CN102495420A - Underwater object precision positioning system and method - Google Patents
Underwater object precision positioning system and method Download PDFInfo
- Publication number
- CN102495420A CN102495420A CN2011104160843A CN201110416084A CN102495420A CN 102495420 A CN102495420 A CN 102495420A CN 2011104160843 A CN2011104160843 A CN 2011104160843A CN 201110416084 A CN201110416084 A CN 201110416084A CN 102495420 A CN102495420 A CN 102495420A
- Authority
- CN
- China
- Prior art keywords
- ultra
- rov
- short baseline
- transponder
- measured target
- 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.)
- Granted
Links
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an underwater object precision positioning system and a method. The system comprises a mother ship, a computer with a plurality of serial ports, a desk computer, an ultra short base line positioning system, a differential GPS (global positioning system), a compass, an ROV (remote-operated vehicle) system, a forward-looking sonar camera, a low-illuminance black and white video camera, an attitude indicator and a temperature-salinity depth profiling instrument. A shore-based transceiver, an ROV water surface system unit and the like of the ultra-short base line positioning system are carried by the mother ship, and underwater system units such as a transponder of the ultra-short base line positioning system, the forward-looking sonar camera and the like are carried by an ROV submersible vehicle, so that the underwater object precision positioning system is formed. By the aid of acoustic positioning between the shore-based transceiver and the transponder of the ultra-short base line positioning system and acoustic positioning of forward-looking sonar, the shortcoming that an existing underwater GPS positioning system only can position an object carried with an acoustic response device in a water area is overcome, and longitude and latitude coordinates of an optional unknown object in an optional water area can be positioned in a WGS (world geodetic system) 84 ellipsoidal coordinate system in real time.
Description
Technical field
The present invention relates to GPS field of locating technology under water, be specifically related to a kind of submarine target Precise Position System and method.
Background technology
At present, people do not obtain considerable progress to taking up an area of the sea exploration of ball surface area more than 70% compared to the exploration to space, and one of the main reasons is exactly that " visual field " is narrow.Therefore electromagnetic wave is a kind of radiated wave, can in air and vacuum, propagate, and he is again the known the fastest material of velocity of propagation, therefore is to survey in the universe and the relying on of transmission information; The main carrier of the detection and the information of transmission is a sound wave in the ocean, and sound wave is a kind of mechanical wave, relies on medium to propagate, and its transmission capacity in the ocean is very strong, can reach up to ten thousand nautical miles, and the distance of the low more propagation of its frequency is far away more, but resolution is also low more.
The motion of seawater is very complicated; Comprise laminar flow and turbulent flow between ocean current, wave, morning and evening tides, interior ripple, storm-surge current, sea water layer etc.; When getting into danger ship from the process that water surface disappearance is sunk; Receive the combined action of various factors, can there be very big drift in the relative water surface distress position of ship in danger, and therefore the accurate location of target in danger is most important for successfully searching and rescuing under water.Existing underwater positioning system; Be broadly divided into acoustic positioning system, GPS and laser acoustic remote sensing system three major types under water: laser acoustic remote sensing system launches laser aloft; The sound wave that utilizes the generation of laser and free water surface interaction is as underwater sound source; Utilize sensor to receive the acoustical signal of submarine target reflection or scattering again aloft; Transmitter and receiver all can be loaded on the helicopter, and as a kind of new technological means, degree of ripeness is compared a certain distance in addition with two kinds of performance and other; Acoustic positioning system need be provided with acoustic array; Base length according to basic matrix is divided into: long baseline positioning system, short baseline positioning system and ultra short baseline locating system; Bearing accuracy reduces one by one; But system constitutes and operates also successive reduction and convenient, can confirm the position of measured target with respect to basic matrix, is a kind of relative location; GPS is the co-located system that GPS and acoustic positioning system combine under water; It is to utilize underwater sound relative positioning technology that GPS water surface hi-Fix ability is extended under water; The device of diving being dived in work just can directly obtain the earth latitude and longitude coordinates of self deeply, is a kind of absolute location.
Existing GPS under water mainly contains two kinds: a kind of is the long baseline jellyfish of employing system; Can on sea, littoral land or aircraft, trace and monitor and Kinematic Positioning submarine target; Bearing accuracy is high, but demarcate complicated and only can to certain fixedly the submarine target that is loaded with the acoustics answering device in the waters position; Another kind is to adopt the lash ship of arranging ultra-short baseline bank base transceiver and GPS to realize the location to submarine target, this system's maneuverability, but also must be loaded with the acoustics answering device on the localizing objects.
Summary of the invention
Be to solve the problems referred to above that prior art exists, the object of the present invention is to provide a kind of can real-time detection and obtain the submarine target Precise Position System and the method for the latitude and longitude coordinates of unknown object under the WGS84 ellipsoidal coordinates in any waters.
To achieve these goals, technical scheme of the present invention is following:
A kind of submarine target Precise Position System comprises lash ship, many serial ports computing machine, desk-top computer, ultra short baseline locating system, differential GPS, compass, ROV system, Forward-looking Sonar camera, low-light (level) B, attitude appearance and thermohaline deep profile instrument; Said ROV system comprises that maximum working depth is dive device, ROV control module, ROV power supply unit, ROV handheld control unit, 15 cun high definition TFT displays, video superimpose module, optical Fiber Closures and be wound with the optical fiber umbilical cord hand winch of 500 meters long optical fibers umbilical cables of the ROV of 300m; Said ROV is the underwater remote-control ROV;
The said ROV device of diving comprises four horizontal propellers, vertical pusher, flux gate compass, integrated solid-state angular-rate sensor, pressure gauge, altitude gauge, two LED illuminating lamps and the tilt-top that can in ± 90 °, rotate that 75 watts of light intensity are adjustable;
Carry Forward-looking Sonar camera, low-light (level) B and ultra-short baseline transponder on the latent device of said ROV;
Said ultra short baseline locating system comprises ultra-short baseline bank base transceiver and ultra-short baseline transponder, and ultra-short baseline bank base transceiver is installed on the lash ship, and the ultra-short baseline transponder is installed on the latent device of ROV;
Said differential GPS comprises GPS base station, GPS rover station and GPS linking up station, and the GPS rover station is positioned on the lash ship, and GPS base station and GPS linking up station are looked the measurement situation and be positioned on other ships or the land;
Said many serial ports computing machine, desk-top computer, ultra-short baseline bank base transceiver, GPS rover station, compass, attitude appearance, ROV control module, ROV power supply unit, ROV handheld control unit, 15 cun high definition TFT displays, video superimpose module, optical Fiber Closures and the optical fiber umbilical cord hand winch that is wound with 500 meters long optical fibers umbilical cables all are positioned on the lash ship;
Said thermohaline deep profile instrument is fixed in the centre of stainless steel protection frame, is the self-tolerant mode of operation, and said stainless steel protection frame is invested in the lash ship surrounding waters before ROV dives the device entry.
A kind of submarine target accurate positioning method through the collaborative latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates that obtain of ultra short baseline locating system, Forward-looking Sonar camera and differential GPS, specifically may further comprise the steps:
A, ultra short baseline locating system and the compass and the differential GPS that are positioned on the lash ship are worked in coordination with the latitude and longitude coordinates of ultra-short baseline transponder under the WGS84 ellipsoidal coordinates on the latent device of acquisition ROV, and the acquisition methods of this latitude and longitude coordinates comprises the steps:
A1, installation low-light (level) B, Forward-looking Sonar camera, ultra short baseline locating system, compass and differential GPS;
A11, the low-light (level) B is fixed on is positioned at ROV and dives on the tilt-top of device front end midway; Its output is sent to the junction box on the latent device of ROV through lead, after the optical fiber umbilical cables is sent to video superimpose module and the optical Fiber Closure that is positioned on the lash ship successively;
A12, in the middle of ROV dives the device front end tilt-top below the Forward-looking Sonar camera is installed; Keep a fixed angle between the sonar capsule of Forward-looking Sonar camera and the surface level; Its output is sent to the junction box on the latent device of ROV through lead, after the optical fiber umbilical cables is sent to video superimpose module and optical Fiber Closure on the lash ship successively;
A13, ultra-short baseline transponder probe is fixed in ROV up dives on the device, and 8 pin connectors of its tail end plug with the power supply plug, to start ultra-short baseline transponder internal electric source;
A14, with lead and buoyant mass trim, to guarantee the ROV stress equalization of device each several part in water of diving, make gravity equal buoyancy;
A15, ultra-short baseline bank base transceiver is fixed in about 1m place, lash ship bottom surface downwards; The horizontal coordinates of ultra-short baseline bank base transceiver is parallel with the lash ship bottom surface; And consistent with ultra-short baseline transponder its x axle of collaborative adjustment and lash ship stem direction, if inconsistent then recording offset angle;
A16, the differential GPS rover station is positioned over the position that is easy to receive signal on the lash ship, antenna is short as far as possible, and accurately measures the grid deviation of differential GPS rover station compared to ultra-short baseline bank base transceiver surface level; Differential GPS base station and differential GPS linking up station are placed on a place are connected communication, perhaps differential GPS base station and differential GPS linking up station branch are put in two places and utilize wireless telecommunications to increase the communication distance of GPS rover station and GPS base station with lead;
A17, compass is placed on the on the lash ship, the axis of adjustment compass is parallel with the axis of ship, and compass front end sensing lash ship stem direction;
A18, the attitude appearance is placed on the on the lash ship, the pitch orientation of adjustment attitude appearance is consistent with lash ship stem direction;
A2, the latitude and longitude coordinates of output ultra-short baseline transponder under the WGS84 ellipsoidal coordinates;
A21, the thermohaline deep profile instrument that will be fixed on the stainless steel protection frame preestablish the SI through software; Before measuring it is thrown in into marine; The acoustic velocity value that is obtained is stored among its inner non-volatile FLASH automatically; And after software reads, and input ultra short baseline locating system software is in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A22, with the drift angle input ultra short baseline locating system software of the x axle of ultra-short baseline transponder and lash ship stem direction, in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A23, with the differential GPS rover station at the two-dimensional coordinate of ultra-short baseline bank base transceiver horizontal coordinates projection place input ultra short baseline locating system software in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
B, according to the mounted angle of imaging, sonar and the surface level of measured target in the Forward-looking Sonar camera; And the flux gate compass on the latent device of ROV and the output result of integrated solid-state angular-rate sensor; The collaborative coordinate of exporting under station, the east northeast ground rational horizon rectangular coordinate system that measured target is true origin at the ultra-short baseline transponder on the device of diving with ROV; The output intent of this coordinate comprises the steps:
B1, from the sonar image of Forward-looking Sonar camera collection, obtain oblique distance and the position angle of measured target with respect to the sonar capsule of Forward-looking Sonar camera;
B11, employing morphology opening operation carry out denoising to sonar image;
B12, employing level set method are extracted the measured target profile;
B13, employing have the invariant moments of position, yardstick and rotational invariance the provincial characteristics in the profile are added up;
B14, employing SVM are discerned measured target, judge that whether measured target is by being paid close attention to measured target: if, change step B15, again the new images that obtains is handled otherwise return step B11;
B15, on the image that the Forward-looking Sonar camera is gathered a selected measured target picture point; Mouse pointer is placed this position; Can directly obtain oblique distance and the position angle of this measured target picture point, be oblique distance and the position angle of measured target with respect to Forward-looking Sonar camera sonar capsule with respect to Forward-looking Sonar camera sonar capsule;
B2, output measured target are the east northeast ground of the true origin three-dimensional coordinate under the rational horizon rectangular coordinate system of standing at the ultra-short baseline transponder on the device of diving with ROV;
B21, according to oblique distance and the position angle of measured target with respect to Forward-looking Sonar camera sonar capsule, the output three-dimensional coordinate of measured target under Forward-looking Sonar camera coordinate system;
B22, according to the output result of the mounted angle of Forward-looking Sonar camera and surface level, integrated solid-state angular-rate sensor; And the sonar capsule of Forward-looking Sonar camera and the relative position of ultra-short baseline transponder, be that measured target with ultra-short baseline transponder be the three-dimensional coordinate ROV latent device coordinate system of true origin under at the three-dimensional coordinate Forward-looking Sonar camera coordinate system under through rotating translation transformation with measured target;
B23, according to the dive output result of the flux gate compass on the device of ROV, be that measured target with ultra-short baseline transponder be the east northeast ground of true origin stand three-dimensional coordinate rational horizon rectangular coordinate system under with measured target in the ROV that the is true origin device coordinate system three-dimensional coordinate rotational transform down of diving with the ultra-short baseline transponder;
C, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates, can try to achieve through following steps:
C1, calculate the variable quantity of measured target with respect to ultra-short baseline transponder latitude and longitude coordinates under the WGS84 ellipsoidal coordinates on the latent device of ROV;
If the three-dimensional coordinate of said measured target under station, the east northeast ground rational horizon rectangular coordinate system that with the ultra-short baseline transponder is true origin is output as north orientation x, east orientation y, the earth's core to z; And the latitude and longitude coordinates output under the WGS84 ellipsoidal coordinates of ultra-short baseline transponder is respectively lon1, lat1; Earth radius is R, and then measured target is respectively with respect to the longitude and latitude deviation of ultra-short baseline transponder:
C2, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates;
By ultra-short baseline transponder latitude and longitude coordinates lon1, lat1 under the WGS84 ellipsoidal coordinates, reach longitude and latitude deviation delta lon, the Δ lat of measured target with respect to the ultra-short baseline transponder, then the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates is:
lon＝lon1+Δlon
lat＝lat1+Δlat。
Compared with prior art, beneficial effect of the present invention is following:
1, the present invention adopts water surface system unit and ROV that lash ship carries bank base transceiver, compass, differential GPS, the main control equipment of the ultra short baseline locating system device of diving to carry the submarine target Precise Position System that the submarine system unit of transponder, Forward-looking Sonar camera and other information detection equipment of ultra short baseline locating system constitutes; The acoustics location of the bank base transceiver of collaborative ultra short baseline locating system and location of the acoustics between transponder and Forward-looking Sonar camera; The GPS location technology is extended under water from the water surface, thereby realize the real-time positioning of the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates under water.
2, the present invention adopts the alliteration of ultra short baseline locating system, Forward-looking Sonar camera system to learn the locator meams of positioning system and GPS combination; Overcome and adopted the baseline monophone to learn the limitation that locator meams that positioning system and GPS make up only can position the target that is loaded with the acoustics answering device in the waters in the past; Realized real-time positioning, and had good maneuverability the latitude and longitude coordinates of any unknown object under the WGS84 ellipsoidal coordinates in any waters.
3, ROV of the present invention dives on the device except carrying acoustics positioning equipments such as Forward-looking Sonar camera and ultra-short baseline transponder, has also carried the low-light (level) B, to realize the closely observation to measured target.
4, the present invention adopts disposal routes such as morphology denoising, the extraction of level set profile, invariant moments statistics, SVM classification successively to the Forward-looking Sonar image that is obtained; Realized the interior high precision identification of medium-long range distance of the detection of a target, improved operating efficiency approaching to measured target.
5, experiment proof; The present invention's its bearing accuracy in depth of water 117m, the horizontal radius in bottom surface are the effective range of 220m can reach 5m; At this moment; The EFFECTIVE RANGE of sonar is less than 50m, ROV dive device moving range ultra-short baseline bank base transceiver with the vertical direction be the center ± 60 ° of solid angles within.
Description of drawings
3 in the total accompanying drawing of the present invention, wherein:
Fig. 1 is a submarine target Precise Position System device synoptic diagram;
Fig. 2 is a submarine target Precise Position System structured flowchart;
Fig. 3 is a submarine target Precise Position System signal flow graph.
Among the figure: 1, lash ship, 2, the thermohaline deep profile instrument, 3, ultra-short baseline bank base transceiver, 4, the attitude appearance, 5, compass; 6, differential GPS, 7, the ROV control module, 8, the ROV power supply unit, 9, the ROV handheld control unit, 10, the ROV display unit; 11, optical fiber umbilical cord hand winch, 12, the optical fiber umbilical cables, 13, many serial ports computing machine, 14, desk-top computer; 15, the ROV device of diving, 16, the ultra-short baseline transponder, 17, the Forward-looking Sonar camera, 18, tilt-top; 19, low-light (level) B, 20, two led light source, 21, flux gate compass, 22, integrated solid-state angular-rate sensor; 23, pressure gauge, 24, altitude gauge, 25, the video superimpose module, 26, optical Fiber Closure.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described:
At the hull bottom of lash ship 1 Tracklink 1500 ultra-short baseline bank base transceivers 3 are installed, are settled required auxiliary, the correcting devices of ultra short baseline locating system work such as STD22 type digital compass 5, IGS-TR4 differential GPS 6 rover stations of CDL Minitilt attitude appearance 4, German An Xiusi company at the horizontal level on lash ship 1 deck; Settling ROV control module 7, ROV power supply unit 8, ROV handheld control unit 9 on lash ship 1 deck, be used to show and be installed in ROV dive high definition TFTROV display unit 10, and ROV power supply, control and display unit such as optical fiber umbilical cord hand winch 11 that is wound with 500 meters long optical fibers umbilical cables 12 of the video image that OE15-102 low-light (level) B 19 on device 15 tilt-tops 18 gathers; Many serial ports computing machine 13 and the desk-top computer 14 on lash ship 1 deck, settled resolve to be used for real-time positioning.Acoustic information detecting devicess such as Tracklink 1500 ultra-short baseline transponders 16, Blueview P450E-15 Forward-looking Sonar camera 17, are installed ROV on diving device 15; Flux gate compass 21, integrated solid-state angular-rate sensor 22, pressure gauge 23, altitude gauge 24 etc. are used for the dive information collecting device of device 15 navigation of ROV; And be used for two led light sources 20 of low-light (level) B 19 work.System architecture diagram of the present invention is as shown in Figure 2, lash ship 1, and the bank base transceiver of Tracklink 1500 ultra short baseline locating systems of settling on the lash ship 1, compass 5, differential GPS 6, ROV power supply, control and display unit are formed water surface system unit; The ROV acoustic information detecting devices that device 15, ROV are dived and carried on the device 15 of diving, the information collecting device that is used to navigate, optical observation apparatus is formed the submarine system unit.Information transmission channels between water surface system unit and submarine system unit has two; One is wireless acoustic communication; One is wired optical fiber umbilical cables 12; During work; Its signal conveying flow is as shown in Figure 3; The ultra short baseline locating system that is installed in the ultra-short baseline bank base transceiver 3 on the lash ship 1 and carries ultra-short baseline transponder 16 formations on ROV dives device 15 is according to the acoustics positioning principle, under the collaborative work of each equipment such as compass 5, differential GPS 6 rover stations and alignment unit thermohaline deep profile instrument 2, attitude appearance 4, by the latitude and longitude coordinates of ultra-short baseline transponder 16 under the WGS84 ellipsoidal coordinates on the latent device 15 of TrackLink software output ROV that is installed on many serial ports computing machine 13.The information that the flux gate compass 21 of lift-launch on ROV dives device 15, integrated solid-state angular-rate sensor 22, pressure gauge 23, altitude gauge 24, low-light (level) B 19 and Forward-looking Sonar camera 17 are gathered is successively sent into video superimpose module 25, optical Fiber Closure 26 outputs lash ship 1 on the form of optical fiber information through optical fiber umbilical cables 12 through the ROV device 15 inner junction boxs of diving; Then the video information of low-light (level) B 19 is told earlier; The back is transferred to electric signal; After this electric signal is sent into ROV control module 7; With ROV dive the course, attitude, the degree of depth of device 15, send into high definition TFT display after the stack of sea floor height information and show; The information of Forward-looking Sonar camera 17 is sent into desk-top computer 14 through netting twine, and the navigation information on the latent device 15 of ROV is then delivered to ROV control module 7 through ROV power supply unit 8.ROV handheld control unit 9 is in the lump sent into optical Fiber Closure 26 with control signal through ROV power supply unit 8 and 500V d. c. voltage signal as man-machine interface on the other hand; Realize the conversion of electric signal to light signal; Send into the power supply unit on the latent device 15 of ROV through video superimpose module 25, optical fiber umbilical cables 12 successively; Wherein power supply signal is converted into 48V DC voltage and other signal and is sent to the ROV junction box on the device 15 of diving, and divides each equipment of giving on the device of diving and node to be used for power supply and to control again.After the sonar image of 14 pairs of collections of desk-top computer carries out processing such as denoising, profile extraction, characteristic statistics, pattern-recognition; If be judged to be measured target; Then extract oblique distance and the orientation of measured target with respect to sonar capsule from sonar image; Send into many serial ports computing machine 13; Confirm that with the installation angle of surface level measured target is with respect to the latitude and longitude coordinates variable quantity of ultra-short baseline transponder 16 under the WGS84 ellipsoidal coordinates on the latent device 15 of ROV with attitude, course, the degree of depth and the Forward-looking Sonar camera 17 of the latent device 15 of the ROV that sends by ROV control module 7 jointly; Diving with the ROV of TrackLink software output, the latitude and longitude coordinates value of ultra-short baseline transponder 16 under the WGS84 ellipsoidal coordinates superposes on the device 15 again, and then the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates can be asked.
In sum, job step of the present invention is following:
At first, place all instrument and equipments, and line.If can not adjust ultra-short baseline bank base transceiver 3 x axle and stem direction in the same way, but a little angle of cut is arranged; If differential GPS 6 rover stations and ultra-short baseline transponder 16 have deviation in the horizontal direction; If the coordinate plane of the plane of attitude appearance 4 present positions and ultra-short baseline bank base transceiver 3 is not parallel, pitch orientation and its x axle have deviation, and its axle of rolling direction and y has deviation; Then all need as initial deviation input TrackLink software to revise the location output of ultra short baseline locating system.The current velocity of sound of working sea area is measured by the thermohaline deep profile instrument 2 that is operated under the molar formula before ROV dives device 15 entry, and input TrackLink software is to revise output.The sonar capsule of Forward-looking Sonar camera 17 and the angle of surface level need write down to be used for positioning calculation etc.;
Secondly, bring to, start all hardware devices and software in working sea area, ROV device 15 entry of diving, it is normal to debug each system works;
Once more, ultra short baseline locating system and 17 collaborative works of Forward-looking Sonar camera realize the high precision real-time positioning of undersea detection target under the WGS84 ellipsoidal coordinates.
Claims (2)
1. a submarine target Precise Position System is characterized in that: comprise lash ship (1), many serial ports computing machine (13), desk-top computer (14), ultra short baseline locating system, differential GPS (6), compass (5), ROV system, Forward-looking Sonar camera (17), low-light (level) B (19), attitude appearance (4) and thermohaline deep profile instrument (2); Said ROV system comprises that maximum working depth is dive device (15), ROV control module (7), ROV power supply unit (8), ROV handheld control unit (9), 15 cun high definition TFT displays, video superimpose module (25), optical Fiber Closures (26) and be wound with the optical fiber umbilical cord hand winch (11) of 500 meters long optical fibers umbilical cables (12) of the ROV of 300m; Said ROV is the underwater remote-control ROV;
The said ROV device (15) of diving comprises four horizontal propellers, vertical pusher, flux gate compass (21), integrated solid-state angular-rate sensor (22), pressure gauge (23), altitude gauge (24), two LED illuminating lamps and the tilt-top (18) that can in ± 90 °, rotate that 75 watts of light intensity are adjustable;
The said ROV device (15) of diving go up to carry Forward-looking Sonar camera (17), low-light (level) B (19) and ultra-short baseline transponder (16);
Said ultra short baseline locating system comprises ultra-short baseline bank base transceiver (3) and ultra-short baseline transponder (16), and ultra-short baseline bank base transceiver (3) is installed on the lash ship (1), and ultra-short baseline transponder (16) is installed on the latent device (15) of ROV;
Said differential GPS (6) comprises GPS base station, GPS rover station and GPS linking up station, and the GPS rover station is positioned on the lash ship (1), and GPS base station and GPS linking up station are looked the measurement situation and be positioned on other ships or the land;
Said many serial ports computing machine (13), desk-top computer (14), ultra-short baseline bank base transceiver (3), GPS rover station, compass (5), attitude appearance (4), ROV control module (7), ROV power supply unit (8), ROV handheld control unit (9), 15 cun high definition TFT displays, video superimpose module (25), optical Fiber Closures (26) and the optical fiber umbilical cord hand winch (11) that is wound with 500 meters long optical fibers umbilical cables (12) all are positioned on the lash ship (1);
Said thermohaline deep profile instrument (2) is fixed in the centre of stainless steel protection frame, is the self-tolerant mode of operation, and said stainless steel protection frame is invested in lash ship (1) surrounding waters before ROV dives device (15) entry.
2. submarine target accurate positioning method as claimed in claim 1; It is characterized in that:, specifically may further comprise the steps through the collaborative latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates that obtain of ultra short baseline locating system, Forward-looking Sonar camera (17) and differential GPS (6):
A, ultra short baseline locating system and the compass (5) and the latent device (15) of the collaborative ROV of acquisition of differential GPS (6) that are positioned on the lash ship (1) are gone up the latitude and longitude coordinates of ultra-short baseline transponder (16) under the WGS84 ellipsoidal coordinates; The acquisition methods of this latitude and longitude coordinates comprises the steps:
A1, installation low-light (level) B (19), Forward-looking Sonar camera (17), ultra short baseline locating system, compass (5) and differential GPS (6);
A11, low-light (level) B (19) is fixed on is positioned at ROV and dives on the tilt-top (18) of device (15) front end midway; Its output is sent to the junction box on the latent device (15) of ROV through lead, after optical fiber umbilical cables (12) is sent to video superimpose module (25) and the optical Fiber Closure (26) that is positioned on the lash ship (1) successively;
A12, Forward-looking Sonar camera (17) is installed in the below of tilt-top (18) in the middle of ROV dives device (15) front end; Keep a fixed angle between the sonar capsule of Forward-looking Sonar camera (17) and the surface level; Its output is sent to the junction box on the latent device (15) of ROV through lead, after optical fiber umbilical cables (12) is sent to video superimpose module (25) and optical Fiber Closure (26) on the lash ship (1) successively;
A13, ultra-short baseline transponder (16) probe is fixed in ROV up dives on the device (15), and 8 pin connectors of its tail end plug with the power supply plug, to start ultra-short baseline transponder (16) internal electric source;
A14, with lead and buoyant mass trim, to guarantee the ROV stress equalization of device (15) each several part in water of diving, make gravity equal buoyancy;
A15, ultra-short baseline bank base transceiver (3) is fixed in about 1m place, lash ship (1) bottom surface downwards; The horizontal coordinates of ultra-short baseline bank base transceiver (3) is parallel with lash ship (1) bottom surface; And consistent with ultra-short baseline transponder (16) its x axle of collaborative adjustment and lash ship (1) stem direction, if inconsistent then recording offset angle;
A16, differential GPS (6) rover station is positioned over the position that is easy to receive signal on the lash ship (1), antenna is short as far as possible, and accurately measures the grid deviation of differential GPS (6) rover station compared to ultra-short baseline bank base transceiver (3) surface level; Differential GPS (6) base station is placed on a place with differential GPS (6) linking up station is connected communication, perhaps differential GPS (6) base station and differential GPS (6) linking up station branch are put in two places and utilize wireless telecommunications to increase the communication distance of GPS rover station and GPS base station with lead;
A17, compass (5) is placed on the on the lash ship (1), the axis of adjustment compass (5) is parallel with the axis of ship, and compass (5) front end sensing lash ship (1) stem direction;
A18, attitude appearance (4) is placed on the on the lash ship (1), the pitch orientation of adjustment attitude appearance (4) is consistent with lash ship (1) stem direction;
A2, the latitude and longitude coordinates of output ultra-short baseline transponder (16) under the WGS84 ellipsoidal coordinates;
A21, the thermohaline deep profile instrument (2) that will be fixed on the stainless steel protection frame preestablish the SI through software; Before measuring it is thrown in into marine; The acoustic velocity value that is obtained is stored among its inner non-volatile FLASH automatically; And after software reads, and input ultra short baseline locating system software is in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A22, with the drift angle input ultra short baseline locating system software of the x axle of ultra-short baseline transponder (16) and lash ship (1) stem direction, in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A23, with differential GPS (6) rover station at the two-dimensional coordinate of ultra-short baseline bank base transceiver (3) horizontal coordinates projection place input ultra short baseline locating system software in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
B, according to the mounted angle of imaging, sonar and the surface level of measured target in Forward-looking Sonar camera (17); And the flux gate compass (21) on the latent device (15) of ROV and the output result of integrated solid-state angular-rate sensor (22); The collaborative coordinate of exporting under station, the east northeast ground rational horizon rectangular coordinate system that measured target is true origin at the ultra-short baseline transponder (16) on the device (15) of diving with ROV; The output intent of this coordinate comprises the steps:
B1, from the sonar image that Forward-looking Sonar camera (17) is gathered, obtain oblique distance and the position angle of measured target with respect to the sonar capsule of Forward-looking Sonar camera (17);
B11, employing morphology opening operation carry out denoising to sonar image;
B12, employing level set method are extracted the measured target profile;
B13, employing have the invariant moments of position, yardstick and rotational invariance the provincial characteristics in the profile are added up;
B14, employing SVM are discerned measured target, judge that whether measured target is by being paid close attention to measured target: if, change step B15, again the new images that obtains is handled otherwise return step B11;
B15, on the image that Forward-looking Sonar camera (17) is gathered a selected measured target picture point; Mouse pointer is placed this position; Can directly obtain oblique distance and the position angle of this measured target picture point, be oblique distance and the position angle of measured target with respect to Forward-looking Sonar camera (17) sonar capsule with respect to Forward-looking Sonar camera (17) sonar capsule;
B2, output measured target be the east northeast ground of the true origin three-dimensional coordinate under the rational horizon rectangular coordinate system of standing at the ultra-short baseline transponder (16) on the device (15) of diving with ROV;
B21, according to oblique distance and the position angle of measured target with respect to Forward-looking Sonar camera (17) sonar capsule, the output three-dimensional coordinate of measured target under Forward-looking Sonar camera (17) coordinate system;
B22, mounted angle, the output result of integrated solid-state angular-rate sensor (22) according to Forward-looking Sonar camera (17) and surface level; And the sonar capsule of Forward-looking Sonar camera (17) and the relative position of ultra-short baseline transponder (16), be that measured target with ultra-short baseline transponder (16) be three-dimensional coordinate ROV latent device (15) coordinate system of true origin under at the three-dimensional coordinate Forward-looking Sonar camera (17) coordinate system under through rotating translation transformation with measured target;
B23, according to the dive output result of the flux gate compass (21) on the device (15) of ROV, be that measured target with ultra-short baseline transponder (16) be the east northeast ground of true origin stand three-dimensional coordinate rational horizon rectangular coordinate system under with the three-dimensional coordinate rotational transform of measured target under the ROV that be true origin dives device (15) coordinate system with ultra-short baseline transponder (16);
C, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates, can try to achieve through following steps:
C1, calculate the variable quantity of measured target with respect to the last ultra-short baseline transponder (16) of the latent device of ROV (15) latitude and longitude coordinates under the WGS84 ellipsoidal coordinates;
If the three-dimensional coordinate of said measured target under station, the east northeast ground rational horizon rectangular coordinate system that with ultra-short baseline transponder (16) is true origin is output as north orientation x, east orientation y, the earth's core to z; And ultra-short baseline transponder (16) latitude and longitude coordinates output under the WGS84 ellipsoidal coordinates is respectively lon1, lat1; Earth radius is R, and then measured target is respectively with respect to the longitude and latitude deviation of ultra-short baseline transponder (16):
C2, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates;
By ultra-short baseline transponder (16) latitude and longitude coordinates lon1, lat1 under the WGS84 ellipsoidal coordinates; Reach longitude and latitude deviation delta lon, the Δ lat of measured target with respect to ultra-short baseline transponder (16), then the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates is:
lon＝lon1+Δlon
lat＝lat1+Δlat。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110416084 CN102495420B (en) | 2011-12-13 | 2011-12-13 | Underwater object precision positioning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110416084 CN102495420B (en) | 2011-12-13 | 2011-12-13 | Underwater object precision positioning system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102495420A true CN102495420A (en) | 2012-06-13 |
| CN102495420B CN102495420B (en) | 2013-06-05 |
Family
ID=46187260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110416084 Expired - Fee Related CN102495420B (en) | 2011-12-13 | 2011-12-13 | Underwater object precision positioning system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102495420B (en) |
Cited By (47)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN103513248A (en) * | 2013-10-23 | 2014-01-15 | 广州市海林电子科技发展有限公司 | Underwater object monitoring device |
| CN103529446A (en) * | 2013-10-23 | 2014-01-22 | 广州市海林电子科技发展有限公司 | Water surface target monitoring device |
| CN103543459A (en) * | 2013-09-16 | 2014-01-29 | 中国船舶重工集团公司第七一〇研究所 | Integrated navigation device and method for positioning underwater towed body |
| CN104002942A (en) * | 2014-06-09 | 2014-08-27 | 北京理工大学 | Micro autonomous submersible |
| CN105005050A (en) * | 2015-08-04 | 2015-10-28 | 梁彦云 | Underwater rock detection method adopting neural network identification |
| CN105159320A (en) * | 2014-08-12 | 2015-12-16 | 天津北洋蓝水科技有限公司 | Underwater target detection platform system suitable for complex water area and using method thereof |
| CN105628016A (en) * | 2014-10-30 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Navigation positioning method based on ultra short base line |
| CN105721084A (en) * | 2016-01-19 | 2016-06-29 | 上海海事大学 | Ocean wave shielding model of network signal transmission of wireless sensor on the sea |
| CN106525005A (en) * | 2016-10-28 | 2017-03-22 | 北京海卓同创科技有限公司 | Integrated multibeam echo sounding device |
| CN106525041A (en) * | 2016-08-31 | 2017-03-22 | 天津港湾水运工程有限公司 | Method for measuring deepwater crossunder pipe |
| CN106556837A (en) * | 2016-11-09 | 2017-04-05 | 哈尔滨工程大学 | A kind of ultra-short baseline localization method for quaternary space battle array |
| CN106707286A (en) * | 2017-02-06 | 2017-05-24 | 安徽理工大学 | Underwater moving submerged body frequency target detection experimental system and method |
| CN106814408A (en) * | 2017-01-12 | 2017-06-09 | 浙江大学 | The integrated detection device of historical relic under water based on ROV platforms |
| CN107092018A (en) * | 2017-04-12 | 2017-08-25 | 河海大学常州校区 | Portable acoustic positioning system and localization method for dykes and dams waters |
| CN107128442A (en) * | 2016-02-26 | 2017-09-05 | 中国科学院声学研究所 | Deep-water subsea equipment based on ROV Forward-looking Sonars is accurately positioned the method for laying |
| CN107310697A (en) * | 2016-04-27 | 2017-11-03 | 付斌 | Portable underwater robot |
| CN107416154A (en) * | 2017-05-11 | 2017-12-01 | 江苏科技大学 | A kind of passway for water, water pocket regulation underwater unmanned vehicle and its control system |
| CN107576328A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of automatic Tracking monitoring system of water surface for submarine navigation device |
| CN108051819A (en) * | 2017-11-13 | 2018-05-18 | 刘永风 | A kind of deep water rescue mode |
| CN108248801A (en) * | 2018-02-27 | 2018-07-06 | 天津大学 | One kind hangs robot under water |
| CN108583813A (en) * | 2018-04-26 | 2018-09-28 | 国家深海基地管理中心 | A kind of deep-sea rescue system |
| CN108839773A (en) * | 2018-04-24 | 2018-11-20 | 王社兵 | A kind of caisson control system based on ultrasonic radar |
| CN109116360A (en) * | 2018-08-03 | 2019-01-01 | 国家深海基地管理中心 | A kind of deep-sea real-time high-precision locating method and system |
| CN109398615A (en) * | 2018-10-25 | 2019-03-01 | 苏州热工研究院有限公司 | A kind of deep-sea of buoy sinker lays method |
| CN110006433A (en) * | 2019-04-22 | 2019-07-12 | 哈尔滨工程大学 | The integrated navigation and location system and method for sea-bottom oil-gas pipe detection robot |
| CN110057365A (en) * | 2019-05-05 | 2019-07-26 | 哈尔滨工程大学 | A kind of depth AUV dive localization method latent greatly |
| CN110261824A (en) * | 2019-07-15 | 2019-09-20 | 交通运输部天津水运工程科学研究所 | A kind of ultra-short baseline calibration system and scaling method based on multi-beacon |
| CN110294080A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A method of underwater accurate operation is realized using ultra-short baseline |
| CN110336619A (en) * | 2019-07-05 | 2019-10-15 | 李利 | A kind of Sea Mobile Communication equipment |
| CN110703205A (en) * | 2019-10-14 | 2020-01-17 | 江苏帝一集团有限公司 | Ultrashort baseline positioning method based on adaptive unscented Kalman filtering |
| CN110824430A (en) * | 2019-11-21 | 2020-02-21 | 桂林电子科技大学 | Underwater positioning method based on Beidou positioning system |
| CN111045453A (en) * | 2019-12-25 | 2020-04-21 | 南京工程学院 | Cooperative control system and method based on unmanned ship and multi-underwater robot |
| CN111175729A (en) * | 2020-01-18 | 2020-05-19 | 中国科学院水生生物研究所 | Real-time online monitoring and early warning system based on whale high-frequency sonar signals |
| CN111301644A (en) * | 2020-03-06 | 2020-06-19 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN111516831A (en) * | 2020-04-21 | 2020-08-11 | 中国船舶科学研究中心 | Cable type monitoring underwater robot |
| CN111736195A (en) * | 2020-07-07 | 2020-10-02 | 中国人民解放军海军潜艇学院 | Underwater intelligent umbilical cable positioning system and method for positioning diver |
| CN111801598A (en) * | 2017-12-29 | 2020-10-20 | 所尼托技术股份公司 | Location determination using acoustic context data |
| CN112098909A (en) * | 2020-08-20 | 2020-12-18 | 西北工业大学 | ROV-based magnetic field measurement system and method |
| US10908140B2 (en) * | 2014-11-10 | 2021-02-02 | In-Situ, Inc. | Integrated user interface for status and control of a submersible multi-parameter sonde |
| CN112540340A (en) * | 2020-11-26 | 2021-03-23 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning equipment based on same |
| CN108693535B (en) * | 2018-04-03 | 2021-05-18 | 中信重工开诚智能装备有限公司 | Obstacle detection system and method for underwater robot |
| CN113247773A (en) * | 2021-06-16 | 2021-08-13 | 三一汽车起重机械有限公司 | Method and device for determining swing information of crane hook and crane |
| CN114180011A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Underwater robot system |
| CN114401044A (en) * | 2021-12-20 | 2022-04-26 | 武汉邮电科学研究院有限公司 | Underwater optical communication transmitting method and transmitting system |
| CN114966754A (en) * | 2022-05-23 | 2022-08-30 | 水利部交通运输部国家能源局南京水利科学研究院 | Dam deepwater environment integrated precise positioning device and method |
| CN117741572A (en) * | 2024-02-21 | 2024-03-22 | 自然资源部第二海洋研究所 | Method and system for rapidly positioning anchor point of ocean submerged buoy under water |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009173073A (en) * | 2008-01-22 | 2009-08-06 | Nec Corp | Underwater object searching system |
-
2011
- 2011-12-13 CN CN 201110416084 patent/CN102495420B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009173073A (en) * | 2008-01-22 | 2009-08-06 | Nec Corp | Underwater object searching system |
Non-Patent Citations (4)
| Title |
|---|
| 周坚 等: "关于测深仪声速改正问题的探讨", 《海洋测绘》, vol. 28, no. 2, 31 March 2008 (2008-03-31) * |
| 李孟林: "水下目标精确定位系统研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, no. 09, 15 September 2011 (2011-09-15) * |
| 杨帅锋: "水下高清晰成像及精确定位系统设计", 《中国优秀硕士学位论文全文数据库 信息科技辑》, no. 09, 15 September 2012 (2012-09-15) * |
| 续元君: "水下目标探测关键技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》, no. 09, 15 September 2011 (2011-09-15) * |
Cited By (68)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN103543459A (en) * | 2013-09-16 | 2014-01-29 | 中国船舶重工集团公司第七一〇研究所 | Integrated navigation device and method for positioning underwater towed body |
| CN103543459B (en) * | 2013-09-16 | 2015-08-12 | 中国船舶重工集团公司第七一〇研究所 | A kind of combined navigation device and localization method realizing underwater towed-body location |
| CN103513248A (en) * | 2013-10-23 | 2014-01-15 | 广州市海林电子科技发展有限公司 | Underwater object monitoring device |
| CN103529446A (en) * | 2013-10-23 | 2014-01-22 | 广州市海林电子科技发展有限公司 | Water surface target monitoring device |
| CN103529446B (en) * | 2013-10-23 | 2014-11-19 | 广州市海林电子科技发展有限公司 | Water surface target monitoring device |
| CN104002942A (en) * | 2014-06-09 | 2014-08-27 | 北京理工大学 | Micro autonomous submersible |
| CN105159320A (en) * | 2014-08-12 | 2015-12-16 | 天津北洋蓝水科技有限公司 | Underwater target detection platform system suitable for complex water area and using method thereof |
| CN105628016A (en) * | 2014-10-30 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Navigation positioning method based on ultra short base line |
| US10908140B2 (en) * | 2014-11-10 | 2021-02-02 | In-Situ, Inc. | Integrated user interface for status and control of a submersible multi-parameter sonde |
| US11668691B2 (en) | 2014-11-10 | 2023-06-06 | In-Situ, Inc. | Integrated user interface for status and control of a submersible multi-parameter sonde |
| CN105005050A (en) * | 2015-08-04 | 2015-10-28 | 梁彦云 | Underwater rock detection method adopting neural network identification |
| CN105721084B (en) * | 2016-01-19 | 2019-07-02 | 上海海事大学 | A kind of wave masking methods that sea wireless sensor network signal is propagated |
| CN105721084A (en) * | 2016-01-19 | 2016-06-29 | 上海海事大学 | Ocean wave shielding model of network signal transmission of wireless sensor on the sea |
| CN107128442B (en) * | 2016-02-26 | 2018-12-04 | 中国科学院声学研究所 | Deep-water subsea equipment accurate positioning based on ROV Forward-looking Sonar lays method |
| CN107128442A (en) * | 2016-02-26 | 2017-09-05 | 中国科学院声学研究所 | Deep-water subsea equipment based on ROV Forward-looking Sonars is accurately positioned the method for laying |
| CN107310697A (en) * | 2016-04-27 | 2017-11-03 | 付斌 | Portable underwater robot |
| CN106525041A (en) * | 2016-08-31 | 2017-03-22 | 天津港湾水运工程有限公司 | Method for measuring deepwater crossunder pipe |
| CN106525005A (en) * | 2016-10-28 | 2017-03-22 | 北京海卓同创科技有限公司 | Integrated multibeam echo sounding device |
| CN106556837A (en) * | 2016-11-09 | 2017-04-05 | 哈尔滨工程大学 | A kind of ultra-short baseline localization method for quaternary space battle array |
| CN106814408A (en) * | 2017-01-12 | 2017-06-09 | 浙江大学 | The integrated detection device of historical relic under water based on ROV platforms |
| WO2018141157A1 (en) * | 2017-02-06 | 2018-08-09 | 安徽理工大学 | Experimentation system and method for frequency target detection of underwater moving submersible body |
| CN106707286B (en) * | 2017-02-06 | 2019-05-10 | 安徽理工大学 | A kind of experimental system and method for underwater mobile submerged body frequency targets detection |
| CN106707286A (en) * | 2017-02-06 | 2017-05-24 | 安徽理工大学 | Underwater moving submerged body frequency target detection experimental system and method |
| CN107092018A (en) * | 2017-04-12 | 2017-08-25 | 河海大学常州校区 | Portable acoustic positioning system and localization method for dykes and dams waters |
| CN107416154A (en) * | 2017-05-11 | 2017-12-01 | 江苏科技大学 | A kind of passway for water, water pocket regulation underwater unmanned vehicle and its control system |
| CN107576328A (en) * | 2017-08-22 | 2018-01-12 | 西北工业大学 | A kind of automatic Tracking monitoring system of water surface for submarine navigation device |
| CN107576328B (en) * | 2017-08-22 | 2020-05-01 | 西北工业大学 | Automatic water surface tracking and monitoring system for underwater vehicle |
| CN108051819A (en) * | 2017-11-13 | 2018-05-18 | 刘永风 | A kind of deep water rescue mode |
| CN111801598B (en) * | 2017-12-29 | 2023-07-14 | 所尼托技术股份公司 | Position determination using acoustic context data |
| CN111801598A (en) * | 2017-12-29 | 2020-10-20 | 所尼托技术股份公司 | Location determination using acoustic context data |
| CN108248801B (en) * | 2018-02-27 | 2020-02-21 | 天津大学 | Underwater hoisting robot |
| CN108248801A (en) * | 2018-02-27 | 2018-07-06 | 天津大学 | One kind hangs robot under water |
| CN108693535B (en) * | 2018-04-03 | 2021-05-18 | 中信重工开诚智能装备有限公司 | Obstacle detection system and method for underwater robot |
| CN108839773A (en) * | 2018-04-24 | 2018-11-20 | 王社兵 | A kind of caisson control system based on ultrasonic radar |
| CN108583813B (en) * | 2018-04-26 | 2019-07-19 | 国家深海基地管理中心 | A kind of deep-sea rescue system |
| CN108583813A (en) * | 2018-04-26 | 2018-09-28 | 国家深海基地管理中心 | A kind of deep-sea rescue system |
| CN109116360A (en) * | 2018-08-03 | 2019-01-01 | 国家深海基地管理中心 | A kind of deep-sea real-time high-precision locating method and system |
| CN109398615A (en) * | 2018-10-25 | 2019-03-01 | 苏州热工研究院有限公司 | A kind of deep-sea of buoy sinker lays method |
| CN110006433A (en) * | 2019-04-22 | 2019-07-12 | 哈尔滨工程大学 | The integrated navigation and location system and method for sea-bottom oil-gas pipe detection robot |
| CN110057365A (en) * | 2019-05-05 | 2019-07-26 | 哈尔滨工程大学 | A kind of depth AUV dive localization method latent greatly |
| CN110057365B (en) * | 2019-05-05 | 2022-06-21 | 哈尔滨工程大学 | Large-submergence-depth AUV submergence positioning method |
| CN110294080A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A method of underwater accurate operation is realized using ultra-short baseline |
| CN110336619B (en) * | 2019-07-05 | 2021-10-08 | 中国人民解放军海军大连舰艇学院 | Mobile communication equipment on sea |
| CN110336619A (en) * | 2019-07-05 | 2019-10-15 | 李利 | A kind of Sea Mobile Communication equipment |
| CN110261824B (en) * | 2019-07-15 | 2024-03-19 | 交通运输部天津水运工程科学研究所 | Ultrashort baseline calibration system and calibration method based on multiple beacons |
| CN110261824A (en) * | 2019-07-15 | 2019-09-20 | 交通运输部天津水运工程科学研究所 | A kind of ultra-short baseline calibration system and scaling method based on multi-beacon |
| CN110703205A (en) * | 2019-10-14 | 2020-01-17 | 江苏帝一集团有限公司 | Ultrashort baseline positioning method based on adaptive unscented Kalman filtering |
| CN110824430A (en) * | 2019-11-21 | 2020-02-21 | 桂林电子科技大学 | Underwater positioning method based on Beidou positioning system |
| CN111045453A (en) * | 2019-12-25 | 2020-04-21 | 南京工程学院 | Cooperative control system and method based on unmanned ship and multi-underwater robot |
| CN111175729A (en) * | 2020-01-18 | 2020-05-19 | 中国科学院水生生物研究所 | Real-time online monitoring and early warning system based on whale high-frequency sonar signals |
| CN111175729B (en) * | 2020-01-18 | 2022-03-29 | 中国科学院水生生物研究所 | Real-time online monitoring and early warning system based on whale high-frequency sonar signals |
| CN111301644A (en) * | 2020-03-06 | 2020-06-19 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN111301644B (en) * | 2020-03-06 | 2021-09-17 | 中海油信息科技有限公司 | Submarine pipeline detection system based on ROV and working method thereof |
| CN111516831B (en) * | 2020-04-21 | 2021-03-09 | 中国船舶科学研究中心 | Cable type monitoring underwater robot |
| CN111516831A (en) * | 2020-04-21 | 2020-08-11 | 中国船舶科学研究中心 | Cable type monitoring underwater robot |
| CN111736195A (en) * | 2020-07-07 | 2020-10-02 | 中国人民解放军海军潜艇学院 | Underwater intelligent umbilical cable positioning system and method for positioning diver |
| CN112098909A (en) * | 2020-08-20 | 2020-12-18 | 西北工业大学 | ROV-based magnetic field measurement system and method |
| CN112098909B (en) * | 2020-08-20 | 2023-08-25 | 西北工业大学 | Magnetic field measurement system and method based on ROV |
| CN112540340A (en) * | 2020-11-26 | 2021-03-23 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning equipment based on same |
| CN112540340B (en) * | 2020-11-26 | 2024-04-30 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning device based on same |
| CN113247773A (en) * | 2021-06-16 | 2021-08-13 | 三一汽车起重机械有限公司 | Method and device for determining swing information of crane hook and crane |
| CN114180011A (en) * | 2021-11-02 | 2022-03-15 | 天津海翼科技有限公司 | Underwater robot system |
| CN114401044A (en) * | 2021-12-20 | 2022-04-26 | 武汉邮电科学研究院有限公司 | Underwater optical communication transmitting method and transmitting system |
| CN114401044B (en) * | 2021-12-20 | 2023-07-25 | 武汉邮电科学研究院有限公司 | Underwater optical communication transmitting method and transmitting system |
| CN114966754A (en) * | 2022-05-23 | 2022-08-30 | 水利部交通运输部国家能源局南京水利科学研究院 | Dam deepwater environment integrated precise positioning device and method |
| CN117741572A (en) * | 2024-02-21 | 2024-03-22 | 自然资源部第二海洋研究所 | Method and system for rapidly positioning anchor point of ocean submerged buoy under water |
| CN117741572B (en) * | 2024-02-21 | 2024-04-30 | 自然资源部第二海洋研究所 | Method and system for rapidly positioning anchor point of ocean submerged buoy under water |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102495420B (en) | 2013-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102495420B (en) | Underwater object precision positioning system and method | |
| US9223002B2 (en) | System and method for determining the position of an underwater vehicle | |
| AU2012234920B2 (en) | Method and system for surveying or monitoring underwater features | |
| CN208110051U (en) | A kind of underwater measurement system based on unmanned boat | |
| CN107110953A (en) | Underwater positioning system | |
| CN104215988A (en) | Underwater target positioning method | |
| CN104267643A (en) | Target positioning recognition system of underwater robot | |
| RU2426149C1 (en) | Sonar location complex | |
| CN105159320A (en) | Underwater target detection platform system suitable for complex water area and using method thereof | |
| US10520631B2 (en) | Magnetic field measurement via streamer cables | |
| CN109631857B (en) | Multi-unmanned-boat combined island and reef surveying and mapping system and method | |
| Hiller et al. | Expanding the small auv mission envelope; longer, deeper & more accurate | |
| CN105738869B (en) | A kind of deep water beacon search localization method suitable for single hydrophone | |
| US20230400302A1 (en) | Systems and methods for measuring water capacity of polar lakes | |
| CN110294080A (en) | A method of underwater accurate operation is realized using ultra-short baseline | |
| Brown et al. | An overview of autonomous underwater vehicle research and testbed at PeRL | |
| JP2002250766A (en) | Method and system for underwater towed body position measurement | |
| CN116105685A (en) | Intertidal zone topography seamless integrated measurement method based on acousto-optic remote sensing and rollers | |
| CN106556380B (en) | A kind of Underwater Target Detection device | |
| Phillips et al. | A new undersea geological survey tool: ANGUS | |
| Kim et al. | A study on the UUV docking system by using torpedo tubes | |
| Kondo et al. | Visual investigation of underwater structures by the AUV and sea trials | |
| Shi | Underwater Terrain Measurement Based on Unmanned Measurement Ship Multi-Beam Bathymeter | |
| AU2012200886A1 (en) | System and method for determining the position of an underwater vehicle | |
| CN217520528U (en) | Unmanned survey ship for river-crossing shield construction monitoring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20151213 |
|
| EXPY | Termination of patent right or utility model |