CN106054135B - A kind of passive underwater acoustic localization method based on period traveling time window - Google Patents
A kind of passive underwater acoustic localization method based on period traveling time window Download PDFInfo
- Publication number
- CN106054135B CN106054135B CN201610312943.7A CN201610312943A CN106054135B CN 106054135 B CN106054135 B CN 106054135B CN 201610312943 A CN201610312943 A CN 201610312943A CN 106054135 B CN106054135 B CN 106054135B
- Authority
- CN
- China
- Prior art keywords
- auv
- time
- time window
- hydrophone
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a kind of passive underwater acoustic localization methods based on period traveling time window, are made of the single hydrophone (receiver) and seabed single hydrophone (band sound source) of the bottoms strapdown inertial navigation system SINS, AUV.The time window model of movement using the period of the ultrasonic wave sent out based on seabed hydrophone, the sound-source signal received when inside time window by being in different location to AUV does broad sense cross-correlation and obtains delay inequality, then obtains AUV latest position coordinates by calculating AUV Multiple point models inside time window.The present invention is calculated by AUV Multiple point models inside time window, AUV distance to go without too far, to effectively reduce inertial navigation system with the time is constantly accumulated and caused by position error.AUV carries out location updating without above emerging in the present invention, is communicated without data and AUV passively receives ultrasonic signal, be not easy exposure position, improve concealment and the safety of AUV.
Description
Technical field
The invention belongs to strap-down inertial technical fields, more particularly to be a kind of based on the passive of period traveling time window
Hydrolocation method.
Background technology
AUV (Autonomous Underwater Vehicle, Autonomous Underwater Vehicle) is now various underwater in execution
It plays an important role in task, including marine exploration, the underwater removal of mines and the water-depth measurement number for collecting ocean and river
According to etc..In order to ensure that AUV can smoothly complete task under water, and more accurate subaqueous survey data are obtained, it is just necessary
It is required that it has long-term autonomous high accuracy positioning homing capability under water, and there is higher concealment.
It is combined navigation using DVL and SINS on currently the majority AUV, and position is estimated by the method for berth reckoning
It sets, but inertial navigation system position error can be caused constantly to be accumulated with the time in this way, and long-term autonomous high-precision cannot be met
Positioning requirements.The navigation pattern for " submariner-water surface correction-submariner " that AUV is used when shallow sea executes task carries out location navigation,
Location navigation is carried out by SINS/DVL when AUV is navigated by water under water, when AUV is moved under water after a certain period of time under water in order to correct
Accumulated error, AUV must go up floatation surface, be corrected using SINS/GPS integrated navigation systems.Using this scheme, although energy
Achieve the purpose that correct accumulated error, but is the necessity for AUV and constantly travels to and fro between underwater operation place and the water surface.It does so
Working efficiency is not only influenced, but also is easier the position of exposure AUV.It is this especially when AUV is at deep-sea or under-ice work
Scheme is more unrealistic.Therefore, it is very heavy to study a kind of method of the long-term autonomous reliable auxiliary positioning of progress under water
It wants.
Invention content
Goal of the invention：The present invention is combined position error existing for air navigation aid for previous DVL and SINS can be with
The time constantly accumulate, the navigation pattern of " submariner-water surface correction-submariner " be easy exposure AUV position etc. it is autonomous under water in AUV
In terms of formula navigation there are the problem of, a kind of passive underwater acoustic localization method based on period traveling time window is provided, seabed water is utilized
Device is listened to determine the position of carrier, calculated position coordinates.It is led especially suitable for long-term autonomous High precision underwater positioning
Boat, and there is higher concealment.
Technical solution：A kind of passive underwater acoustic localization method based on period traveling time window, includes the following steps：
(1) the single hydrophone for being fixed on seabed is positioned as sound source, calculates the position under its inertial coodinate system
Coordinate P (x, y, z)；
(2) the hydrophone moment in seabed keeps working condition, and constantly sends out the ultrasonic pulse signal that the period is t, when
After the fixed hydrophone in the bottoms AUV receives the pulse signal in 10 periods as receiver, that is, pass through time 10t, AUV is
A distance is travelled forward, when fixed hydrophone receives the 11st pulse signal when the bottoms AUV, determines and records AUV
Current location Pi(i=0,1,2,3 ...), at this time using the appearance of pulse signal as the initial position of periodic signal, receiver connects
Receive the acoustical signal x for a cycle that seabed hydrophone is sent outi(i=0,1,2,3 ...)；
(3) AUV is when Its Adjacent Waters where hydrophone navigate by water, when choosing the continuous position formation of 4 AUV recorded
Between window, there is shown 4 position Pi(i=0,1,2,3) coordinate absolutely under geographic coordinate system is：
(4) by P3The acoustical signal that place receives respectively with P2、P1、P0The acoustical signal that place receives does cross-correlation and obtains time delay
Poor τ32、τ31、τ30：
Δt3i=τ3i(30-10i) t, (i=0,1,2)；
And AUV is in Pi(i=0,1,2,3) it is with the distance of seabed hydrophone P (x, y, z) when at：
So according to estimated delay inequality, the underwater velocity of sound is set as steady state value, is denoted as c, obtains equation group below：
L3-L0=Δ t30c
L3-L1=Δ t31c；
L3-L2=Δ t32c
(5) after substituting into equation group again after the range formula substituted by the coordinate in step (3), by 3 sides in equation group
Journey obtains required P3Coordinate (x3,y3,z3), i.e. AUV newest coordinate positions at this time.
It is multiple with four continuous positions of AUV, formation due to the movement of the pulse signal cycle sent out with seabed hydrophone
Time window carries out identical calculations to time window later, and real-time tracking can be carried out to the position of AUV and is positioned, this method is used
After can obtain more accurate current position coordinates.
The representation method of step (3) time window is：
1) position coordinates under the inertial coodinate system of original AUV are set as P0(x0,y0,z0), after by time 10t,
Obtain current position coordinates P1(x1,y1,z1), after by time 20t, obtain current position coordinates P2(x2,y2,z2),
After by time 30t, newest position coordinates P is obtained3(x3,y3,z3), four points at this time form a time window；
2) when the pulse signal that hydrophone is sent out when seabed passes through 10 period i.e. 10t, AUV obtains current inertial coordinate
Position coordinates under system are P4(x4,y4,z4), at this time by P0(x0,y0,z0) deleted from time window, and by current P4With P1、
P2、P3Form new time window.And so on, during AUV is navigated by water, time window is kept for the period of 10t move backward；
3) wherein in first time window, pass through course IMU on lash ship and compass sensor current to AUV, speed
Etc. information measure and AUV x, y, z axis in absolute geographic coordinate system in 10t, 20t, 30t time for being obtained after integral operation
To distance to go be respectively Δ x1、Δx2、Δx3、Δy1、Δy2、Δy3、Δz1、Δz2、Δz3, to use latest position P3
(x3,y3,z3) it is unknown parameter, by Pi(i=0,1,2) it is expressed as：
(x0,y0,z0)=((x3-Δx1),(y3-Δy1),(z3-Δz1))
(x1,y1,z1)=((x3-Δx2),(y3-Δy2),(z3-Δz2))；
(x2,y2,z2)=((x3-Δx3),(y3-Δy3),(z3-Δz3))
4) subsequent time window is identical with the processing method of first time window, uses the coordinate of latest position as unknown ginseng
Number represents the coordinate of the position of first three record.
The method that cross-correlation obtains delay inequality in the step (4) is：
5) assume hydrophone in PiThe signal received is：
xi(t)=αix(t-τi)+ni(t)；
6) hydrophone is in PjThe signal received is：
xj(t)=αjx(t-τj)+nj(t)；
Wherein αi、αjFor the attenuation coefficient that acoustical signal is propagated in water, ni(t)、nj(t) it is orthogonal noise signal,
τi、τjFor the propagation time；
7) it is mutual to do broad sense for the sound-source signal received in different location to the hydrophone of the bottoms AUV by the formula of step (5)
Correlation computations, xi(t) and xj(t) cross-correlation function is：
8) wherein τ=τj-τi, indicate reaching time-difference,TIndicate observation time.According to the property of correlation function, as long as looking for
Go outPeak value, corresponding τijConsist of two parts, first, the fixed hydrophone in the bottoms AUV is in PiPlace and PjPlace due to
From seabed hydrophone apart from difference cause acoustic signal propagation time different and caused by time difference Δ tij, second is that AUV is from PjTo Pi
Position through time kt (k be pass through periodicity).
Advantageous effect：The present invention in the single hydrophone of bottom setting (band sound source), and in the bottoms AUV by being arranged individually
Hydrophone (receiver) persistently sends acoustical signal to carry out real-time update to the position of carrier using seabed hydrophone, calculates
Position coordinates be to be converted relative to the coordinate under terrestrial coordinate system, then by coordinate, the longitude and latitude being converted under earth coordinates
Degrees of data.The advantages of the present invention over the prior art are that：
(1) present invention persistently sends acoustical signal to be determined to the position of AUV using seabed hydrophone, and AUV passively connects
Second signal is provided with higher concealment, it is not easy to the position of exposure AUV.
(2) present invention forms the time using the time window localization method moved based on the period with four continuous positions of AUV
Window, and period of pulse signal for being sent out according to seabed hydrophone of time window and move, the position of AUV can be carried out in real time with
Track simultaneously positions, and using the position error that can be effectively reduced inertial navigation system after this method and constantly accumulated with the time, can obtain
More accurate current position coordinates.
Description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the time window model schematic block diagram of the present invention；
Fig. 3 does broad sense cross-correlation for sound-source signal of the present invention and obtains delay inequality flow chart.
Specific implementation mode
Below in conjunction with attached drawing, the case study on implementation of the present invention is described in detail；
Such as Fig. 1, specific implementation step of the invention is as follows：
1) AUV first gets underwater hydrophone by computer and is used as position coordinates with sound source under inertial coodinate system
P(x,y,z)；
2) and then position coordinates under the inertial coodinate system of current AUV are set as P0(x0,y0,z0), hereafter AUV forward, and
The ultrasonic wave that moment keeps receiving hydrophone to send out (navigates through the time after the ultrasonic wave for receiving 10 periods
10t), the in-positions AUV P1, AUV passes through the sensings such as IMU (Inertial measurement unit) on lash ship and compass
The information such as device course, the speed current to AUV measure and after integral operationes, record the currently x, y, z in inertial coodinate system
Axial distance to go is respectively Δ x1、Δy1、Δz1, and the ultrasonic signal of next cycle is recorded, and after record end, AUV
Continuation is navigated by water forward, after by time 20t, the in-positions AUV P2, currently x, y, z is axial in inertial coodinate system for record
Distance to go be respectively Δ x2、Δy2、Δz2, and the ultrasonic signal of next cycle is recorded, after by time 30t,
The in-positions AUV P3, currently the distance to go of x, y, z axial direction is respectively Δ x to record in inertial coodinate system3、Δy3、Δz3, and
Record the ultrasonic signal of next cycle；
3) after computer has recorded four positions, computer is by the information of record, with latest position P3Inertia
Coordinate (x under coordinate system3,y3,z3) it is unknown parameter, it can be by Pi(i=0,1,2) coordinate representation is：
(x0,y0,z0)=((x3-Δx1),(y3-Δy1),(z3-Δz1))
(x1,y1,z1)=((x3-Δx2),(y3-Δy2),(z3-Δz2))
(x2,y2,z2)=((x3-Δx3),(y3-Δy3),(z3-Δz3))
1) computer is to P3The acoustical signal that place receives respectively with P2、P1、P0The acoustical signal that place receives does cross-correlation,
Such as Fig. 3, process is as follows：
Assuming that hydrophone is in PiThe signal received is (i=0,1,2,3)：
xi(t)=αix(t-τi)+ni(t)；
Wherein αiFor the attenuation coefficient that acoustical signal is propagated in water, ni(t) it is orthogonal noise signal, τiFor
Propagation time；
It is mutual that the sound-source signal received in different location by the hydrophone of the bottoms AUV in step (2) does broad sense
It closes and calculates, xi(t) (i=0,1,2) and x3(t) cross-correlation function is：
Wherein τ=τ3-τi, indicate that reaching time-difference, T indicate observation time.Computer is found out by certain algorithm
Peak value, corresponding τi3Consist of two parts, when the fixed hydrophone in the bottoms AUV as receiver in PiPlace and P3Place by
In from seabed hydrophone apart from difference cause acoustic signal propagation time different and caused by time difference Δ ti3, second is that AUV is from PiIt arrives
P3Position through time kt (k be pass through periodicity)；
So by P3Place receives the required time and P of acoustical signal2、P1、P0Place receive the required time of acoustical signal when
Between difference be：
Δt3i=τ3i(30-10i) t, (i=0,1,2)；
2) by AUV in Pi(i=0,1,2,3) it is with the distance of seabed hydrophone P (x, y, z) when at：
So the time difference obtained according to computer, the underwater velocity of sound is set as steady state value, is denoted as c, can obtain side below
Journey group：
L3-L0=Δ t30c
L3-L1=Δ t31c；
L3-L2=Δ t32c
3) after computer will substitute into equation group again after the range formula of the coordinate substitution in step (3), by 3 in equation group
A equation can obtain required P3Coordinate (x3,y3,z3), i.e. AUV newest coordinate positions at this time, then converted by coordinate
At the longitude and latitude degrees of data under earth coordinates, first time window, which calculates, at this time completes；
4) AUV continuation is navigated by water forward, and the pulse signal that seabed hydrophone is sent out passes through 10 period i.e. 10t again when, AUV is arrived
Up to position P4, currently the distance to go of x, y, z axial direction is respectively Δ x to record in inertial coodinate system2、Δy2、Δz2, and record
The ultrasonic signal of next cycle, at this time by P0(x0,y0,z0) deleted from time window, and by current P4With P1、P2、P3Group
The time window of Cheng Xin.And so on, during AUV is navigated by water, the period that time window is always maintained at 10t moves backward；
5) time window hereafter is identical with the processing method of first time window, and the coordinate of latest position can be used as unknown
Parameter represent first three record position coordinate, to obtain latest position coordinate exact value；
The present invention proposes effective solution mode for two kinds of situations in the prior art：By strapdown inertial navigation system
Single hydrophone (receiver) and seabed single hydrophone (band sound source) composition of the bottom SINS, AUV.Using based on seabed hydrophone
The period of the ultrasonic wave sent out and the time window model of movement, receive when inside time window by being in different location to AUV
To sound-source signal do broad sense cross-correlation and obtain delay inequality, then to obtain AUV newest by calculating AUV Multiple point models inside time window
Position coordinates.It is constantly moved forward since time window is based on ultrasonic wave period, preferable positioning accuracy can be reached and increased
The redundancy of system.The present invention is calculated by AUV Multiple point models inside time window, and AUV distance to go is not necessarily to too far, to effectively
Reduce inertial navigation system with the time is constantly accumulated and caused by position error.AUV is without the progress that above emerges in the present invention
Location updating, without data communication and AUV passively receive ultrasonic signal, be not easy exposure position, improve AUV concealment and
Safety.
Claims (3)
1. a kind of passive underwater acoustic localization method based on period traveling time window, which is characterized in that include the following steps：
(1) the single hydrophone for being fixed on seabed is positioned as sound source, calculates the position coordinates P under its inertial coodinate system
(x,y,z)；
(2) the hydrophone moment in seabed keeps working condition, and constantly sends out the ultrasonic pulse signal that the period is t, when the bottoms AUV
After the fixed hydrophone in portion receives the pulse signal in 10 periods as receiver, that is, pass through time 10t, AUV is forward
A distance is travelled, when fixed hydrophone receives the 11st pulse signal when the bottoms AUV, determines and records that AUV is current
Position Pi(i=0,1,2,3 ...), at this time using the appearance of pulse signal as the initial position of periodic signal, receiver receives sea
The acoustical signal x for a cycle that bottom hydrophone is sent outi(i=0,1,2,3 ...)；
(3) for AUV when Its Adjacent Waters where hydrophone navigate by water, the continuous position for choosing 4 AUV recorded forms the time
Window, there is shown 4 position Pi(i=0,1,2,3) coordinate absolutely under geographic coordinate system is：
(4) by P3The acoustical signal that place receives respectively with P2、P1、P0The acoustical signal that place receives does cross-correlation and obtains delay inequality τ32、
τ31、τ30：
Δt3i=τ3i(30-10i) t, (i=0,1,2)；
And AUV is in Pi(i=0,1,2,3) it is with the distance of seabed hydrophone P (x, y, z) when at：
So according to estimated delay inequality, the underwater velocity of sound is set as steady state value, is denoted as c, obtains equation group below：
(5) it after substituting into equation group again after the range formula substituted by the coordinate in step (3), is obtained by 3 equations in equation group
To required P3Coordinate (x3,y3,z3), i.e. AUV newest coordinate positions at this time.
2. a kind of passive underwater acoustic localization method based on period traveling time window according to claim 1, which is characterized in that
The representation method of step (3) time window is：
1) position coordinates under the inertial coodinate system of original AUV are set as P0(x0,y0,z0), after by time 10t, obtain
Current position coordinates P1(x1,y1,z1), after by time 20t, obtain current position coordinates P2(x2,y2,z2), it is passing through
It crosses after time 30t, obtains newest position coordinates P3(x3,y3,z3), four points at this time form a time window；
2) when the pulse signal that hydrophone is sent out when seabed passes through 10 period i.e. 10t, AUV is obtained under current inertial coodinate system
Position coordinates be P4(x4,y4,z4), at this time by P0(x0,y0,z0) deleted from time window, and by current P4With P1、P2、P3
Form new time window；And so on, during AUV is navigated by water, time window is kept for the period of 10t move backward；
3) wherein in first time window, pass through course IMU on lash ship and compass sensor current to AUV, velocity information
Measure and in 10t, 20t, 30t time for being obtained after integral operation AUV x, y, z axial directions in absolute geographic coordinate system boat
Row distance is respectively Δ x1、Δx2、Δx3、Δy1、Δy2、Δy3、Δz1、Δz2、Δz3, to use latest position P3(x3,y3,
z3) it is unknown parameter, by Pi(i=0,1,2) it is expressed as：
4) subsequent time window is identical with the processing method of first time window, uses the coordinate of latest position as unknown parameter table
The coordinate of the position of first three record is shown.
3. a kind of passive underwater acoustic localization method based on period traveling time window according to claim 1, which is characterized in that
The method that cross-correlation obtains delay inequality in the step (4) is：
5) assume hydrophone in PiThe signal received is：
xi(t)=αix(t-τi)+ni(t)；6) hydrophone is in PjThe signal received is：
xj(t)=αjx(t-τj)+nj(t)；
Wherein αi、αjFor the attenuation coefficient that acoustical signal is propagated in water, ni(t)、nj(t) it is orthogonal noise signal, τi、ξ
For the propagation time；
7) sound-source signal received in different location to the hydrophone of the bottoms AUV by the formula of step (5) does broad sense cross-correlation
It calculates, xi(t) and xj(t) cross-correlation function is：
8) wherein τ=τj-τi, indicate that reaching time-difference, T indicate observation time；According to the property of correlation function, as long as finding outPeak value, corresponding τijConsist of two parts, first, the fixed hydrophone in the bottoms AUV is in PiPlace and PjPlace due to
Seabed hydrophone apart from difference cause acoustic signal propagation time different and caused by time difference Δ tij, second is that AUV is from PjTo PiPosition
Set through time kt, k be pass through periodicity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312943.7A CN106054135B (en) | 2016-05-12 | 2016-05-12 | A kind of passive underwater acoustic localization method based on period traveling time window |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610312943.7A CN106054135B (en) | 2016-05-12 | 2016-05-12 | A kind of passive underwater acoustic localization method based on period traveling time window |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106054135A CN106054135A (en) | 2016-10-26 |
| CN106054135B true CN106054135B (en) | 2018-08-21 |
Family
ID=57176978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610312943.7A Active CN106054135B (en) | 2016-05-12 | 2016-05-12 | A kind of passive underwater acoustic localization method based on period traveling time window |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054135B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106680824B (en) * | 2016-12-21 | 2019-04-30 | 中国人民解放军海军潜艇学院 | It is a kind of based on the submarine navigation device of up-and-down maneuver from major heading Passive Location |
| CN107479031A (en) * | 2017-07-24 | 2017-12-15 | 哈尔滨工程大学 | A kind of hidden underwater Passive Location |
| CN107656281A (en) * | 2017-08-17 | 2018-02-02 | 东南大学 | A kind of air navigation aid of the time difference auxiliary SINS based on cepstral analysis |
| CN107656244A (en) * | 2017-08-24 | 2018-02-02 | 南京安璞信息技术有限公司 | Based on the critical indoor locating system and method for listening domain ultrasonic wave reaching time-difference |
| CN109905846B (en) * | 2019-02-18 | 2020-09-15 | 天津城建大学 | Underwater wireless sensor network positioning method based on autonomous underwater vehicle |
| CN109884646A (en) * | 2019-03-28 | 2019-06-14 | 广东志成冠军集团有限公司 | A kind of high accuracy remote subaqueous sound ranging method based on the capture of low frequency and continuous sound wave peak value |
| CN110196425B (en) * | 2019-05-16 | 2021-03-12 | 北京大学 | Passive acoustic positioning method for underwater target by mobile platform |
| WO2024007067A1 (en) * | 2022-07-07 | 2024-01-11 | Hifi Engineering Inc. | Methods and systems for tracking an object moving along a conduit |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1862763A2 (en) * | 2006-05-31 | 2007-12-05 | Honeywell International Inc. | Rapid self-alignment of a strapdown inertial system through real-time reprocessing |
| CN104180804A (en) * | 2014-09-11 | 2014-12-03 | 东南大学 | Single reference node underwater vehicle integrated navigation method based on underwater information network |
| CN104316045A (en) * | 2014-11-06 | 2015-01-28 | 东南大学 | AUV (autonomous underwater vehicle) interactive auxiliary positioning system and AUV interactive auxiliary positioning method based on SINS (strapdown inertial navigation system)/LBL (long base line) |
| CN105445724A (en) * | 2015-12-31 | 2016-03-30 | 西北工业大学 | Single-hydrophone free-field passive distance measurement method |
| CN105526931A (en) * | 2015-12-02 | 2016-04-27 | 中国人民解放军91388部队 | Combined navigation method for underwater vehicle based on individual seabed transponder |
-
2016
- 2016-05-12 CN CN201610312943.7A patent/CN106054135B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1862763A2 (en) * | 2006-05-31 | 2007-12-05 | Honeywell International Inc. | Rapid self-alignment of a strapdown inertial system through real-time reprocessing |
| CN104180804A (en) * | 2014-09-11 | 2014-12-03 | 东南大学 | Single reference node underwater vehicle integrated navigation method based on underwater information network |
| CN104316045A (en) * | 2014-11-06 | 2015-01-28 | 东南大学 | AUV (autonomous underwater vehicle) interactive auxiliary positioning system and AUV interactive auxiliary positioning method based on SINS (strapdown inertial navigation system)/LBL (long base line) |
| CN105526931A (en) * | 2015-12-02 | 2016-04-27 | 中国人民解放军91388部队 | Combined navigation method for underwater vehicle based on individual seabed transponder |
| CN105445724A (en) * | 2015-12-31 | 2016-03-30 | 西北工业大学 | Single-hydrophone free-field passive distance measurement method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106054135A (en) | 2016-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106054135B (en) | A kind of passive underwater acoustic localization method based on period traveling time window | |
| CN104316045B (en) | A kind of AUV based on SINS/LBL interacts aided positioning system and localization method under water | |
| CN1325932C (en) | Assembled navigation positioning method for manned submersible | |
| US9372255B2 (en) | Determining a position of a submersible vehicle within a body of water | |
| CN107390177B (en) | A kind of passive under-water acoustic locating method based on pure direction finding | |
| Eustice et al. | Recent advances in synchronous-clock one-way-travel-time acoustic navigation | |
| CN110057365A (en) | A kind of depth AUV dive localization method latent greatly | |
| CN106767793A (en) | A kind of AUV underwater navigation localization methods based on SINS/USBL tight integrations | |
| CN111596333B (en) | Underwater positioning navigation method and system | |
| CN106679662B (en) | A kind of underwater robot list beacon Combinated navigation method based on TMA technology | |
| CN105547290B (en) | It is a kind of based on ultra short baseline locating system from latent device air navigation aid | |
| CN102749622A (en) | Multiwave beam-based depth-sounding joint inversion method for sound velocity profile and seafloor topography | |
| CN103968830B (en) | Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method | |
| CN108614258A (en) | A kind of Underwater Navigation method based on single acoustic beacon distance measuring | |
| CN101907711A (en) | Simultaneous detecting and positioning method for autonomous underwater robot | |
| KR20080085509A (en) | Underwater navigation system for a platoon of multiple unmanned underwater vehicles using range measurements on two reference stations and inertial sensors | |
| CN107797125A (en) | A kind of method for reducing deep-sea detecting type AUV navigation positioning errors | |
| CN104061930B (en) | A kind of air navigation aid based on strap-down inertial guidance and Doppler log | |
| CN108919324B (en) | Positioning method of underwater glider | |
| CN104280024B (en) | Device and method for integrated navigation of deepwater robot | |
| CN110441736B (en) | Multi-joint underwater unmanned vehicle variable baseline three-dimensional space positioning method | |
| CN115390012B (en) | Multi-transponder coordinate measuring method, device and system for HOV (Hov) accurate positioning | |
| CN103697887B (en) | A kind of optimization air navigation aid based on SINS and Doppler log | |
| CN107462865B (en) | Course error compensation method based on single-standard positioning double-precision difference optimization | |
| Huang | An Underwater Target Tracking Algorithm Based on Extended Kalman Filter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |