CN105547290A - Slave submersible vehicle navigation method based on ultra-short baseline positioning system - Google Patents

Abstract

The invention discloses a slave submersible vehicle navigation method based on an ultra-short baseline positioning system. The ultra-short baseline positioning system is used for replacing a reversed long-baseline underwater sound positioning system in the prior art so that a navigation aim is realized. The slave submersible vehicle navigation method comprises the following steps: measuring by using a sound array of the ultra-short baseline positioning system to obtain a distance between a slave submersible vehicle and a mother ship and navigation information, and furthermore, converting the distance and the navigation information into actual longitude and latitude coordinate information; transmitting the actual longitude and latitude coordinate information to a control unit of the slave submersible vehicle and re-planning a dead reckoning track through the slave submersible vehicle by taking the actual longitude and latitude coordinate information as an initial position, so as to enable the slave submersible vehicle to travel according to the dead reckoning track. The disadvantage that the method in the prior art only can be used for positioning is avoided. Moreover, according to the ultra-short baseline positioning system, equipment is simple and convenient to mount, and distance measuring and direction measuring functions can be finished by only one sound array with a small size and one transponder.

Description

A kind of based on ultra short baseline locating system from latent device air navigation aid

Technical field

The present invention relates to navigation field, be specifically related to a kind of based on ultra short baseline locating system from latent device air navigation aid.

Background technology

Along with the mankind are more and more frequent to the exploration of ocean resources, various underwater hiding-machine is obtained for widespread use in multiple field.Latent device is divided into the main device and from latent device of diving, and is usually thrown in by dive device and lash ship of the master carrying them from latent device, and carries out work according to the good task preset.These lash ships are generally large-scale surface ship or submarine, self have installed relatively complete high precision navigator, can know the exact position of lash ship self; Lash ship is thrown in after latent device, carries out tracking operation to it.

Due to lash ship discharge little from the usual volume of latent device, and load is limited, and the navigator general precision of loading is lower, but will complete prospecting mapping for a long time under water when waiting work, the high-precision navigator fix of same needs.

For this reason, there has been proposed now following two schemes, realize the location from latent device:

Scheme one:

Use long baseline acoustic positioning system, by shifting to an earlier date the accurately known transponder of more than 3 in installation site in seabed, positioned by the sphere principle that crosses.

But its shortcoming is: 1, equipment is installed loaded down with trivial details, and cost is higher.2, required transponder is more.3, the laying of long base line system is only applicable to known marine site, local, lays relevant device very difficult for the task that some confidentiality are higher.

Scheme two:

Related personnel was had again to propose the mode of loading reversing long baseline acoustic positioning system on latent device in recent years, lay the buoy that more than 3 are equipped with transponder across the sea in advance, and the initial position of each buoy is demarcated, the recycling sphere principle that crosses positions.

But its shortcoming is: 1, buoy is subject to the impact of ocean current, more difficultly reach more high-precision requirement.

In sum, adopt long baseline acoustic positioning system to bring inconvenience, and currently available technology only to the effect realizing location from latent device, and can not can be corrected to the driving trace from latent device.In addition, in navigation operation process, owing to being communicated by underwater sound mode between lash ship and multiple underwater hiding-machines of input, electromagnetic signal in relative atmospheric, sound wave velocity of propagation in the seawater wants slow a lot, and underwater hiding-machine is generally all in mobile status, due to the impact of Distance geometry marine environment, the information delay problem of Signal transmissions in communication process must be brought.If have ignored the impact that information delay brings in navigator fix process, also inherently cause the reduction of positioning precision.

Summary of the invention

In view of this, the invention provides a kind of based on ultra short baseline locating system from latent device air navigation aid, the accurate location from latent device can be realized, and to the information delay in communication process.

Based on ultra short baseline locating system from a latent device air navigation aid, be provided with for the Inertial Measurement Unit of dead reckoning and for carrying out the acoustic responder of underwater acoustic communication with lash ship from latent device; Specifically comprise the steps:

Step one, lash ship are thrown in after latent device; Export the current acceleration from latent device and angular acceleration information in real time from the Inertial Measurement Unit latent device, and be sent to from the control module latent device;

Step 2, control module utilize Newton's law, and the acceleration obtained in integrating step one and angular acceleration information, obtain current from latent device speed and angular velocity information; According to the latitude and longitude coordinates information of initial time from latent device, obtain the dead reckoning track from latent device, travel according to this dead reckoning track from latent device; Perform step 3;

The acoustic array of step 3, ultra short baseline locating system sends acoustical signal in real time; Perform step 4;

Step 4, be positioned at and judge whether to receive described acoustical signal from the acoustic responder latent device, if do not receive, then continue to travel according to described dead reckoning track from latent device; Otherwise, after receiving described acoustical signal, send response signal to the acoustic array of ultra short baseline locating system described in lash ship, described acoustic array is according to response signal, obtain the mistiming between the acoustic array of ultra short baseline locating system and acoustic responder and phase differential, and according to the velocity of propagation of acoustical signal in water, and then measure from latent device relative to the actual range information of lash ship and azimuth information; Perform step 5;

Step 5, lash ship to utilize in inertial navigation matrix conversion theoretical, the actual range information obtained and azimuth information are converted to the latitude and longitude coordinates information in navigational coordinate system in step 4, obtain current from the actual latitude and longitude coordinates information of latent device relative to lash ship; Perform step 6;

Step 6, lash ship are according to from the actual latitude and longitude coordinates information of latent device and selected error parameter, Kalman filter is utilized to carry out filtering to the actual latitude and longitude coordinates information obtained, obtain the true value of the latitude and longitude coordinates information after eliminating communication delay, and the control module be sent to from latent device, perform step 7;

Step 7, method according to step one and step 2, control module, according to current acceleration and angular acceleration information, obtains present speed and angular velocity information then; The true value of the latitude and longitude coordinates information obtained in integrating step six, obtains the dead reckoning track from latent device, travels from latent device according to this dead reckoning track; Return step 3, continue to send acoustical signal, until task terminates.

Beneficial effect:

1, the present invention's ultra short baseline locating system substitutes in prior art and reverses long baseline acoustic positioning system, realizes the object of navigation; That is: utilize the acoustic array of ultra short baseline locating system to measure, obtain from the Distance geometry course information between latent device and lash ship, and then be converted to actual latitude and longitude coordinates information; And actual latitude and longitude coordinates information is sent the control module from latent device, carry out using actual latitude and longitude coordinates information as initial position from latent device, again plan dead reckoning track, make to travel according to this dead reckoning track from latent device.Avoid the shortcoming only can located in prior art.And the equipment of ultra short baseline locating system is installed simple and convenient, the acoustic array only needing volume little and a transponder can complete range finding and direction-measuring function.

In addition, in order to improve precision, the present invention considers the error that communication delay brings, and for this reason, the present invention adopts Kalman filter to carry out filtering to the error postponing to bring, and improves precision.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of the present invention when realizing.

Fig. 2 is the system flowchart that the present invention locates.

Embodiment

To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.

The invention provides a kind of based on ultra short baseline locating system from latent device air navigation aid, substitute in prior art with ultra short baseline locating system and reverse long baseline acoustic positioning system, realize the object of navigation.Specifically: the reversing long baseline acoustic positioning system adopted in prior art, its principle of work is: first obtain the sphere from being formed between latent device and each transponder, afterwards, obtains the joint of all spheres, this joint, is the position from latent device.That is, reversing long baseline acoustic positioning system used in the prior art, is merely able to obtain the current position from latent device, and can not realizes the correction from latent device position; And for ultra short baseline locating system, its principle of work is: namely the acoustic array of ultra short baseline locating system is received and dispatched transducer and sent acoustical signal to submarine target, submarine target is provided with acoustics transponder, transponder sends answer signal after receiving the acoustical signal of ultra short baseline locating system.The acoustic array of ultra short baseline locating system records the distance of target from acoustic array by the turnaround time of measuring acoustic signal.

Moreover, in prior art, also often can run into following problems: suppose that lash ship is positioned at A point, and need to arrive B point from latent device; Now, be positioned at, from the control module latent device, the result obtained according to Inertial Measurement Unit (IMU) carried out dead reckoning, obtain one arrives B point dead reckoning track from A point.But because the measuring accuracy of IMU is not high, the actual path often travelled from latent device and dead reckoning track have relatively large deviation.If do not corrected it, will off-course from latent device, and then the normal work of impact.

In sum, main thought of the present invention is then: adopt ultra short baseline locating system to substitute reversing long baseline acoustic positioning system, solve and install loaded down with trivial details problem.In addition, utilize the principle of work of ultra short baseline locating system, can measure when t, from the actual range information between latent device and lash ship and azimuth information; It should be noted that: now, range information and the azimuth information of the range information that control module is extrapolated and azimuth information and reality have compared with big error; For this reason, after the present invention converts the range information of reality and azimuth information to actual latitude and longitude coordinates information, in conjunction with the error parameter chosen, as from latent device in east, north, the attitude error angle in it direction, scaling factors error and latitude and the longitude error from latent device, be input to after Kalman filter carries out filtering, just the current physical location from latent device can be obtained, and this physical location is sent to control module, control module calculates a new dead reckoning track as reference position again by using this position, and then plays the effect of correction.

Concrete grammar is:

According to the principle of work from latent device, lash ship will be installed the acoustic array of ultra short baseline locating system, for receiving the signal sent from latent device; Kalman filter for filtering is installed.From on latent device, be provided with for the Inertial Measurement Unit (IMU) of dead reckoning and for carrying out the transponder of underwater acoustic communication with lash ship; Wherein, why the present invention is provided with Inertial Measurement Unit, because the propagation in water is unstable, in order to avoid causing cannot normally working from latent device owing to latitude and longitude coordinates information cannot be sent to from latent device, the present invention will be provided with Inertial Measurement Unit from latent device, for exporting acceleration and angular acceleration information, so that realize can autokinetic movement when receiving latitude and longitude coordinates information from latent device, realizing boat dimension and calculating.

As shown in Figure 1;

Step one, lash ship are thrown in after latent device; Export the current acceleration information from latent device and angular acceleration information in real time from the Inertial Measurement Unit latent device, and be sent to from the control module latent device;

Step 2, control module utilize Newton's law, and the acceleration obtained in integrating step one and angular acceleration information, obtain the current speed v from latent device _mkand angular velocity omega _mkinformation; According to the latitude and longitude coordinates information of initial time from latent device, utilize formula (1), obtain the dead reckoning track from latent device, travel according to this dead reckoning track from latent device; Namely obtain current from the coordinate position (x of latent device relative to lash ship _{m (k+1)}, y _{m (k+1)}) and course information φ _{m (k+1)}; Here it is to be noted: because the degree of depth from latent device directly can be obtained by depth transducer, so, the Z axis in depth direction and coordinate axis can be considered, therefore the coordinate transformation of three-dimensional can be become two-dimensional coordinate system research.

$\left\{\begin{array}{c}{x}_{m(k+1)}=x_{mk}+\mathrm{\Δ}t\×v_{mk}\×{\mathrm{cos\φ}}_{mk}\\ y_{m(k+1)}=y_{mk}+\mathrm{\Δ}t\×v_{mk}\×{\mathrm{sin\φ}}_{mk}\\ {\mathrm{\φ}}_{m(k+1)}={\mathrm{\φ}}_{mk}+\mathrm{\Δ}t\×{\mathrm{\ω}}_{mk}\end{array}\right.---\left(1\right)$

In formula, x _{m (k+1)}, y _{m (k+1)}and x _mk, y _mkthe positional information that to be m from latent device be engraved in when kth+1 and k respectively navigational coordinate system, φ _{m (k+1)}and φ _mkbe m from latent device in kth+1 and the course angle in k moment, Δ t is the location sampling period, v _mkbe m from the speed of latent device in the k moment, ω _mkbe m from the angular speed of latent device in the k moment.

And then calculate the dead reckoning track obtained from latent device, travel from latent device according to this dead reckoning track; Perform step 3;

The acoustic array of step 3, ultra short baseline locating system sends acoustical signal in real time; Perform step 4;

Step 4, be positioned at and judge whether to receive described acoustical signal from the acoustic responder latent device, if do not receive, then continue to travel according to described dead reckoning track from latent device; Otherwise, after receiving described acoustical signal, send response signal to the acoustic array of ultra short baseline locating system described in lash ship, described acoustic array is according to response signal, obtain the mistiming between the acoustic array of ultra short baseline locating system and acoustic responder and phase differential, and according to the velocity of propagation of acoustical signal in water, and then measure from the Distance geometry direction of latent device relative to lash ship; Namely be initial point with lash ship, from latent device relative to the actual range information of lash ship and azimuth information; Perform step 5;

Step 5, lash ship utilize matrix conversion in inertial navigation theoretical, actual range information will be obtained in step 5 and azimuth information carries out changing the latitude and longitude coordinates information changed in navigational coordinate system, obtain current from the actual latitude and longitude coordinates information of latent device relative to lash ship; Perform step 6;

Step 6, due in the process of ultra short base line navigator fix, detection time delay and communication delay two kinds can be there is, wherein, detection time delay refers to: lash ship sends acoustical signal extremely from latent device, response signal is sent to the time delay the process of lash ship from latent device, produced by equipment self, obtained by many experiments, do not illustrate in the present embodiment; And the producing cause of communication delay is: suppose to obtain actual latitude and longitude coordinates information at measurement moment A, and when the actual latitude and longitude coordinates information of acquisition being sent to control module, control module now received moment is then A+q, and wherein q is positive count; But obtaining actual latitude and longitude coordinates information and should be from latent device when the position arrived at measurement moment A, is not the A+q moment; So, error will certainly be brought; For this reason, the present embodiment utilizes the Kalman filter be loaded on lash ship to carry out filtering to the actual latitude and longitude coordinates information obtained, and obtains the true value of the longitude and latitude after eliminating communication delay.That is:

Lash ship is according to from the actual latitude and longitude coordinates information of latent device and selected error parameter, Kalman filter is utilized to carry out filtering to the actual latitude and longitude coordinates information obtained, obtain the true value of the longitude and latitude after eliminating communication delay, and be sent to the control module from latent device, perform step 7;

Step 7, method according to step one and step 2, control module, according to current acceleration and angular acceleration information, obtains present speed and angular velocity information then; The true value of the latitude and longitude coordinates information obtained in integrating step six, using the latitude and longitude coordinates information of this position as initial position, obtains the dead reckoning track from latent device, travels from latent device according to this dead reckoning track; Return step 3, continue to send acoustical signal, until task terminates.

In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (1)

1. based on ultra short baseline locating system from a latent device air navigation aid, it is characterized in that, being provided with from latent device for the Inertial Measurement Unit of dead reckoning and for carrying out the acoustic responder of underwater acoustic communication with lash ship; Specifically comprise the steps:

Step one, lash ship are thrown in after latent device; Export the current acceleration from latent device and angular acceleration information in real time from the Inertial Measurement Unit latent device, and be sent to from the control module latent device;

Step 2, control module utilize Newton's law, and the acceleration obtained in integrating step one and angular acceleration information, obtain current from latent device speed and angular velocity information; According to the latitude and longitude coordinates information of initial time from latent device, obtain the dead reckoning track from latent device, travel according to this dead reckoning track from latent device; Perform step 3;

The acoustic array of step 3, ultra short baseline locating system sends acoustical signal in real time; Perform step 4;

Step 4, be positioned at and judge whether to receive described acoustical signal from the acoustic responder latent device, if do not receive, then continue to travel according to described dead reckoning track from latent device; Otherwise, after receiving described acoustical signal, send response signal to the acoustic array of ultra short baseline locating system described in lash ship, described acoustic array is according to response signal, obtain the mistiming between the acoustic array of ultra short baseline locating system and acoustic responder and phase differential, and according to the velocity of propagation of acoustical signal in water, and then measure from latent device relative to the actual range information of lash ship and azimuth information; Perform step 5;

Step 5, lash ship to utilize in inertial navigation matrix conversion theoretical, the actual range information obtained and azimuth information are converted to the latitude and longitude coordinates information in navigational coordinate system in step 4, obtain current from the actual latitude and longitude coordinates information of latent device relative to lash ship; Perform step 6;

Step 6, lash ship are according to from the actual latitude and longitude coordinates information of latent device and selected error parameter, Kalman filter is utilized to carry out filtering to the actual latitude and longitude coordinates information obtained, obtain the true value of the latitude and longitude coordinates information after eliminating communication delay, and the control module be sent to from latent device, perform step 7;

Step 7, method according to step one and step 2, control module, according to current acceleration and angular acceleration information, obtains present speed and angular velocity information then; The true value of the latitude and longitude coordinates information obtained in integrating step six, obtains the dead reckoning track from latent device, travels from latent device according to this dead reckoning track; Return step 3, continue to send acoustical signal, until task terminates.