CN103926560B - Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system - Google Patents
Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system Download PDFInfo
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- CN103926560B CN103926560B CN201410150903.8A CN201410150903A CN103926560B CN 103926560 B CN103926560 B CN 103926560B CN 201410150903 A CN201410150903 A CN 201410150903A CN 103926560 B CN103926560 B CN 103926560B
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
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Abstract
The invention provides a deep sea underwater sound integrated positioning system and a method for positioning and navigating an underwater vehicle by adopting the system, and belongs to the field of underwater sound positioning sonar equipment. According to the deep sea underwater sound integrated positioning system and the method for positioning and navigating the underwater vehicle by adopting the system, an acoustical transducer receiving and transmitting array is arranged at the tail end of an array lifting rod, the input/output end of the acoustical transducer receiving and transmitting array is connected with the output/input end of a tracking and calibrating processor which is connected with an operation and display platform, an inner cavity of a deep water pressure-resisting shell is an electronic distance measuring and positioning cabin, a deep water pressure-resisting transducer is electrically connected with the electronic distance measuring and positioning cabin through a pressure-resisting watertight cable, an electronic response release management cabin is arranged on the inner side of the deep water pressure-resisting shell, a battery pack is fixed in the electronic response release management cabin, a release mechanism is fixed at the tail of the outer side of the deep water pressure-resisting shell, and the deep water pressure-resisting transducer is fixed at the top end of the outer side of the deep water pressure-resisting shell.According to the deep sea underwater sound integrated positioning system and the method for positioning and navigating the underwater vehicle by adopting the system, the position of an underwater target is monitored in real time on the water surface, and full-sea-depth positioning accuracy is improved by more than four times compared with existing equipment.
Description
Technical field
The invention belongs to hydrolocation sonar field, is related to a kind of deep-sea underwater sound Positioning System and its under water
The positioning and air navigation aid of latent device.
Background technology
21 century is " numerical ocean model ", and this contains the treasure-house of huge resource for ocean, is increasingly paid attention to by various countries.Closely
Over 20 years, " circle sea-freight is dynamic " for fighting for maritime sovereignty and Deep Sea Minerals is risen, and the marine cause for promoting China enters quick
Developmental stage, also promotes the technology and equipment related to ocean development to enter the fast traffic lane of development.Acoustics positioning is Marine Sciences
The indispensable means of the engineerings such as investigation, exploration of ocean resources, marine resources development, deep-sea space station construction, it can provide seabed
Reconnoitre the important positioning such as equipment such as ROV and AUV, navigation and communicate and support.By in water surface ship, underwater carrier and operation
Install and lay acoustic localization device on seabed additional, be capable of achieving the water surface to the monitor in real time of underwater target position, the water surface and put down under water
The information exchange of platform or even realize transparence, digitized, the informationization of ocean.Traditional underwater positioning system adopts ultra-short baseline
Or Long baselines positioning principle.Ultra short baseline locating system is only capable of keeping higher positioning accuracy on over one hundred rice or so Hai Shen, with
The increase of Hai Shen, its position error is directly proportional to oblique distance, can not meet the requirement that accurate ocean are investigated；Long-base-line system is positioned
Precision deterioration in accuracy in the depth of the close water surface, needs accurate, complicated seabed formation calibration, and is difficult in shorter work
The water surface is realized in cycle and under water simultaneously to latent device positioning.The present invention is based on the job requirements, overcomes original alignment system list
One function, extends the integration technology between equipment of itself, realizes multi-faceted neatly monitor in real time and navigation tracking, can be with
Ensure to provide the full sea depth meter level positioning precision with abundant data redundancy, it will substantially improve following underwater performance positioning service
Effect.
Existing underwater positioning system there is a problem of low to submarine target offer hi-Fix precision under Quan Haishen.
The content of the invention
The present invention provides high-precision fixed under Quan Haishen in order to solve existing underwater positioning system presence to submarine target
The low problem of position precision, and propose a kind of deep-sea underwater sound Positioning System.The present invention also aims to provide one kind adopt
The positioning and air navigation aid to underwater hiding-machine is realized with the system.
Deep-sea underwater sound Positioning System, it includes that the water surface is tracked and demarcates subsystem, latent device range finding and positioning subsystem
With multiple underwater sounds synthesis transponder subsystem,
The water surface is tracked and is arranged on water surface ocean investigation operation ship with demarcation subsystem, dive device range finding and positioning subsystem
On Deep-sea vessel, multiple underwater sound synthesis transponders are laid on seabed,
The water surface is tracked to be included acoustic transducer transmitting-receiving basic matrix, basic matrix elevating lever, tracks at demarcation with demarcation subsystem
Reason machine, operation display platform,
Acoustic transducer transmitting-receiving basic matrix is arranged on the end of basic matrix elevating lever, and acoustic transducer receives and dispatches the drive signal of basic matrix
The drive signal outfan that input demarcates datatron with tracking is connected, and acoustic transducer receives and dispatches the feedback signal output of basic matrix
The feedback signal input terminal for demarcating datatron with tracking is connected, and tracking demarcates datatron by data/address bus and operation display platform
Connection；
The latent device range finding includes the first deep water overpressure resistant transducer, deep water overpressure resistant housing and pressure watertight with positioning subsystem
Cable,
Deep water overpressure resistant case inside cavity is range finding and positioning electronic cabin, deep water overpressure resistant transducer and range finding and positioning electronic
Signal of telecommunication interaction in cabin realizes electrical connection by pressure watertight cable, and in range finding and positioning electronic cabin signal driving is provided with
Module and signal resolution module, the driving letter of the drive signal outfan connection deep water overpressure resistant transducer of the signal drive module
Number input, the feedback signal input terminal of the signal resolution module connects the feedback signal output of deep water overpressure resistant transducer,
The underwater sound synthesis transponder subsystem includes the second deep water overpressure resistant transducer, deep water overpressure resistant housing, response release
Management electronic compartment, set of cells, relieving mechanism,
Deep water overpressure resistant case inside cavity is response release management electronic compartment, and set of cells is fixed on the response release management electricity
In sub- cabin, relieving mechanism is fixed on the outside afterbody of deep water overpressure resistant housing, and deep water overpressure resistant transducer is fixed on deep water overpressure resistant housing
Outer tip end, is provided with signal drive module, signal resolution module and release management module, institute in response release management electronic compartment
The drive signal outfan for stating signal drive module connects the driving signal input of deep water overpressure resistant transducer, the signal resolution
The feedback signal input terminal of module connects the feedback signal output of deep water overpressure resistant transducer, the release of the release management module
Signal output part is connected with relieving mechanism.
Underwater sound synthesis transponder subsystem stationary arrangement constitutes transponder basic matrix in water-bed.
Underwater sound synthesis transponder subsystem at least three, underwater sound synthesis transponder subsystem stationary arrangement is in water-bed composition
Transponder basic matrix.
Based on positioning and air navigation aid of the deep-sea underwater sound Positioning System to underwater hiding-machine, found range and positioning according to latent device
Investigate track and localization of the operation ship to Deep-sea vessel in the answer-mode of subsystem setting, water surface ocean：The deep-sea underwater sound is comprehensively fixed
Position system is tracked in each locating periodically, first by the water surface and demarcates subsystem transmitting inquiry instruction, is found range and positioning by latent device
Deep water overpressure resistant transducer in subsystem to be received and launch answer signal after the signal；The answer signal comprehensively should as the underwater sound simultaneously
The inquiry instruction of device subsystem is answered, the deep water overpressure resistant transducer of underwater sound synthesis transponder subsystem is received and launch after signal response letter
Number；Latent device range finding receives answer signal and completes self poisoning navigation using Long baselines positioning principle with positioning subsystem, while water
Face tracks realizes water with demarcating after answer signal of the subsystem reception range finding with positioning subsystem using ultra-short baseline positioning principle
Investigate track and localization of the operation ship to Deep-sea vessel in face ocean.
Based on positioning and air navigation aid of the deep-sea underwater sound Positioning System to underwater hiding-machine：
According to the range finding of latent device and the utonomous working pattern of positioning subsystem setting, latent device range finding is completed certainly with positioning subsystem
Body location navigation：Water surface tracking is carried out before water under Deep-sea vessel and subsystem is demarcated with the range finding of latent device and positioning subsystem pair
Neat clock, deep-sea underwater sound Positioning System first launches inquiry in each locating periodically by the range finding of latent device and positioning subsystem
Instruction, water surface tracking is received with demarcation subsystem and realize that operation is investigated in water surface ocean using ultra-short baseline positioning principle after the signal
Track and localization of the ship to Deep-sea vessel, underwater sound synthesis transponder subsystem to be received and launch answer signal after inquiry instruction, device of diving
Range finding receives answer signal and completes self poisoning navigation using Long baselines positioning principle with positioning subsystem.
Before operation ship is investigated to the track and localization of Deep-sea vessel in water surface ocean, water surface tracking is completed first and son is demarcated
The system calibration of system come eliminate acoustic transducer receive and dispatch basic matrix alignment error：A underwater sound synthesis transponder is laid in seabed
System, water surface tracking with demarcate subsystem in underwater sound synthesis responder system sinking watching continuously with its response, by ultrashort
Baseline positioning principle monitoring underwater sound synthesis transponder subsystem decentralization overall process, treats that underwater sound synthesis responder system is bottomed out and stablized
Afterwards, around underwater sound synthesis transponder subsystem navigation, hold acknowledge during navigation, measurement is simultaneously for water surface ocean investigation operation ship
The position of record underwater sound synthesis responder system, completes water surface tracking and the system calibration for demarcating subsystem.
Present invention additionally comprises tracked and the geodetic coordinates for demarcating subsystem demarcation underwater sound synthesis responder system using the water surface,
This process is：Many underwater sound synthesis responder systems are laid by water surface ocean investigation operation ship and forms transponder basic matrix, first
Tracked using the water surface and directly position the farthest two underwater sounds synthesis transponder subsystem of distance in transponder basic matrix with demarcation subsystem
The geodetic coordinates of system, water surface tracking receives and dispatches basic matrix to a underwater sound synthesis transponder subsystem with the acoustic transducer for demarcating subsystem
Battle array instruction is surveyed in system transmitting, and the underwater sound synthesis transponder subsystem starts battle array pattern of surveying, and to other underwater sound synthesis transponder systems
System transmitting inquiry instruction, other underwater sound synthesis transponder subsystems are received after inquiry instruction, are sent out to acoustic transducer transmitting-receiving basic matrix
Be emitted back towards complex signal, operate display platform to record the time delay value of all underwater sound synthesis transponder subsystems of this process, after the completion of survey battle array
Underwater sound synthesis transponder subsystem in pattern automatically returns to answer-mode, until every underwater sound synthesis transponder subsystem enters
Entered survey battle array pattern, tracking demarcate datatron using whole time delay values calculate each underwater sound synthesis transponder subsystem it is relative away from
From, and it is comprehensive together with every underwater sound in the Geodetic Coordinate Calculation transponder basic matrix of acquired two underwater sounds synthesis transponder subsystem
The geodetic coordinates of transponder subsystem is closed, this coordinate figure is bound into into water surface tracking and is found range and positioning with latent device with subsystem is demarcated
In subsystem.
The beneficial effects of the present invention is：
The present invention is that deep-sea underwater sound Positioning System is tracked by the water surface and demarcates subsystem, latent device range finding and locator
Transmitting inquiry instruction between system and underwater sound synthesis transponder subsystem, and the answer signal replied each other is received, realize the water surface
Real-time monitoring is carried out to underwater target position, on year-on-year basis existing equipment improves more than 4 times to positioning precision under Quan Haishen.The present invention
It is particularly suited for underwater position fixing technique field, is more suitable for being positioned in Quan Haishen.
Description of the drawings
Fig. 1 is the principle schematic of the deep-sea underwater sound Positioning System described in specific embodiment one；
Fig. 2 is the system calibration principle schematic of deep-sea underwater sound Positioning System；
Fig. 3 is the calibration principle schematic diagram of deep-sea underwater sound Positioning System；
Fig. 4 is water surface ocean investigation operation ship initiator's formula operating diagram of deep-sea underwater sound Positioning System；
Fig. 5 is that the Deep-sea vessel of deep-sea underwater sound Positioning System initiates mode operating diagram；
Fig. 6 is positioning and air navigation aid of the deep-sea underwater sound Positioning System realization to underwater hiding-machine.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Embodiment one, with reference to Fig. 1 illustrate present embodiment, the deep-sea underwater sound Positioning System described in the present embodiment, it
Track including the water surface and demarcate subsystem 1, latent device range finding and positioning subsystem 2 and multiple underwater sounds synthesis transponder subsystem 3,
The water surface is tracked and is arranged on water surface ocean investigation operation ship with demarcation subsystem 1, dive device range finding and positioning subsystem
System 2 is arranged on Deep-sea vessel, and multiple underwater sound synthesis transponders 3 are laid on seabed,
The water surface tracking includes that acoustic transducer transmitting-receiving basic matrix 4, basic matrix elevating lever 5, tracking are demarcated with subsystem 1 is demarcated
Datatron 6, operation display platform 7,
Acoustic transducer transmitting-receiving basic matrix 4 is arranged on the end of basic matrix elevating lever 5, and acoustic transducer receives and dispatches the driving of basic matrix 4
The drive signal outfan that signal input part demarcates datatron 6 with tracking is connected, and acoustic transducer receives and dispatches the feedback signal of basic matrix 4
The feedback signal input terminal that outfan demarcates datatron 6 with tracking is connected, and tracking demarcates datatron 6 by data/address bus and operation
Display platform 7 connects；
The latent device range finding and positioning subsystem 2 include the first deep water overpressure resistant transducer 8-1, deep water overpressure resistant housing 9 and resistance to
Pressure watertight cable 10,
The inner side cavity of deep water overpressure resistant housing 9 for range finding with positioning electronic cabin 11, deep water overpressure resistant transducer 8-1 and range finding and determine
Signal of telecommunication interaction in the electronic compartment 11 of position realizes electrical connection by pressure watertight cable 10, finds range and sets in positioning electronic cabin 11
Signal drive module and signal resolution module are equipped with, the drive signal outfan connection deep water overpressure resistant of the signal drive module is changed
The driving signal input of energy device 8-1, the feedback signal input terminal connection deep water overpressure resistant transducer 8-1 of the signal resolution module
Feedback signal output,
The underwater sound synthesis transponder subsystem 3 includes the second deep water overpressure resistant transducer 8-2, deep water overpressure resistant housing 12, answers
Release management electronic compartment 13, set of cells 14, relieving mechanism 15 are answered,
The inner side cavity of deep water overpressure resistant housing 12 is response release management electronic compartment 13, and set of cells 14 is fixed on the response release
In management electronic compartment 13, relieving mechanism 15 is fixed on the outside afterbody of deep water overpressure resistant housing 12, and deep water overpressure resistant transducer 8-2 is fixed
Signal drive module, signal resolution mould are provided with the outer tip end of deep water overpressure resistant housing 12, response release management electronic compartment 13
Block and release management module, the drive signal outfan of the signal drive module connects the driving of deep water overpressure resistant transducer 8-2
Signal input part, the feedback signal of the feedback signal input terminal connection deep water overpressure resistant transducer 8-2 of the signal resolution module is defeated
Go out end, the release signal outfan of the release management module is connected with relieving mechanism 15.
In the present embodiment, acoustic transducer transmitting-receiving basic matrix 4 is used to comprehensively should with positioning subsystem 2 or the underwater sound to the range finding of latent device
The transmitting inquiry instruction of device subsystem 3 is answered, and receives the answer signal of reply.Basic matrix elevating lever 5 is installed on the investigation of water surface ocean and makees
In the vertical shaft of industry ship, for acoustic transducer transmitting-receiving basic matrix 4 to be leant out into hull in operation, acoustics is changed after the end of job
Energy device transmitting-receiving basic matrix 4 withdraws.The dry chamber device that datatron 6 is that the water surface is tracked and demarcates subsystem 1 is demarcated in tracking, for controlling water
Face tracks and the mode of operation and parameter state for demarcating subsystem 1, parses answer signal, completes to demarcate underwater sound synthesis transponder
Calculate and to device range finding and the locating and tracking of positioning subsystem 2 of diving.Operation display platform 7 is that the water surface is tracked and demarcates subsystem
1 dry chamber device, for directly perceived the result that datatron 6 is demarcated in tracking is shown, and passes user to tracking to demarcate under datatron 6
Operation and control instruction information.
In the present embodiment, latent device range finding is used to indicate itself position to water surface ocean investigation operation ship with positioning subsystem 2
Put, and the location navigation to itself is completed by interacting with underwater sound synthesis transponder 3, with response and autonomous two kinds of Working moulds
Formula.
Deep water overpressure resistant transducer 8 is used to instruct and receive answer signal to the transmitting inquiry of transponder basic matrix, receive the water surface with
Track instructs and launches answer signal with the inquiry for demarcating subsystem transmitting, completes the mutual conversion between acoustical signal and the signal of telecommunication.
Range finding is used to control entirely dive device range finding and the work of positioning subsystem 2 with positioning electronic cabin 11：Under answer-mode, detection process
The water surface tracking of reception and the inquiry instruction for demarcating subsystem 1 and the answer signal of underwater sound synthesis transponder subsystem 3；From main mould
The only answer signal of detection process underwater sound synthesis transponder subsystem 3 under formula.Resolve the position of latent device range finding and positioning subsystem 2
Put, and calculation result is passed to into Deep-sea vessel.
Underwater sound synthesis transponder 3 has dormancy, response, surveys three kinds of mode of operations of battle array.
In the present embodiment, deep water overpressure resistant transducer 8 is found range and is determined for receiving water surface tracking with demarcation subsystem 1 or latent device
The inquiry of the transmitting of sub-systems 2 instructs and launches answer signal, completes the mutual conversion between acoustical signal and the signal of telecommunication.Response is released
Management electronic compartment 13 is put for control subsystem work：Under answer-mode, the inquiry of the detection process of response release management electronic compartment 13
Instruct and release order, control response acoustical signal is replied, and response is released order；Survey battle array pattern under, detection process survey battle array instruction with
Battle array signal is surveyed, battle array instruction is surveyed in response；Under park mode, management underwater sound synthesis transponder subsystem 3 is powered, and detects and respond wake-up
Instruction.
The difference of the deep-sea underwater sound Positioning System described in embodiment two, the present embodiment and embodiment one is, water
Sound synthesis transponder subsystem 3 is multiple, and the plurality of stationary arrangement of underwater sound synthesis transponder subsystem 3 constitutes transponder in water-bed
Basic matrix.
The difference of the deep-sea underwater sound Positioning System described in embodiment three, the present embodiment and embodiment one is, water
Sound synthesis transponder subsystem 3 at least three, the stationary arrangement of at least three underwater sounds synthesis transponder subsystem 3 is in water-bed structure
Into transponder basic matrix.
Example IV, realized using the deep-sea underwater sound Positioning System described in embodiment one positioning to underwater hiding-machine with
Air navigation aid, the positioning adopts one of following two with air navigation aid, referring to Fig. 6：
Method one, the answer-mode set with positioning subsystem 2 according to latent device range finding, water surface ocean investigation operation ship pair
The track and localization of Deep-sea vessel：Deep-sea underwater sound Positioning System is tracked in each locating periodically, first by the water surface and demarcates son
The transmitting inquiry instruction of system 1, is received by the range finding of latent device and the deep water overpressure resistant transducer 8-1 in positioning subsystem 2 and sent out after the signal
Penetrate answer signal；The answer signal is simultaneously as the inquiry instruction of underwater sound synthesis transponder subsystem 3, underwater sound synthesis transponder
The deep water overpressure resistant transducer 8-2 of system 3 to be received and launch answer signal after signal；Latent device range finding receives response with positioning subsystem 2
Signal completes self poisoning navigation using Long baselines positioning principle, while the water surface tracks and demarcates the reception of subsystem 1 range finding and determine
Realize that operation ship is investigated to Deep-sea vessel in water surface ocean using ultra-short baseline positioning principle after the answer signal of sub-systems 2
Track and localization, referring to Fig. 4；
Method two, the utonomous working pattern set with positioning subsystem 2 according to latent device range finding, dive device range finding and positioning subsystem
System 2 completes self poisoning navigation：Water surface tracking is carried out before water under Deep-sea vessel and is found range and is determined with latent device with subsystem 1 is demarcated
The alignment clock of sub-systems 2, deep-sea underwater sound Positioning System is first found range and positioning subsystem in each locating periodically by latent device
System 2 launches inquiry instruction, and water surface tracking is received with demarcation subsystem 1 and realize the water surface using ultra-short baseline positioning principle after the signal
Track and localization of the operation ship to Deep-sea vessel is investigated in ocean, and underwater sound synthesis transponder subsystem 3 is received to be launched after inquiry instruction
Answer signal, latent device range finding receives answer signal and completes self poisoning navigation using Long baselines positioning principle with positioning subsystem 2,
Referring to Fig. 5.
In the present embodiment, Deep-sea vessel is completed after positioning, selectively carries out dormancy or recovery to transponder basic matrix, this mistake
Cheng Wei：During dormancy, tracked from the water surface and demarcate subsystem 1 to each underwater sound synthesis transponder subsystem 3 in transponder basic matrix
Transmitting dormancy instruction, underwater sound synthesis transponder subsystem 3 enters park mode；During recovery, tracked by the water surface and demarcate subsystem 1
Release order to the transmitting of each underwater sound synthesis transponder subsystem 3 in transponder basic matrix one by one, the water surface is tracked and demarcates subsystem
System 1 positions the floating-upward process of underwater sound synthesis transponder subsystem 3.
Embodiment five, the present embodiment is the further restriction to the positioning described in example IV and air navigation aid, this enforcement
In example, before operation ship is investigated to the track and localization of Deep-sea vessel in water surface ocean, water surface tracking is completed first and subsystem is demarcated
System 1 system calibration come eliminate acoustic transducer receive and dispatch basic matrix 4 alignment error：A underwater sound synthesis transponder is laid in seabed
System 3, water surface tracking with demarcate subsystem 1 in underwater sound synthesis responder system 3 sinking watching continuously with its response, by super
Short baseline positioning principle monitoring underwater sound synthesis transponder subsystem 3 transfers overall process, treats that underwater sound synthesis responder system 3 is bottomed out simultaneously
After stable, water surface ocean investigation operation ship is navigated by water around underwater sound synthesis transponder subsystem 3, hold acknowledge during navigation,
The position of underwater sound synthesis responder system 3 is measured and recorded, water surface tracking and the system calibration for demarcating subsystem 1 is completed, referring to
Fig. 2.
Embodiment six, the present embodiment is the further restriction to the positioning described in example IV and air navigation aid, positioning with
Air navigation aid also includes being tracked and the geodetic coordinates for demarcating the demarcation underwater sound synthesis responder system 3 of subsystem 1, this mistake using the water surface
Cheng Wei：Many underwater sound synthesis responder systems 3 are laid by water surface ocean investigation operation ship and forms transponder basic matrix, first with
The water surface is tracked and directly positions two underwater sounds synthesis transponder subsystem 3 that distance is farthest in transponder basic matrix with demarcation subsystem 1
Geodetic coordinates, water surface tracking receives and dispatches basic matrix 4 to underwater sound synthesis transponder subsystem with the acoustic transducer for demarcating subsystem 1
Battle array instruction is surveyed in the transmitting of system 3, and the underwater sound synthesis transponder subsystem starts battle array pattern of surveying, and to other underwater sound synthesis transponder systems
The transmitting inquiry instruction of system 3, other underwater sound synthesis transponder subsystems 3 are received after inquiry instruction, and to acoustic transducer basic matrix 4 is received and dispatched
Transmitting return signal, operates display platform 7 to record the time delay value of all underwater sound synthesis transponder subsystems 3 of this process, after the completion of
The underwater sound synthesis transponder subsystem 3 surveyed in battle array pattern automatically returns to answer-mode, until every underwater sound synthesis transponder subsystem
System 3 entered survey battle array pattern, and tracking is demarcated datatron 6 and calculates each underwater sound synthesis transponder subsystem using whole time delay values
In 3 relative distance, and the Geodetic Coordinate Calculation transponder basic matrix together with acquired two underwater sounds synthesis transponder subsystem 3
The geodetic coordinates of every underwater sound synthesis transponder subsystem 3, this coordinate figure is bound into water surface tracking and demarcates subsystem 1 and dive
In device range finding and positioning subsystem 2, referring to Fig. 3.
Claims (7)
1. a kind of deep-sea underwater sound Positioning System, including the water surface is tracked and demarcates subsystem (1), latent device range finding and positioning subsystem
System (2) and underwater sound synthesis transponder subsystem (3), it is characterised in that：
The water surface is tracked with demarcation subsystem (1) on water surface ocean investigation operation ship, dive device range finding and positioning subsystem
(2) on Deep-sea vessel, underwater sound synthesis transponder subsystem (3) is laid on seabed,
The water surface tracking receives and dispatches basic matrix (4), basic matrix elevating lever (5), tracking mark with subsystem (1) is demarcated including acoustic transducer
Determine datatron (6), operation display platform (7),
Acoustic transducer transmitting-receiving basic matrix (4) is installed in the end of basic matrix elevating lever (5), the drive of acoustic transducer transmitting-receiving basic matrix (4)
The drive signal outfan that dynamic signal input part demarcates datatron (6) with tracking is connected, and acoustic transducer receives and dispatches the anti-of basic matrix (4)
The feedback signal input terminal that feedback signal outfan demarcates datatron (6) with tracking is connected, and tracking demarcates datatron (6) by data
Bus is connected with operation display platform (7)；
The latent device range finding and positioning subsystem (2) including the first deep water overpressure resistant transducer (8-1), deep water overpressure resistant housing (9) and
Pressure watertight cable (10),
Deep water overpressure resistant housing (9) inner side cavity for range finding with positioning electronic cabin (11), deep water overpressure resistant transducer (8-1) and range finding and
Signal of telecommunication interaction in positioning electronic cabin (11) realizes electrical connection, range finding and positioning electronic cabin by pressure watertight cable (10)
(11) signal drive module and signal resolution module are provided with, the drive signal outfan connection of the signal drive module is deep
The driving signal input of water is pressure transducer (8-1), the feedback signal input terminal connection deep water of the signal resolution module is resistance to
The feedback signal output of pressure transducer (8-1)；
Underwater sound synthesis transponder subsystem (3) including the second deep water overpressure resistant transducer (8-2), deep water overpressure resistant housing (12),
Response release management electronic compartment (13), set of cells (14), relieving mechanism (15),
Deep water overpressure resistant housing (12) inner side cavity is response release management electronic compartment (13), and set of cells (14) is fixed on the response and releases
Put in management electronic compartment (13), relieving mechanism (15) is fixed on the outside afterbody of deep water overpressure resistant housing (12), deep water overpressure resistant transducing
Device (8-2) is fixed in deep water overpressure resistant housing (12) outer tip end, response release management electronic compartment (13) and is provided with signal driving
Module, signal resolution module and release management module, the drive signal outfan connection deep water overpressure resistant of the signal drive module
The driving signal input of transducer (8-2), the feedback signal input terminal connection deep water overpressure resistant transducing of the signal resolution module
The feedback signal output of device (8-2), the release signal outfan of the release management module is connected with relieving mechanism (15).
2. underwater sound Positioning System in deep-sea according to claim 1, it is characterised in that：Underwater sound synthesis transponder subsystem
(3) stationary arrangement constitutes transponder basic matrix in water-bed.
3. underwater sound Positioning System in deep-sea according to claim 1, it is characterised in that：Underwater sound synthesis transponder subsystem
(3) at least three, underwater sound synthesis transponder subsystem (3) stationary arrangement constitutes transponder basic matrix in water-bed.
4. a kind of positioning and air navigation aid based on deep-sea underwater sound Positioning System to underwater hiding-machine, it is characterised in that：
According to the answer-mode that the range finding of latent device sets with positioning subsystem (2), operation ship is investigated to Deep-sea vessel in water surface ocean
Track and localization：Deep-sea underwater sound Positioning System is tracked in each locating periodically, first by the water surface and demarcates subsystem (1)
Inquiry instruction is penetrated, is received by the range finding of latent device and the deep water overpressure resistant transducer (8-1) in positioning subsystem (2) and is sent out after inquiry instruction
Penetrate answer signal；The answer signal is simultaneously as the inquiry instruction of underwater sound synthesis transponder subsystem (3), underwater sound synthesis transponder
The deep water overpressure resistant transducer (8-2) of subsystem (3) to be received and launch answer signal after signal；Latent device range finding and positioning subsystem (2)
Receive answer signal and complete self poisoning navigation using Long baselines positioning principle, while water surface tracking connects with subsystem (1) is demarcated
Receive and realize that operation ship is investigated in water surface ocean using ultra-short baseline positioning principle after the answer signal of range finding and positioning subsystem (2)
Track and localization to Deep-sea vessel.
5. a kind of positioning and air navigation aid based on deep-sea underwater sound Positioning System to underwater hiding-machine, it is characterised in that：
According to the utonomous working pattern that the range finding of latent device sets with positioning subsystem (2), latent device range finding is completed with positioning subsystem (2)
Self poisoning navigates：Water surface tracking is carried out before water under Deep-sea vessel to find range with latent device and locator with subsystem (1) is demarcated
System (2) alignment clock, deep-sea underwater sound Positioning System is first found range and positioning subsystem in each locating periodically by latent device
(2) transmitting inquiry instruction, the water surface tracks and demarcates subsystem (1) and receives after inquiry is instructed using the realization of ultra-short baseline positioning principle
Track and localization of the operation ship to Deep-sea vessel is investigated in water surface ocean, and underwater sound synthesis transponder subsystem (3) receives inquiry instruction
After launch answer signal, latent device range finding receives answer signal and completes itself using Long baselines positioning principle with positioning subsystem (2)
Location navigation.
6. according to claim 4 or 5 it is a kind of based on deep-sea underwater sound Positioning System to the positioning of underwater hiding-machine with lead
Boat method, it is characterised in that：Water surface ocean investigate operation ship to the track and localization of Deep-sea vessel before, complete first the water surface with
Track eliminates the alignment error of acoustic transducer transmitting-receiving basic matrix (4) with the system calibration for demarcating subsystem (1)：One is laid in seabed
Underwater sound synthesis transponder subsystem (3), water surface tracking with demarcate subsystem (1) under underwater sound synthesis transponder subsystem (3)
During heavy continuously with its response, underwater sound synthesis transponder subsystem (3) is monitored by ultra-short baseline positioning principle and transfers full mistake
Journey, after underwater sound synthesis transponder subsystem (3) bottom out and it is stable after, water surface ocean investigation operation ship is around underwater sound synthesis response
Device subsystem (3) is navigated by water, hold acknowledge during navigation, measures and record the position of underwater sound synthesis transponder subsystem (3), complete
Track and the system calibration for demarcating subsystem (1) into the water surface.
7. it is according to claim 6 it is a kind of based on deep-sea underwater sound Positioning System to the positioning of underwater hiding-machine and navigation side
Method, it is characterised in that：Also include being tracked using the water surface and demarcate subsystem (1) demarcation underwater sound synthesis transponder subsystem (3)
Geodetic coordinates, this process is：Many underwater sounds synthesis transponder subsystem (3) are laid by water surface ocean investigation operation ship is formed and answered
Device basic matrix is answered, is tracked first with the water surface and is directly positioned two farthest water of distance in transponder basic matrix with demarcation subsystem (1)
The geodetic coordinates of sound synthesis transponder subsystem (3), water surface tracking and the acoustic transducer transmitting-receiving basic matrix for demarcating subsystem (1)
(4) battle array instruction is surveyed to underwater sound synthesis transponder subsystem (3) transmitting, the underwater sound synthesis transponder subsystem starts surveys battle array
Pattern, and to other underwater sound synthesis transponder subsystem (3) transmitting inquiry instructions, other underwater sounds synthesis transponder subsystem (3)
After receiving inquiry instruction, to acoustic transducer transmitting-receiving basic matrix (4) transmitting return signal, operation display platform (7) records this process
The time delay value of all underwater sounds synthesis transponder subsystem (3), after the completion of underwater sound synthesis transponder subsystem (3) surveyed in battle array pattern
Answer-mode is automatically returned to, until every underwater sound synthesis transponder subsystem (3) entered survey battle array pattern, tracking demarcation is processed
Machine (6) calculates the relative distance of each underwater sound synthesis transponder subsystem (3) using whole time delay values, and together with acquired two
Every underwater sound synthesis transponder subsystem in the Geodetic Coordinate Calculation transponder basic matrix of underwater sound synthesis transponder subsystem (3)
(3) geodetic coordinates, is bound into this coordinate figure water surface tracking and finds range with latent device and positioning subsystem with subsystem (1) is demarcated
(2) in.
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