CN103823205A - Underwater locating navigation system and method - Google Patents

Underwater locating navigation system and method Download PDF

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CN103823205A
CN103823205A CN201410073287.0A CN201410073287A CN103823205A CN 103823205 A CN103823205 A CN 103823205A CN 201410073287 A CN201410073287 A CN 201410073287A CN 103823205 A CN103823205 A CN 103823205A
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base station
navigation
signal
receiver
under water
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CN103823205B (en
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关新平
赵健康
王红雨
贺超峰
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Shanghai Jiaotong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30—Determining absolute distances from a plurality of spaced points of known location

Abstract

The invention discloses an underwater locating navigation system and method. The system is composed at least four base stations and at least one underwater locating navigation receiver. The base stations need to be synchronous in time, and the base stations are arranged on the water face, in water and underwater. The positions of the base stations are fixed, or the base stations can move. The base stations spread navigation signals into the water. Spectrum spreading is conducted on the navigation signals through a pseudorandom spreading code, and the spreading code has a function of a ranging code at the same time. The underwater locating navigation receiver does not need to emit a signal to the outside, the position of the underwater locating navigation receiver itself is solved and time synchronization with the base stations is achieved by receiving the navigation signals of the base stations. A plurality of underwater locating navigation receivers can be arranged in the system to receive the navigation signals at the same time, and the number of the underwater locating navigation receivers is not limited. The underwater locating navigation system and method can be applied to the fields of underwater exploration, underwater construction, underwater security and protection, underwater navigation and the like.

Description

One is Position Fixing Navigation System and method under water
Technical field
The present invention relates to positioning and navigation field under water, relate in particular to location navigation and Time synchronization technique in the hidden situation of submarine target.
Background technology
Underwater navigation location and navigation technology is in marine monitoring, seafari, ocean right-safeguarding, there is very important using value in archaeology, underwater construction, under water security and the field such as military under water.Position Fixing Navigation System under water based on acoustics, according to the travel path of underwater sound signal, is mainly divided into two classes: round trip pattern and single pass mode.
Round trip pattern is called again answer-mode, needs the transmitting-receiving of positioning equipment configuration under water transponder.Between base station and transponder, bidirectional transmit-receive underwater sound signal realizes location.Traditional long baseline, short baseline and ultra short baseline locating system are mostly round trip patterns.The advantage of round trip pattern is between transponder and base station, not need time synchronized under water.Shortcoming is: 1. transponder need to be launched acoustic signals to the external world under water, has increased power consumption, disguised poor.2. due to needs bidirectional transmit-receive signal, the restricted processing power with base station of the number of transponder, can not infinitely increase under water.
Single pass mode claims again non-answer-mode.Base station and under water between positioning equipment one-way transmission signal can realize location.At present one way positioning system be all subsea beacon to base station transmitted signal, base station calculates the position of subsea beacon according to the characteristic solution that receives signal.Under this pattern, the number of subsea beacon is also limited by base station processing power.
Current one way and round trip pattern, the location compute of its beacon is all in base station or ship base, bank base complete.Beacon can not directly obtain self-position.If subsea equipment (as underwater vehicle) need to be realized autonomous navigation according to self-position, need, by extra communication link, positional information to be sent to subsea equipment from base station.
Through retrieval, the patent of invention of Chinese Patent Application No. CN200310118440 discloses one GPS positioning navigation method and system under water, can realize submarine target location navigation and time service.The method has following limitation: 1. the required parts of system are huge, needs at least 5 buoys (base station), data center, sea wireless communication link, underwater wireless communication link.2. underwater navigation receiver and base station need two-way communication.Positioning and navigation receiver needs outwards transmitting underwater sound signal under water, and power consumption is large and be unfavorable for hidden.3. positioning and navigation receiver quantity can not infinitely increase under water.4. underwater navigation receiver cannot directly obtain self-position.After data center calculates position, send to positioning and navigation receiver under water by underwater sound communication link.Increase and located the required time, reduced reliability.
Summary of the invention
For the defect of prior art, the invention provides one Position Fixing Navigation System and method under water, realize the one way location navigation under water based on broadband communication broadcast mode.
According to an aspect of the present invention, provide one Position Fixing Navigation System under water, this system by least 4 base stations and at least one under water positioning and navigation receiver form, wherein:
Time synchronized between described base station, the pattern by spread spectrum communication, to broadcast navigation signal under water, is wherein carried out spread spectrum with pseudorandom spread spectrum code to navigation signal, and spreading code plays the effect of ranging code simultaneously;
Described positioning and navigation receiver under water does not need to transmit to outside, according to the base station signal receiving, calculates self-position, and realization and base station time synchronism.In system, can have many under water positioning and navigation receiver receive navigation signal simultaneously, its quantity is unrestricted.
Preferably, described arrangement of base stations is in the water surface, water or water-bed.The position of base station is fixed or is moved and all can.
Preferably, the navigation signal of described base station adopts bipolar binary coding, and its value is+1 or-1, corresponding binary zero and 1 respectively, and navigation signal comprises ranging code, navigation message information:
Described ranging code is one group of pseudo-random code that length is fixing, and its length is P z, the cycle is P p.The pseudo-random code of the corresponding particular sequence in each base station, is designated as P i, different P imutually accurate orthogonal, i.e. the peak value P of their cross correlation function cMipeak value P with autocorrelation function cSibetween relation meet
Figure BDA0000471414620000021
according to ranging code P ican determine the base station S that it is corresponding i;
Described navigation message comprises the base station time, base station position information, and the length of each binary digit of navigation message is ranging code cycle P pintegral multiple.
According to a second aspect of the invention, provide one positioning navigation method under water, the method comprises: navigation signal is launched in base station, positioning and navigation receiver receives base station signal and carries out location navigation and resolve under water;
Described base station transmitting navigation signal, specific as follows:
1. generate navigation message, be designated as D i, navigation message is made up of synchronization frame and information frame, and synchronization frame is one group of fixing binary data, is designated as T; Information frame has comprised base station time and base station location coordinate;
2. utilize ranging code as spreading code, navigation message is carried out to spread spectrum, obtain spread-spectrum signal, be designated as K i, K i=D i× P i;
3. utilize the signal K after spread spectrum i, carrier wave to be modulated, all base station time synchronisms, can realize carrier synchronization, and the carrier frequency-phase of all base stations is synchronous, is designated as C, and navigation signal is designated as X i, X i=C × K i=C × D i× P i;
4. by navigation signal X ibe transmitted in water by the underwater acoustic transducer of base station;
Described positioning and navigation receiver under water receives base station signal and carries out location navigation and resolve, specific as follows:
Under water, its coordinate is R to positioning and navigation receiver ci=(x, y, z), and distance between base station is
Figure BDA0000471414620000031
at first, the time of receiver (is designated as t), with base station time t 0asynchronous, its mistiming is Δ t=t 0-t.The navigation signal that receives base station transmitting, is designated as Y.In system, have multiple base stations, the signal that the signal Y receiving has comprised the transmitting of multiple base stations, then positions navigation calculation.
Compared with prior art, the present invention has following beneficial effect:
The present invention is by above method, and positioning and navigation receiver has obtained self position coordinates with respect to base station under water, and obtains and mistiming of base station, realized time synchronized.Positioning and navigation receiver does not need outwards to transmit under water.Positioning and navigation receiver quantity is unrestricted under water.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the system principle diagram of one embodiment of the invention.
Fig. 2 is the system architecture diagram of one embodiment of the invention.
Fig. 3 is the theory diagram of base station in one embodiment of the invention.
Fig. 4 is the theory diagram of positioning and navigation receiver under water in one embodiment of the invention.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, be the Position Fixing Navigation System block diagram of one embodiment of the invention, by 11,12,13,14 and 1 of 4 base stations under water positioning and navigation receiver 15 form.Base station is designated as S i, wherein i=1,2 ..., m.Wherein, m is base station number, m >=4.Hereinafter, i, m implication is identical.The position coordinates of base station is S respectively ci=(x i, y i, z i).Arrangement of base stations is in the water surface, water or water-bed.Clock synchronous between base station, is designated as t 0.Base station with the form of sound wave to broadcast transmission navigation signal in water.Navigation signal adopts bipolar binary coding, and its value is+1 or-1, respectively corresponding binary zero and 1.
Navigation signal comprises following information.
1. ranging code.Ranging code is one group of pseudo-random code that length is fixing, and its length is P z, the cycle is P p.The pseudo-random code of the corresponding particular sequence in each base station, is designated as P i.Different P imutually accurate orthogonal, i.e. the peak value P of their cross correlation function cMipeak value P with autocorrelation function cSibetween relation meet
Figure BDA0000471414620000041
according to ranging code P ican determine the base station S that it is corresponding i.
2 navigation messages.Navigation message comprises base station time, base station position information.The length of each binary digit of navigation message is ranging code cycle P pintegral multiple.
The mode of base station transmitting navigation signal is as follows:
1. generate navigation message.Be designated as D i.Navigation message is made up of synchronization frame and information frame.Synchronization frame is one group of fixing binary data, is designated as T.Information frame has comprised base station time and base station location coordinate.
2. utilize ranging code as spreading code, navigation message is carried out to spread spectrum, obtain spread-spectrum signal, be designated as K i.K i＝D i×P i。
3. utilize the signal K after spread spectrum i, carrier wave is modulated.All base station time synchronisms, can realize carrier synchronization, and the carrier frequency-phase of all base stations is synchronous, is designated as C, and navigation signal is designated as X i, X i=C × K i=C × D i× P i.
4. by navigation signal X iunderwater acoustic transducer by base station is transmitted in water.
Under water, its coordinate is R to positioning and navigation receiver ci=(x, y, z), and distance between base station is
Figure BDA0000471414620000051
at first, the time of receiver (is designated as t), with base station time t 0asynchronous, its mistiming is Δ t=t 0-t.The navigation signal that receives base station transmitting, is designated as Y.In system, there are multiple base stations, the signal that the signal Y receiving has comprised the transmitting of multiple base stations.
Fig. 2 is the system architecture diagram of another embodiment.4 base stations 21,22,23,24 are placed on the bottom, utilize submarine cable 26 to realize the time synchronized between base station.Positioning and navigation receiver 25 is arranged on (underwater vehicle) on carrier, follows carrier movement.
Fig. 3 is base station theory diagram in another embodiment.In the present embodiment, base station is mainly made up of transmitting transducer 31, impedance matching box 32, power amplifier 33, AD converter 34, embedded system 35.
Embedded system 35 realizes calculating and the generation of ranging code, navigation message, carrier wave and navigation signal.
AD converter 34 is converted to analog form by navigation signal by digital form.
Power amplifier 33, impedance matching box 32 and transmitting transducer 31 are successively by the amplification of analogue navigation signal, impedance matching and be transmitted in water.
Fig. 4 is positioning and navigation receiver theory diagram under water in another embodiment.In the present embodiment, positioning and navigation receiver is mainly by receiving transducer 41, filter amplifier 42 under water, and AD converter 43 and embedded system 44 form.
Acoustic signals is converted to electric signal by receiving transducer 41, amplifier 42 filtering interference signals after filtering, then by AD converter 43, analog electrical signal is converted to digital signal.
Embedded system 44 is processed digital signal, realizes ranging code separation, tracking, frame synchronization pseudo range measurement, position time and resolves etc.
In the present embodiment, position in accordance with the following methods navigation calculation:
1. signal demodulation separates.Utilize code ranging code P iorthogonality, by the signal demodulation of each base station and separate.Concrete grammar is, successively by each ranging code P icarry out related operation with signal Y successively.If the result of related operation is greater than the threshold value of setting, (threshold value is according to the peak value P of cross correlation function cMichoose), Ze Gai road signal correspondence the transmitting of i base station, after water body is propagated, the signal that received machine receives, is designated as Y i.
2. signal trace.Realize signal after separating, Dui Ge road signal Y ifollow the tracks of respectively.Method is in the t moment, by signal Y isuccessively with corresponding survey code P icarry out related operation, measure correlation peak with respect to time of starting position, be called code phase
Figure BDA0000471414620000064
3. frame synchronization and navigation message are resolved.The signal Y receiving it compares with synchronization frame, determines the zero hour of navigation message, is designated as t si, from t simoment, ranging code is carried out to counting complete cycle, count value is designated as N i.Successively navigation message is resolved, obtain base station location and base station time.
4. pseudo range measurement.Utilize the count value N starting from frame synchronization iand code phase
Figure BDA0000471414620000061
can calculate navigation signal from base station S ito the travel-time T of receiver i, velocity of propagation c according to sound wave in water can calculation base station S ito the pseudorange L of receiver i, L i=c × T i.Travel-time T ithe mistiming Δ t that has comprised receiver and base station, so pseudorange L inot base station S ito the actual range L between receiver si, its pass is: L i=L si+ c Δ t.
5. positioning calculation.Positioning and navigation receiver receives the signal of a base station under water, can obtain a pseudorange.After receiving whole m base station signal, can obtain m pseudorange equation, system of equations composed as follows
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 + cΔt = L 1 ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 + cΔt = L 2 . . . ( x - x i ) 2 + ( y - y i ) 2 + ( z - z i ) 2 + cΔt = L i
Above system of equations has 4 unknown number: x, y, z, Δ t.Number m >=4 of independent equation in system of equations, solving equation group, must obtain the position coordinates x of receiver, y, z and with the mistiming Δ t of base station.Utilize Δ t to revise the receiver time, can realize receiver time t and base station time t 0synchronously.
In the time of the number m > 4 of base station, positioning and navigation receiver does not need to receive the signal of whole base stations under water, only need to receive the signal of 4 base stations.Location receiver quantity is not limit under water.Absolute position or the relative position of base station are known, keep clock synchronous between base station.
In the present invention, base station is with the form of sound wave, and to underwater emission navigation signal, signal modulating mode adopts spread spectrum communication pattern.Location receiver does not need to launch any signal under water.Under the condition of silent hiding, by receiving the navigation signal of base station, determine self position with respect to base station, thereby realize location navigation under water.Location receiver, by receiving the acoustic signals of base station, is realized and base station time synchronism under water.
Application the present invention, can realize subsea equipment (for example underwater robot, underwater vehicle) (being that subsea equipment does not need to transmit to the external world) in hidden situation, realize autonomous location, realize base station time synchronism simultaneously, can be applied to the field such as underwater construction, prospecting, security, undersea surveillance and underwater navigation guidance under water under water.
Be more than part embodiment of the present invention, although content of the present invention has been done detailed introduction by above-mentioned part embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Read after foregoing those skilled in the art, for multiple modification of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (7)

1. a Position Fixing Navigation System under water, this system by least 4 base stations and at least one under water positioning and navigation receiver form, wherein:
Time synchronized between described base station, the pattern by spread spectrum communication, to broadcast navigation signal under water, is wherein carried out spread spectrum with pseudorandom spread spectrum code to navigation signal, and spreading code plays the effect of ranging code simultaneously;
Described positioning and navigation receiver under water does not need to transmit to outside, according to the base station signal receiving, calculates self-position, and realization and base station time synchronism; In system, can have many under water positioning and navigation receiver receive navigation signal simultaneously, its quantity is unrestricted.
2. one according to claim 1 Position Fixing Navigation System under water, it is characterized in that, the navigation signal of described base station adopts bipolar binary coding, and its value is+1 or-1, corresponding binary zero and 1 respectively, navigation signal comprises ranging code, navigation message information:
Described ranging code is one group of pseudo-random code that length is fixing, and its length is P z, the cycle is P p; The pseudo-random code of the corresponding particular sequence in each base station, is designated as P i, different P imutually accurate orthogonal, i.e. the peak value P of their cross correlation function cMipeak value P with autocorrelation function cSibetween relation meet
Figure FDA0000471414610000011
according to ranging code P ican determine the base station S that it is corresponding i;
Described navigation message comprises the base station time, base station position information, and the length of each binary digit of navigation message is ranging code cycle P pintegral multiple.
3. one according to claim 1 and 2 Position Fixing Navigation System under water, is characterized in that, absolute position or the relative position of described base station are known, keep clock synchronous between base station.
4. one according to claim 1 and 2 Position Fixing Navigation System under water, is characterized in that, described arrangement of base stations is in the water surface, water or water-bed, and the position of base station is fixed or be mobile.
5. one according to claim 1 and 2 Position Fixing Navigation System under water, is characterized in that, described base station is with the form of sound wave, and to underwater emission navigation signal, signal modulating mode adopts spread spectrum communication pattern.
6. a positioning navigation method under water, the method comprises base station transmitting navigation signal step, positioning and navigation receiver receives base station signal and carries out location navigation process of solution under water;
Base station is designated as S i, wherein i=1,2 ..., m, wherein m is base station number, m>=4, the position coordinates of base station is S respectively ci=(x i, y i, z i);
Described base station transmitting navigation signal step, specific as follows:
1. generate navigation message, be designated as D i, navigation message is made up of synchronization frame and information frame, and synchronization frame is one group of fixing binary data, is designated as T; Information frame has comprised base station time and base station location coordinate;
2. utilize ranging code as spreading code, navigation message is carried out to spread spectrum, obtain spread-spectrum signal, be designated as K i, K i=D i× P i;
3. utilize the signal K after spread spectrum i, carrier wave to be modulated, all base station time synchronisms, realize carrier synchronization, and the carrier frequency-phase of all base stations is synchronous, is designated as C, and navigation signal is designated as X i, X i=C × K i=C × D i× P i;
4. by navigation signal X ibe transmitted in water by base station;
Described positioning and navigation receiver under water receives base station signal and carries out location navigation and resolve, specific as follows:
Under water, its coordinate is R to positioning and navigation receiver ci=(x, y, z), and distance between base station is
Figure FDA0000471414610000021
at first, the time of receiver, be designated as t, with base station time t 0asynchronous, its mistiming is △ t=t 0-t; The navigation signal that receives base station transmitting, is designated as Y, has multiple base stations in system, and the signal that the signal Y receiving has comprised the transmitting of multiple base stations, then positions navigation calculation.
7. one according to claim 6 positioning navigation method under water, is characterized in that, described location navigation resolves, and concrete steps are as follows:
1. signal demodulation separates: utilize code ranging code P iorthogonality, by the signal demodulation of each base station and separate; That is: successively by each ranging code P icarry out related operation with signal Y successively, if the result of related operation is greater than the threshold value of setting, Ze Gai road signal correspondence the transmitting of i base station, after water body is propagated, the signal that received machine receives, is designated as Y i;
2. signal trace: realize signal after separating, Dui Ge road signal Y ifollow the tracks of respectively; In the t moment, by signal Y isuccessively with corresponding survey code P icarry out related operation, measure correlation peak with respect to time of starting position, be called code phase
Figure FDA0000471414610000034
;
3. frame synchronization and navigation message are resolved: the signal Y receiving it compares with synchronization frame, determines the zero hour of navigation message, is designated as t si, from t simoment, ranging code is carried out to counting complete cycle, count value is designated as N i; Successively navigation message is resolved, obtain base station location and base station time;
4. pseudo range measurement: utilize the count value N starting from frame synchronization iand code phase calculate navigation signal from base station S ito the travel-time T of receiver i,
Figure FDA0000471414610000032
velocity of propagation c calculation base station S according to sound wave in water ito the pseudorange L of receiver i, L i=c × T i; Travel-time T ithe mistiming △ t that has comprised receiver and base station, pseudorange L i, base station S ito the actual range L between receiver sipass is:
L i=L Si+c△t；
5. positioning calculation: positioning and navigation receiver receives the signal of a base station under water, obtains a pseudorange, after receiving whole m base station signal, obtains m pseudorange equation, system of equations composed as follows
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 + cΔt = L 1 ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 + cΔt = L 2 . . . ( x - x i ) 2 + ( y - y i ) 2 + ( z - z i ) 2 + cΔt = L i
Above system of equations has 4 unknown number: x, y, z, △ t, number m>=4 of independent equation in system of equations, solving equation group, must obtain the position coordinates x of receiver, y, z and with the mistiming △ t of base station, utilize △ t to revise the receiver time, realize receiver time t and base station time t 0synchronously.
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