答方式完成水声测距;(1) Under the guidance of GPS, the working ship sails around the transponder to be tested according to the predetermined route, and completes the underwater acoustic range measurement through the acoustic response method during the navigation; (2)结合高精度GPS所记录的测量点的大地坐标利用椭球面交汇法求解出海底应答器的大地坐标;(2) In combination with the geodetic coordinates of the measuring points recorded by the high-precision GPS, the geodetic coordinates of the seabed transponder are solved by using the ellipsoid intersection method; (3)航行过程中选取多个测量点的测量结果进行解算,求多次解算结果的平均值得到该应答器的大地坐标。(3) During the navigation process, the measurement results of multiple measurement points are selected for calculation, and the average value of the multiple calculation results is calculated to obtain the geodetic coordinates of the transponder. 3.根据权利要求1或2所述的适用于大范围海底应答器阵的快速高精度坐标校准方法,其特征是所述的通过基于遥控的声学校准方法完成应答器阵之间距离的方法为:3. The fast and high-precision coordinate calibration method applicable to large-scale seabed transponder arrays according to claim 1 or 2, characterized in that the method for completing the distance between the transponder arrays by the acoustic calibration method based on remote control for: (1)通过遥控指令对待测应答器进行主从设置管理;(1) Perform master-slave setting management on the transponder to be tested through remote control commands; (2)主从应答器之间通过声学应答方式完成时延测量,进而求得两应答器之间的距离;(2) The time delay measurement is completed between the master and slave transponders through the acoustic response method, and then the distance between the two transponders is obtained; (3)由主应答器通过遥控指令上传测量数据。(3) The main transponder uploads the measurement data through the remote command. 4.根据权利要求1或2所述的适用于大范围海底应答器阵的快速高精度坐标校准方法,其特征是所述的利用几何坐标变换法求解出每个应答器的大地坐标的方法为:利用已经进行过绝对坐标校准的3~4个应答器的大地坐标与各个应答器之间的距离进行几何求解,解算出每个应答器的大地坐标。4. according to claim 1 and 2 described, be applicable to the fast high-precision coordinate calibration method of large-scale seabed transponder array, it is characterized in that described utilize geometrical coordinate transformation method to solve the method for the geodetic coordinate of each transponder as : The geodetic coordinates of 3 to 4 transponders that have been calibrated with absolute coordinates and the distance between each transponder are used for geometric calculation, and the geodetic coordinates of each transponder are calculated. 5.根据权利要求3所述的适用于大范围海底应答器阵的快速高精度坐标校准方法,其特征是所述的利用几何坐标变换法求解出每个应答器的大地坐标的方法为:利用已经进行过绝对坐标校准的3~4个应答器的大地坐标与各个应答器之间的距离进行几何求解,解算出每个应答器的大地坐标。5. according to claim 3, be applicable to the fast high-accuracy coordinate calibration method of large-scale subsea transponder array, it is characterized in that described utilizing geometrical coordinate transformation method to solve the method for the geodetic coordinate of each transponder is: utilize The geodetic coordinates of 3 to 4 transponders that have been calibrated with absolute coordinates and the distance between each transponder are geometrically solved to calculate the geodetic coordinates of each transponder.
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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) A 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

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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) A 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 A 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

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Application publication date: 20100818