CN107015201B - A kind of ultra short baseline locating system emergency is to clock method and system - Google Patents
A kind of ultra short baseline locating system emergency is to clock method and system Download PDFInfo
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- CN107015201B CN107015201B CN201710432137.8A CN201710432137A CN107015201B CN 107015201 B CN107015201 B CN 107015201B CN 201710432137 A CN201710432137 A CN 201710432137A CN 107015201 B CN107015201 B CN 107015201B
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- submersible
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The present invention discloses a kind of ultra short baseline locating system emergency to clock method and system, and the emergency includes: to obtain the fathoming of ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system and the real depth of submersible to clock method；According to the real depth for fathoming, measuring horizontal distance and submersible of the ultra short baseline locating system, determine the locating latch of ultra short baseline locating system away from and submersible support apart from the water surface the true oblique distance of lash ship；According to the locating latch away from and submersible support apart from the water surface the true oblique distance of lash ship, it may be determined that the synchronised clock and the water surface of submersible support the delay inequality between the synchronised clock of lash ship；Delay disposal is carried out by increasing the synchronization signal that signal source supports the synchronised clock of lash ship to export the water surface, to compensate the delay inequality between the synchronised clock of submersible and the synchronised clock of water surface support lash ship, so that it is guaranteed that the normal work of ultra short baseline locating system, realizes the accurate positioning to submersible.
Description
Technical field
The present invention relates to manned underwater vehicle ultra short baseline locating system technical fields, are suitable for more particularly to one kind manned
Submersible ultra short baseline locating system is met an urgent need to clock method and system.
Background technique
When ultra short baseline locating system is used to carry out Underwater Navigation to submersible, it works in synchronous triggering mode.Water
It is assembled with high-precision synchronised clock on face support lash ship and submersible, it, will be to two synchronised clocks before each dive operation
It carries out to clock, to guarantee the triggering moment strict conformance during entire dive task.
However, due in manned capsule space it is very narrow, and the trigger button of synchronised clock is exposed outside, certain journey
The risk of synchronised clock false triggering is increased on degree.Once dive personnel have accidentally touched synchronised clock trigger button, then dive
The triggering moment of hydrophone synchronised clock restarts, when the water surface being caused to support the triggering of lash ship and two synchronised clocks on submersible
Quarter is no longer consistent, i.e. there are delay inequalitys for two synchronised clocks, so that ultra short baseline locating system can not carry out submersible just determining
Position, to be unable to ensure the safety of the underwater operation of submersible.
Therefore, once occur two synchronised clocks are asynchronous cause ultra short baseline locating system can not work normally when, it is necessary to
The delay inequality of two synchronised clocks is estimated at the first time, and takes corresponding indemnifying measure.However, in submersible dive operation
Cheng Zhong needs to estimate two synchronised clock time delays because synchronised clock false triggering causes ultra short baseline locating system can not work normally
The problem of difference is estimated different from time delay in general sense.Therefore it is badly in need of a kind of ultra short baseline locating system emergency to clock method
And system solves this technical problem.
Summary of the invention
The object of the present invention is to provide a kind of ultra short baseline locating system emergency to clock method, can accurately determine submersible
Synchronised clock and the water surface are supported the delay inequality between the synchronised clock of lash ship and are compensated.
To achieve the above object, the present invention provides following schemes:
A kind of ultra short baseline locating system emergency is to clock method, and the ultra short baseline locating system emergency is to clock method packet
It includes:
Obtain the fathoming of ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system and submersible
Real depth；
According to the fathoming of the ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system and latent
The real depth of hydrophone determine the locating latch of ultra short baseline locating system away from and submersible apart from the water surface support lash ship it is true tiltedly
Away from；
According to the locating latch of the ultra short baseline locating system away from and submersible apart from the water surface support lash ship true oblique distance
Determine the delay inequality between the synchronised clock of submersible and the synchronised clock of water surface support lash ship；
The synchronised clock of lash ship is supported to export synchronization signal and carry out delay disposal the water surface by signal source, to compensate diving
The synchronised clock and the water surface of device support the delay inequality between the synchronised clock of lash ship.
Optionally, the locating latch of the determining ultra short baseline locating system away from and submersible apart from the water surface support lash ship it is true
Real oblique distance, specifically includes: based on by the fathoming of ultra short baseline locating system, the measurement level of ultra short baseline locating system away from
From and ultra short baseline locating system locating latch away from the first right angled triangle of formation, determine the ultra short baseline locating system
Locating latch is away from RUSBL:
Wherein, HUSBLFor fathoming for ultra short baseline locating system, LUSBLFor
The measurement horizontal distance of ultra short baseline locating system；
Based on by submersible real depth, submersible apart from the water surface support lash ship true horizon distance and submersible away from
The true oblique distance of lash ship is supported to form the second right angled triangle, and first right angled triangle and the second right angle trigonometry from the water surface
Shape is similar, determines that the submersible supports the true oblique distance R of lash ship apart from the water surfacereal:
Wherein, HrealFor the real depth of submersible, LrealIt is submersible apart from water
The true horizon distance of face support lash ship.
Optionally, the synchronised clock of the determining submersible and the water surface support the delay inequality between the synchronised clock of lash ship,
It specifically includes:
According to the locating latch of the ultra short baseline locating system away from RUSBLDetermine biography used in ultra short baseline locating system
T between sowing timeUSBL:
Wherein, c indicates the velocity of sound；
The true oblique distance R of lash ship is supported apart from the water surface according to the submersiblerealDetermine sound wave by the acoustics on submersible
Beacon propagation to the water surface supports the true propagation time T of the ultra short baseline locating system transducer array on lash shipreal:
According to propagation time T used in the ultra short baseline locating systemUSBLAnd sound wave is believed by the acoustics on submersible
Mark propagates to the true propagation time T for the ultra short baseline locating system transducer array that the water surface is supported on lash shiprealDetermine submersible
Synchronised clock and the water surface support lash ship synchronised clock between delay inequality Δ T:
Δ T=TUSBL-Treal。
Optionally, the velocity of sound c value is 1500m/s.
Optionally, the real depth for obtaining submersible specifically includes: being measured by high accuracy depth measurement described
The real depth of submersible, and the water surface is uploaded to by digital underwater acoustic communication set and supports lash ship, it is supported in lash ship from the water surface
Obtain the numerical value of the real depth of submersible.
Optionally, the digital underwater acoustic communication set uploads the true depth of the submersible when submersible heave velocity is 0
Degree.
Optionally, the ultra short baseline locating system emergency is to clock method further include:
According to the difference of the ultra short baseline locating system to fathom between the real depth of submersible, pass through institute
State the rotation button of the adjustment difference in signal source, synchronised clock and the water surface to submersible support lash ship synchronised clock it
Between delay inequality carry out accurate adjustment.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
Synchronised clock and the water surface of the ultra short baseline locating system emergency of the present invention to clock method in submersible support lash ship
There are when delay inequality between synchronised clock, pass through the fathoming of ultra short baseline locating system, the survey of ultra short baseline locating system
Amount horizontal distance and the real depth of submersible determine the locating latch of ultra short baseline locating system away from and submersible apart from water surface branch
Hold the true oblique distance of lash ship, so can according to the locating latch of ultra short baseline locating system away from and submersible apart from the water surface support lash ship
True oblique distance accurately determine that the synchronised clock of submersible and the water surface support the delay inequality between the synchronised clock of lash ship, and pass through
It needs to increase a signal source on the basis of existing equipment and supports the synchronised clock output synchronization signal of lash ship to prolong the water surface
Processing late, the synchronised clock and the water surface that compensate submersible support the delay inequality between the synchronised clock of lash ship, it is ensured that ultra-short baseline
The normal work of positioning system realizes the accurate positioning to submersible.
The object of the present invention is to provide a kind of ultra short baseline locating system emergency to master slave system, can accurately determine submersible
Synchronised clock and the water surface are supported the delay inequality between the synchronised clock of lash ship and are compensated.
To achieve the above object, the present invention provides following schemes:
A kind of ultra short baseline locating system emergency is to master slave system, and the ultra short baseline locating system emergency is to master slave system packet
It includes:
Acquiring unit, for obtaining the fathoming of ultra short baseline locating system, the measurement water of ultra short baseline locating system
The real depth of flat distance and submersible；
Oblique distance determination unit, for according to the fathoming of the ultra short baseline locating system, ultra short baseline locating system
Measurement horizontal distance and submersible real depth determine the locating latch of ultra short baseline locating system away from and submersible apart from water
The true oblique distance of face support lash ship；
Delay inequality determination unit, for according to the locating latch of the ultra short baseline locating system away from and submersible apart from the water surface
The true oblique distance of lash ship is supported to determine that the synchronised clock of submersible and the water surface support the delay inequality between the synchronised clock of lash ship；
Delay compensation unit, for supporting the synchronised clock of lash ship to export synchronization signal and prolong the water surface by signal source
Processing late, to compensate the delay inequality between the synchronised clock of submersible and the synchronised clock of water surface support lash ship.
Optionally, the oblique distance determination unit includes:
First oblique distance determining module, based on by the fathoming of ultra short baseline locating system, ultra short baseline locating system
The locating latch of horizontal distance and ultra short baseline locating system is measured away from the first right angled triangle of formation, determines the ultra-short baseline
The locating latch of positioning system is away from RUSBL:
Wherein, HUSBLFor fathoming for ultra short baseline locating system, LUSBLFor
The measurement horizontal distance of ultra short baseline locating system；
Second oblique distance determining module is true apart from water surface support lash ship based on the real depth by submersible, submersible
Horizontal distance and submersible support true oblique distance the second right angled triangle of formation of lash ship, and first right angle three apart from the water surface
It is angular similar to the second right angled triangle, determine that the submersible supports the true oblique distance R of lash ship apart from the water surfacereal:
Wherein, HrealFor the real depth of submersible, LrealIt is submersible apart from water
The true horizon distance of face support lash ship.
Optionally, the delay inequality determination unit includes:
First moment determining module, for according to the locating latch of the ultra short baseline locating system away from RUSBLDetermine ultrashort base
Propagation time T used in line positioning systemUSBL:
Wherein, c indicates the velocity of sound；
Second moment determining module, for according to the locating latch of the submersible away from RrealDetermine sound wave by submersible
Acoustics beacon propagation to the water surface supports the true propagation time T of the ultra short baseline locating system transducer array on lash shipreal:
Delay inequality determining module is used for the propagation time T according to used in the ultra short baseline locating systemUSBLAnd sound wave
The true propagation of the ultra short baseline locating system transducer array on lash ship is supported by the acoustics beacon propagation on submersible to the water surface
Time TrealDetermine the delay inequality Δ T between the synchronised clock of submersible and the synchronised clock of water surface support lash ship:
Δ T=TUSBL-Treal。
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
Ultra short baseline locating system emergency of the present invention passes through setting acquiring unit, oblique distance determination unit and time delay to master slave system
Poor determination unit supports the synchronised clock of lash ship there are when delay inequality, passes through ultrashort base in the synchronised clock and the water surface of submersible
The real depth of the fathoming of line positioning system, the measurement horizontal distance of ultra short baseline locating system and submersible determines ultrashort
The locating latch of baseline positioning system away from and submersible support apart from the water surface the true oblique distance of lash ship, and then can be fixed according to ultra-short baseline
Position system locating latch away from and submersible apart from the water surface support lash ship true oblique distance accurately determine submersible synchronised clock with
The water surface supports the delay inequality between the synchronised clock of lash ship, and by needing to increase a signal source pair on the basis of existing equipment
The water surface supports the synchronised clock output synchronization signal of lash ship to carry out delay disposal, and the synchronised clock and the water surface for compensating submersible are supported
Delay inequality between the synchronised clock of lash ship, so that the normal work of ultra short baseline locating system, is realized to the accurate of submersible
Positioning.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the flow chart that ultra short baseline locating system of the embodiment of the present invention is met an urgent need to clock method；
Fig. 2 is the similar diagram of the first right angled triangle and the second right angled triangle in the embodiment of the present invention；
Fig. 3 is that latent emergency of certain in the embodiment of the present invention compares the positioning result of ultra short baseline locating system before and after clock
Figure；
Fig. 4 is emplacement depth and depth of the latent emergency of certain in the embodiment of the present invention to ultra short baseline locating system before and after clock
Count the comparison to fathom；
Fig. 5 is the modular structure schematic diagram that ultra short baseline locating system of the embodiment of the present invention is met an urgent need to master slave system.
Symbol description:
Acquiring unit -1, oblique distance determination unit -2, the first oblique distance determining module -21, the second oblique distance determining module -
22, delay inequality determination unit -3, the first moment determining module -31, the second moment determining module -32, delay inequality determines mould
Accurate adjustment module -42 are prolonged in block -33, delay compensation unit -4, time delay coarse adjustment module -41.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of ultra short baseline locating system emergency to clock method, in the synchronised clock of submersible
It supports between the synchronised clock of lash ship the water surface there are when delay inequality, by the fathoming of ultra short baseline locating system, ultrashort
The measurement horizontal distance of baseline positioning system and the real depth of submersible determine the locating latch of ultra short baseline locating system away from and
Submersible supports the true oblique distance of lash ship apart from the water surface, so can according to the locating latch of ultra short baseline locating system away from and submersible
Apart from the water surface support lash ship true oblique distance accurately determine submersible synchronised clock and the water surface support lash ship synchronised clock it
Between delay inequality, and by need to increase on the basis of existing equipment a signal source to the water surface support lash ship synchronised clock it is defeated
Synchronization signal carries out delay disposal out, and the synchronised clock and the water surface that compensate submersible support the time delay between the synchronised clock of lash ship
Difference, so that it is guaranteed that the normal work of ultra short baseline locating system, realizes the accurate positioning to submersible.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, a kind of ultra short baseline locating system emergency of the present invention includes: to clock method
Step 100: obtaining the fathoming of ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system
And the real depth of submersible；
Step 200: horizontal according to the fathoming of the ultra short baseline locating system, the measurement of ultra short baseline locating system
Distance and the real depth of submersible determine the locating latch of ultra short baseline locating system away from and submersible apart from the water surface support lash ship
True oblique distance；
Step 300: according to the locating latch of the ultra short baseline locating system away from and submersible apart from the water surface support lash ship
True oblique distance determines that the synchronised clock of submersible and the water surface support the delay inequality between the synchronised clock of lash ship；
Step 400: support the synchronised clock of lash ship to export synchronization signal and carry out delay disposal the water surface by signal source, with
The synchronised clock and the water surface that compensate submersible support the delay inequality between the synchronised clock of lash ship.
Wherein, in step 100, the depth for obtaining submersible specifically includes: being measured by high accuracy depth measurement
To the real depth of the submersible, and the water surface is uploaded to by digital underwater acoustic communication set and supports lash ship, supported from the water surface
The numerical value of the real depth of submersible is obtained in lash ship.Preferably, the digital underwater acoustic communication set is 0 in submersible heave velocity
The real depth of submersible described in Shi Shangchuan can cause upload submersible true to avoid due to the delay of digital underwater sound communication in this way
The delay of depth value, to improve the counting accuracy of two synchronised clock delay inequalitys.
(A point indicates that the water surface supports lash ship, B to indicate that the actual position of submersible, C indicate ultra-short baseline positioning as shown in Figure 2
The submersible position of systematic survey), in step 200, the locating latch of the determining ultra short baseline locating system away from and submersible
The true oblique distance that lash ship is supported apart from the water surface, specifically includes:
Based on by the fathoming of ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system and ultrashort
First right angled triangle of the locating latch of baseline positioning system away from formation, determine the locating latch of the ultra short baseline locating system away from
RUSBL:
Wherein, HUSBLFor ultra short baseline locating system
It fathoms, LUSBLFor the measurement horizontal distance of ultra short baseline locating system.
Based on by submersible real depth, submersible apart from the water surface support lash ship true horizon distance and submersible away from
The true oblique distance of lash ship is supported to form the second right angled triangle from the water surface.The synchronised clock and the water surface of submersible support the same of lash ship
The basic principle of time delay estimation is between step clock: when two synchronised clocks are there are when delay inequality, ultra short baseline locating system
Time delay estimation is wrong (there are droops), and angle estimation is correctly then first right angled triangle and second
Right angled triangle is similar, determines that the submersible supports the true oblique distance R of lash ship apart from the water surfacereal:
Wherein, HrealFor the real depth of submersible,
LrealThe true horizon distance of lash ship is supported apart from the water surface for submersible.
In step 300, the synchronised clock of the determining submersible and the water surface support between the synchronised clock of lash ship when
Prolong difference, specifically include:
According to the locating latch of the ultra short baseline locating system away from RUSBLDetermine biography used in ultra short baseline locating system
T between sowing timeUSBL:
Wherein, c indicates the velocity of sound.In the present embodiment, the velocity of sound c takes
Value is 1500m/s.
According to the locating latch of the submersible away from RrealDetermine sound wave by the acoustics beacon propagation on submersible to water surface branch
Hold the true propagation time T of the ultra short baseline locating system transducer array on lash shipreal:
According to propagation time T used in the ultra short baseline locating systemUSBLAnd sound wave is believed by the acoustics on submersible
Mark propagates to the true propagation time T for the ultra short baseline locating system transducer array that the water surface is supported on lash shiprealDetermine submersible
Synchronised clock and the water surface support lash ship synchronised clock between delay inequality Δ T:
Δ T=TUSBL-Treal--- --- --- formula (5).
It is illustrated by taking a specific embodiment as an example below.In Afternoon Local Time 14:00 or so, ultra-short baseline positioning system
System result substantial deviation truth.Tentatively judged, is to come out failure since two synchronised clocks are synchronous.It is regarded by checking in cabin
Frequency and underwater sound communication meter record, determine that synchronised clock is inadvertently touched in cabin, and are deviated.
The real depth of the submersible is measured, by high accuracy depth measurement in order to preferably estimate two synchronised clocks
Delay inequality uploads the submersible real depth data to the water surface when submersible heave velocity is 0 and supports lash ship, in this way can be with
It avoids being delayed due to digital underwater sound communication and causes to upload the delay of submersible real depth value.
The data of acquisition are respectively as follows: the H that fathoms of ultra short baseline locating systemUSBL=8643m, ultra-short baseline positioning system
The measurement horizontal distance L of systemUSBLThe real depth H of=4918m, submersiblereal=2691m；Bring above three known quantity into public affairs
Formula (1) is available to formula (5): the locating latch of ultra short baseline locating system is away from RUSBL=9944.3m, submersible are apart from water
The true horizon distance L of face support lash shipreal=1531.2m, submersible support the true oblique distance R of lash ship apart from the water surfacereal=
Propagation time T used in 3096.1m, ultra short baseline locating systemUSBL=6.6295s, sound wave are believed by the acoustics on submersible
Mark propagates to the true propagation time T for the ultra short baseline locating system transducer array that the water surface is supported on lash shipreal=2.0641s,
The synchronised clock and the water surface of submersible support the delay inequality Δ T=4.5654s between the synchronised clock of lash ship.
In step 400, described to support the synchronised clock of lash ship to export synchronization signal and prolong the water surface by signal source
Processing late, it is specific to wrap to compensate the delay inequality between the synchronised clock of submersible and the synchronised clock of water surface support lash ship
It includes:
The signal for being used for external trigger is connected to by coaxial cable to the Ext Trig/ positioned at signal source panel back
In Gate/FSK/Burst sync cap；Output signal channel needed for selecting.Wherein, corresponding channel is determined according to signal source,
In the present embodiment, first passage is selected.
The signal of the first passage output is pulse signal, design parameter are as follows: frequency: 1Hz, amplitude: 5Vpp, arteries and veins
It is wide: 10ms, Output: selection On.
In the case where emergency is not needed normally to clock, there is a coaxial cable (both ends BNC), both ends are separately connected water
The synchronised clock of face synchronised clock and ultra short baseline locating system, such synchronization signal can be sent to ultrashort by synchronised clock
Baseline positioning system.
When emergency is to clock, the coaxial cable of ultra short baseline locating system one end is pulled up, signal source panel back is inserted into
Sync cap on；A coaxial cable is additionally needed, channel and the ultra-short baseline positioning system of signal source front panel are separately connected
System.
The setting of triggering: Burst key is pressed first, then selects On；Trigger button is pressed, then in panel by Source
It is chosen to Ext；It finally selects the delay needed: being arranged to the time delay needed by Trigger Setup > Delay of panel；Then
The completion of Done key is pressed, time delay can be by herein according to needing to adjust.In the present embodiment, the time delay needed is set as
4.5654s
In addition, ultra short baseline locating system emergency of the present invention is to clock method further include: position system according to the ultra-short baseline
The difference of system to fathom between the real depth of submersible passes through the rotation of the adjustment difference in the signal source
Button, the synchronised clock to submersible and the water surface support the delay inequality between the synchronised clock of lash ship to carry out accurate adjustment.
For example, can be by artificially observing the fathoming between the real depth of submersible of ultra short baseline locating system
Difference, the rotation button that can be manually rotated in the external signal source support the synchronous of lash ship with the water surface to the synchronised clock of submersible
Delay inequality between clock carries out accurate adjustment.
Specifically fine-tuning step includes: the number increased or reduced in Delay by the rotation button on signal source panel
It is worth (i.e. Δ T).It increases or reduce the numerical value in Delay to rotation button is then passed through, is then positioned by comparing ultra-short baseline
The H that fathoms of systemUSBLWith the real depth H of submersiblerealBetween difference.If increasing the numerical value in Delay, two is deep
Degree difference also increases, then should reduce the value in Delay, vice versa.It is slowly adjusted by the rotation button on signal source panel in this way
The numerical value in Delay is saved, until the two is as close possible to realize to synchronised clock and the water surface support lash ship of submersible
Delay inequality between synchronised clock carries out accurate adjustment.In the present embodiment, until being adjusted to two depth differences less than 1m.
Fig. 3 is that latent emergency of certain in the embodiment of the present invention compares the positioning result of ultra short baseline locating system before and after clock
Figure；Positioning result is divided into three parts: positioning result, local zone time 14 before local zone time 14:06 when synchronised clock zero deflection:
06~14:40 synchronised clock there are when deviation positioning result, synchronised clock emergency is determined after clock after local zone time 14:40
Position result.As seen from the figure, there are when deviation, the positioning result of ultra short baseline locating system exists very synchronised clock in the horizontal plane
Large deviation, hence it is evident that deviate submersible track；Synchronised clock emergency to clock after, the positioning result of ultra short baseline locating system with it is synchronous
Preferable consistency is maintained when clock zero deflection.
Fig. 4 is emplacement depth and depth of the latent emergency of certain in the embodiment of the present invention to ultra short baseline locating system before and after clock
Count the comparison to fathom；To synchronised clock, there are the depth results before and after deviation to have carried out partial enlargement in figure, wherein scatterplot
Indicate that the emplacement depth of ultra short baseline locating system, solid line indicate that depth gauge fathoms.As seen from the figure, synchronised clock exists inclined
When poor, the emplacement depth of ultra short baseline locating system is between 8000~ten thousand metres, substantial deviation depth gauge measured value；Part
Enlarged drawing has clearly demonstrated that two links of delay inequality compensation, i.e. time delay coarse adjustment and time delay accurate adjustment: (1) (14:40 when time delay coarse adjustment
~14:52), the emplacement depth of ultra short baseline locating system differs 50 meters or so with depth gauge measured value；(2) when time delay accurate adjustment
The emplacement depth of (after 14:52), ultra short baseline locating system differ several meters with depth gauge measured value, with synchronised clock zero deflection
When it is almost the same.
In addition, the present invention also provides a kind of ultra short baseline locating systems to meet an urgent need to master slave system, signal can be accurately determined
Source delay inequality.Specifically, as shown in figure 5, ultra short baseline locating system of the present invention emergency includes acquiring unit to master slave system
1, oblique distance determination unit 2, delay inequality determination unit 3 and time delay compensating unit 4.Wherein, the acquiring unit 1 is ultrashort for obtaining
The fathoming of baseline positioning system, the measurement horizontal distance of ultra short baseline locating system and the real depth of submersible；It is described
Oblique distance determination unit 2 is connect with the acquiring unit 1, for according to the fathoming of the ultra short baseline locating system, ultrashort
The measurement horizontal distance of baseline positioning system and the real depth of submersible determine the locating latch of ultra short baseline locating system away from and
Submersible supports the true oblique distance of lash ship apart from the water surface；The delay inequality determination unit 3 is connect with the oblique distance determination unit 2,
For according to the locating latch of the ultra short baseline locating system away from and submersible support the true oblique distance of lash ship to determine apart from the water surface
The synchronised clock and the water surface of submersible support the delay inequality between the synchronised clock of lash ship；The delay compensation unit 4 with it is described
Delay inequality determination unit 3 connects, for supporting the synchronised clock of lash ship to export synchronization signal and prolong the water surface by signal source
Processing late, to compensate the delay inequality between the synchronised clock of submersible and the synchronised clock of water surface support lash ship.
Specifically, the oblique distance determination unit 2 includes the first oblique distance determining module 21 and the second oblique distance determining module 22.
The first oblique distance determining module 21 is connect with the acquiring unit 1, based on the survey by ultra short baseline locating system
The locating latch for measuring depth, the measurement horizontal distance of ultra short baseline locating system and ultra short baseline locating system is straight away from the first of formation
Angle triangle determines the locating latch of the ultra short baseline locating system away from RUSBL:
Wherein, HUSBLFor ultra short baseline locating system
Depth, LUSBLFor the horizontal distance of ultra short baseline locating system.
The second oblique distance determining module 22 is connect with the acquiring unit 1 and the first oblique distance determining module 21 respectively, base
It is supported in true horizon distance and submersible of the real depth, submersible by submersible apart from water surface support lash ship apart from the water surface
The true oblique distance of lash ship forms the second right angled triangle.The synchronised clock and the water surface of submersible are supported between the synchronised clock of lash ship
The basic principle of time delay estimation is: when two synchronised clocks are there are when delay inequality, the time delay estimation of ultra short baseline locating system is
(there are droops) of mistake, and angle estimation is correctly then first right angled triangle and the second right angled triangle
It is similar, determine that the submersible supports the true oblique distance R of lash ship apart from the water surfacereal:
Wherein, HrealFor the real depth of submersible,
LrealThe true horizon distance of lash ship is supported apart from the water surface for submersible.
The delay inequality determination unit 3 includes the first moment determining module 31, the second moment determining module 32 and delay inequality
Determining module 33.
Wherein, the first moment determining module 31 is connect with the first oblique distance determining module 21, for according to
The locating latch of ultra short baseline locating system is away from RUSBLDetermine propagation time T used in ultra short baseline locating systemUSBL:
Wherein, c indicates the velocity of sound.
The second moment determining module 32 is connect with the second oblique distance determining module 22, for according to the submersible
Locating latch away from RrealDetermine that sound wave is supported the ultra-short baseline on lash ship to position by the acoustics beacon propagation on submersible to the water surface
The true propagation time T of system transducer battle arrayreal:
The delay inequality determining module 33 respectively with the first moment determining module 31 and the second moment determining module 32
Connection is used for the propagation time T according to used in the ultra short baseline locating systemUSBLAnd sound wave is believed by the acoustics on submersible
Mark propagates to the true propagation time T for the ultra short baseline locating system transducer array that the water surface is supported on lash shiprealDetermine submersible
Synchronised clock and the water surface support lash ship synchronised clock between delay inequality Δ T:
Δ T=TUSBL-Treal。
Wherein, the delay compensation unit 4 includes the time delay coarse adjustment module 41, supports lash ship to the water surface by signal source
Synchronised clock output synchronization signal carry out delay disposal, it is synchronous with water surface support lash ship to compensate the synchronised clock of submersible
The delay inequality between clock, specifically:
The Ext Trig/Gate/ positioned at signal source panel back is connected to by coaxial cable by the signal of external trigger
In FSK/Burst sync cap；Output signal channel needed for selecting.Wherein, corresponding channel is determined according to signal source, in this reality
It applies in example, selects first passage.
The signal of the first passage output is pulse signal, design parameter are as follows: frequency: 1Hz, amplitude: 5Vpp, arteries and veins
It is wide: 10ms, Output: selection On.
In the case where emergency is not needed normally to clock, there is a coaxial cable (both ends BNC), both ends are separately connected water
The synchronised clock of face synchronised clock and ultra short baseline locating system, such synchronization signal can be sent to ultrashort by synchronised clock
Baseline positioning system.
When emergency is to clock, the coaxial cable of ultra short baseline locating system one end is pulled up, signal source panel back is inserted into
Sync cap on；A coaxial cable is additionally needed, channel and the ultra-short baseline positioning system of signal source front panel are separately connected
System.
The setting of triggering: Burst key is pressed first, then selects On；Trigger button is pressed, then in panel by Source
It is chosen to Ext；It finally selects the delay needed: being arranged to the time delay needed by Trigger Setup > Delay of panel；Then
The completion of Done key is pressed, time delay can be by herein according to needing to adjust.In the present embodiment, the time delay needed is set as
4.5654s
In addition, ultra short baseline locating system emergency of the present invention further includes time delay accurate adjustment module 42, the time delay to master slave system
Accurate adjustment module 42 is connect with the time delay coarse adjustment module 41, according to the ultra short baseline locating system fathom and submersible
Real depth between difference, by the rotation button of the adjustment difference in the signal source, when to the synchronization of submersible
Clock and the water surface support the delay inequality between the synchronised clock of lash ship to carry out accurate adjustment.
Specifically, increasing or reducing the numerical value (i.e. Δ T) in Delay by the rotation button on signal source panel.To then
Increase or reduce the numerical value in Delay by rotation button, is then fathoming by comparing ultra short baseline locating system
HUSBLWith the real depth H of submersiblerealBetween difference.If increasing the numerical value in Delay, two depth differences also increase, then
The value in Delay should be reduced, vice versa.The numerical value in Delay is slowly adjusted by the rotation button on signal source panel in this way,
Until the two as close possible to, thus realize between the synchronised clock for supporting the synchronised clock and the water surface of submersible lash ship when
Prolong difference and carries out accurate adjustment.In the present embodiment, until being adjusted to two depth differences less than 1m.
Compared with the existing technology, ultra short baseline locating system emergency of the present invention is to master slave system and the positioning of above-mentioned ultra-short baseline
System emergency is identical to the beneficial effect of clock method, and details are not described herein.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of ultra short baseline locating system emergency is to clock method, which is characterized in that the ultra short baseline locating system emergency pair
Clock method includes:
Obtain the true of the fathoming of ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system and submersible
Real depth；
According to the fathoming of the ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system and submersible
Real depth determine the locating latch of ultra short baseline locating system away from and submersible support apart from the water surface the true oblique distance of lash ship, tool
Body includes: based on by the fathoming of ultra short baseline locating system, the measurement horizontal distance of ultra short baseline locating system and ultrashort
First right angled triangle of the locating latch of baseline positioning system away from formation, determine the locating latch of the ultra short baseline locating system away from
RUSBL:
Wherein, HUSBLFor fathoming for ultra short baseline locating system, LUSBLFor ultrashort base
The measurement horizontal distance of line positioning system；
True horizon distance and submersible based on the real depth, submersible by submersible apart from water surface support lash ship is apart from water
The true oblique distance of lash ship is supported to form the second right angled triangle, and first right angled triangle and the second right angled triangle phase in face
Seemingly, determine that the submersible supports the true oblique distance R of lash ship apart from the water surfacereal:
Wherein, HrealFor the real depth of submersible, LrealMother is supported apart from the water surface for submersible
The true horizon distance of ship；
According to the locating latch of the ultra short baseline locating system away from and submersible apart from the water surface support lash ship true oblique distance determine
The synchronised clock and the water surface of submersible support the delay inequality between the synchronised clock of lash ship；
Delay disposal is carried out by increasing the synchronization signal that signal source supports the synchronised clock of lash ship to export the water surface, it is latent to compensate
The synchronised clock and the water surface of hydrophone support the delay inequality between the synchronised clock of lash ship.
2. ultra short baseline locating system emergency according to claim 1 is to clock method, which is characterized in that the determining diving
The synchronised clock and the water surface of device support the delay inequality between the synchronised clock of lash ship, specifically include:
According to the locating latch of the ultra short baseline locating system away from RUSBLDetermine the propagation time used in ultra short baseline locating system
TUSBL:
Wherein, c indicates the velocity of sound；
The true oblique distance R of lash ship is supported apart from the water surface according to the submersiblerealDetermine that sound wave is passed by the acoustics beacon on submersible
Cast to the true propagation time T for the ultra short baseline locating system transducer array that the water surface is supported on lash shipreal:
According to propagation time T used in the ultra short baseline locating systemUSBLAnd sound wave is by the acoustics beacon propagation on submersible
The true propagation time T of the ultra short baseline locating system transducer array on lash ship is supported to the water surfacerealDetermine the synchronization of submersible
Clock and the water surface support the delay inequality Δ T between the synchronised clock of lash ship:
Δ T=TUSBL-Treal。
3. ultra short baseline locating system emergency according to claim 2 is to clock method, which is characterized in that the velocity of sound c takes
Value is 1500m/s.
4. ultra short baseline locating system emergency according to claim 1 is to clock method, which is characterized in that the acquisition diving
The real depth of device specifically includes: measuring the real depth of the submersible by high accuracy depth measurement, and passes through number
Underwater acoustic communication set is uploaded to the water surface and supports lash ship, and the numerical value of real depth that submersible is obtained in lash ship is supported from the water surface.
5. ultra short baseline locating system emergency according to claim 4 is to clock method, which is characterized in that the number underwater sound
Communication equipment uploads the real depth of the submersible when submersible heave velocity is 0.
6. ultra short baseline locating system emergency according to any one of claims 1-5 is to clock method, which is characterized in that institute
Ultra short baseline locating system emergency is stated to clock method further include:
According to the difference of the ultra short baseline locating system to fathom between the real depth of submersible, pass through the letter
The rotation button of the adjustment difference on number source, the synchronised clock to submersible and the water surface are supported between the synchronised clock of lash ship
Delay inequality carries out accurate adjustment.
7. a kind of ultra short baseline locating system emergency is to master slave system, which is characterized in that the ultra short baseline locating system emergency pair
Master slave system includes:
Acquiring unit, for obtain the fathoming of ultra short baseline locating system, the measurement level of ultra short baseline locating system away from
From and submersible real depth；
Oblique distance determination unit, for according to the fathoming of the ultra short baseline locating system, the survey of ultra short baseline locating system
Amount horizontal distance and the real depth of submersible determine the locating latch of ultra short baseline locating system away from and submersible apart from water surface branch
Hold the true oblique distance of lash ship；
Delay inequality determination unit, for according to the locating latch of the ultra short baseline locating system away from and submersible support apart from the water surface
The true oblique distance of lash ship determines that the synchronised clock of submersible and the water surface support the delay inequality between the synchronised clock of lash ship；
Delay compensation unit, for supporting the synchronised clock of lash ship to export synchronization signal and carry out at delay the water surface by signal source
Reason, to compensate the delay inequality between the synchronised clock of submersible and the synchronised clock of water surface support lash ship；
The oblique distance determination unit includes:
First oblique distance determining module, based on by the fathoming of ultra short baseline locating system, the measurement of ultra short baseline locating system
First right angled triangle of the locating latch of horizontal distance and ultra short baseline locating system away from formation determines the ultra-short baseline positioning
The locating latch of system is away from RUSBL:
Wherein, HUSBLFor fathoming for ultra short baseline locating system, LUSBLFor ultrashort base
The measurement horizontal distance of line positioning system；
Second oblique distance determining module, based on the true horizon of real depth, submersible apart from water surface support lash ship by submersible
Distance and submersible support true oblique distance the second right angled triangle of formation of lash ship, and first right angled triangle apart from the water surface
It is similar to the second right angled triangle, determine that the submersible supports the true oblique distance R of lash ship apart from the water surfacereal:
Wherein, HrealFor the real depth of submersible, LrealLash ship is supported apart from the water surface for submersible
True horizon distance.
8. ultra short baseline locating system emergency according to claim 7 is to master slave system, which is characterized in that the delay inequality is true
Order member includes:
First moment determining module, for according to the locating latch of the ultra short baseline locating system away from RUSBLDetermine that ultra-short baseline is fixed
Propagation time T used in the system of positionUSBL:
Wherein, c indicates the velocity of sound；
Second moment determining module, for according to the locating latch of the submersible away from RrealDetermine sound wave by the acoustics on submersible
Beacon propagation to the water surface supports the true propagation time T of the ultra short baseline locating system transducer array on lash shipreal:
Delay inequality determining module is used for the propagation time T according to used in the ultra short baseline locating systemUSBLAnd sound wave is by diving
Acoustics beacon propagation to the water surface on hydrophone supports the true propagation time of the ultra short baseline locating system transducer array on lash ship
TrealDetermine the delay inequality Δ T between the synchronised clock of submersible and the synchronised clock of water surface support lash ship:
Δ T=TUSBL-Treal。
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