CN107192983B - Device, method and system for observing relative position of underwater vehicle - Google Patents
Device, method and system for observing relative position of underwater vehicle Download PDFInfo
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- CN107192983B CN107192983B CN201710536532.0A CN201710536532A CN107192983B CN 107192983 B CN107192983 B CN 107192983B CN 201710536532 A CN201710536532 A CN 201710536532A CN 107192983 B CN107192983 B CN 107192983B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 60
- 230000033001 locomotion Effects 0.000 claims abstract description 53
- 238000005259 measurement Methods 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims description 38
- 230000004927 fusion Effects 0.000 claims description 26
- 238000001514 detection method Methods 0.000 claims description 21
- 230000002452 interceptive effect Effects 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000008707 rearrangement Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
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Classifications
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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
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- 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
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a device, a method and a system for observing the relative position of an underwater vehicle. The device comprises an acoustic measurement module, a first data acquisition module and a second data acquisition module, wherein the acoustic measurement module is used for detecting the position of the underwater vehicle and outputting the first data; the positioning module is arranged on the buoy relay and used for determining the position of the buoy relay and outputting second data; the inertial measurement module is arranged on the underwater vehicle and used for detecting the motion state of the underwater vehicle and outputting third data; and the control processing module is connected with the output ends of the acoustic measuring module, the positioning module and the inertial measuring module and is used for receiving the first data, the second data and the third data and processing the received data to obtain first position information. The problem that an operator cannot quickly and accurately acquire the position and the posture of the underwater vehicle after the underwater vehicle enters water is solved, and the effect of accurately and conveniently outputting the relative position and the posture information of the underwater vehicle is achieved.
Description
Technical Field
The embodiment of the invention relates to an electronic equipment positioning technology, in particular to a device, a method and a system for observing the relative position of an underwater vehicle.
Background
After the underwater vehicle enters water, an operator cannot visually observe the position and the posture of the underwater vehicle on the water surface, so that the underwater vehicle cannot be effectively operated to move to the expected position.
Because radio wave signals cannot be transmitted in seawater and acoustic wave signals have good transmission characteristics in water, the existing technology comprises the steps of arranging a plurality of acoustic wave auxiliary positioning devices in a certain working area to form a positioning network, calculating the distance between a target object and the positioning devices, and fusing depth data and angle data for calculation, so that the relative position of the target object in the positioning network is obtained.
However, in the prior art, the method for obtaining the relative position based on the sound wave needs to deploy auxiliary equipment and lock a working area, so that the integration level is low and the price is high.
Disclosure of Invention
The invention provides a device, a method and a system for observing the relative position of an underwater vehicle, which are used for realizing that an operator can accurately measure and observe the relative position of the underwater vehicle on the water surface, reducing the price of measuring equipment and improving the integration level of the equipment.
In a first aspect, an embodiment of the present invention provides a device for observing a relative position of an underwater vehicle, including an acoustic measurement module, a positioning module, an inertial measurement module, and a control processing module, where:
the acoustic measurement module is used for detecting the position of the underwater vehicle and outputting first data;
the positioning module is arranged on the buoy relay and used for determining the position of the buoy relay and outputting second data;
the inertial measurement module is arranged on the underwater vehicle and used for detecting the motion state of the underwater vehicle and outputting third data;
the control processing module is connected with the output ends of the acoustic measuring module, the inertia measuring module and the positioning module, and is used for receiving the first data, the second data and the third data, and processing the received data to obtain first position information.
In a second aspect, an embodiment of the present invention provides a system for observing a relative position of an underwater vehicle, including a communication module, an interaction control module, a display module, and an external input module, and further including a device for observing a relative position of an underwater vehicle provided by any embodiment of the present invention; wherein,
the communication module is connected with the output end of the control processing module and is used for receiving and outputting the relative position information and the attitude information of the underwater vehicle;
the interaction control module is connected with the input end of the display module, and is used for receiving the relative position information and the attitude information output by the communication module and transmitting the relative position information and the attitude information to the display module to display the relative position and/or the attitude of the underwater vehicle;
the interactive control module is also connected with the external input module and is used for inputting control instructions through the external input module, transmitting the control instructions to the communication module, further transmitting the control instructions to the control processing module and controlling the underwater vehicle to move through the control processing module.
In a third aspect, an embodiment of the present invention provides a method for observing a relative position of an underwater vehicle, which is applied to the device for observing a relative position of an underwater vehicle provided in any embodiment of the present invention, where the method includes:
acquiring the first data, the second data and the third data according to the acoustic measurement module, the positioning module and the inertial measurement module respectively;
the control processing module receives the first data, the second data and the third data, and performs resolving, fusion correction and filtering processing on the first data, the second data and the third data through the data fusion unit to obtain processed first position information; wherein the first position information includes relative position information and attitude information of the underwater vehicle.
The device for observing the relative position of the underwater vehicle solves the problem that an operator cannot intuitively observe the position and the gesture of the underwater vehicle on the water surface after the underwater vehicle enters water and cannot effectively operate the underwater vehicle to move to the expected position, and achieves the effect of accurately and conveniently displaying and controlling the relative position and the gesture of the underwater vehicle.
Drawings
FIG. 1 is a schematic view of an apparatus for observing the relative position of an underwater vehicle according to a first embodiment of the present invention.
Fig. 2 is a schematic structural view of an acoustic measurement module and a positioning module of an apparatus for observing a relative position of an underwater vehicle according to a first embodiment of the present invention.
Fig. 3a is a schematic view of an inertial measurement module of an apparatus for observing the relative position of an underwater vehicle according to a first embodiment of the present invention.
Fig. 3b is a schematic structural diagram of a control processing module of the device for observing the relative position of the underwater vehicle according to the first embodiment of the present invention.
Fig. 4 is a schematic diagram of a system for observing the relative position of an underwater vehicle according to the second embodiment of the present invention.
Fig. 5a is a schematic diagram of a communication system for observing the relative position of an underwater vehicle according to the second embodiment of the present invention.
Fig. 5b is a schematic diagram of a communication system for observing the relative position of the underwater vehicle according to the second embodiment of the present invention.
Fig. 5c is a schematic diagram of a communication mode structure of a system for observing a relative position of an underwater vehicle according to the second embodiment of the present invention.
FIG. 6a is a schematic diagram of a 2D graphical display of the relative position of a system for observing the relative position of an underwater vehicle in accordance with a second embodiment of the present invention.
FIG. 6b is a schematic diagram of the relative position of a 2D graphical display of a system for observing the relative position of an underwater vehicle in accordance with the second embodiment of the present invention.
FIG. 7a is a schematic diagram of the relative position of a 3D graphical display of a system for observing the relative position of an underwater vehicle in accordance with a second embodiment of the present invention.
Fig. 7b is a schematic structural diagram of a 3D graphic display gesture of a system for observing relative positions of underwater vehicles in the second embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a schematic structural diagram of a device for observing the relative position of an underwater vehicle according to an embodiment of the present invention, where the device for observing the relative position of an underwater vehicle according to the present embodiment is applicable to situations where the relative position and the posture of an underwater vehicle are observed intuitively.
As shown in fig. 1, the device for observing the relative position of the underwater vehicle comprises: an acoustic measurement module 110, a positioning module 120, an inertial measurement module 130, and a control processing module 140, wherein: an acoustic measurement module 110 for detecting a position of the underwater vehicle and outputting first data; the positioning module 120 is arranged on the buoy relay, and is used for determining the position of the buoy relay and outputting second data; the inertial measurement module 130 is arranged on the underwater vehicle, and is used for detecting the motion state of the underwater vehicle and outputting third data; and the control processing module 140 is connected to the output ends of the acoustic measurement module 110, the positioning module 120 and the inertial measurement module 130, and is configured to receive the first data, the second data and the third data, and process the received data to obtain first position information.
Specifically, the underwater vehicle detects the position of the underwater vehicle through the acoustic measurement module 110, and outputs the first data to the control processing module 140. For example, the position of the underwater vehicle may be the distance between the underwater vehicle and the buoy relay, the azimuth angle, etc. The positioning module 120 is disposed on a buoy relay, and can determine the position of the buoy relay through the positioning function of the positioning module 120, so as to obtain the position information of the buoy relay, and output the second data to the control processing module 140. For example, the position information relayed by the buoy may be movement distance information, speed information, and the like relayed by the buoy. When the position information of the float relay is determined, the position information of other units, modules, components and the like arranged on the float relay can be determined at the same time, and the float relay can be used as a reference position. Meanwhile, the underwater vehicle can also detect the motion state of the underwater vehicle through the inertia measurement module 130, acquire the motion information of the underwater vehicle, and output third data to the control processing module 140. For example, the motion information of the underwater vehicle may be linear motion information, angular motion information, submergence depth information, heading information and the like of the underwater vehicle, and may specifically be three-dimensional acceleration, three-dimensional angular velocity, submergence depth, navigation direction and the like. The control processing module 140 may be a micro-control processor, such as an STM32 series micro-control processor chip, or the like, for receiving the first data, the second data, and the third data for processing, and outputting the first position information. For example, the first position information may be relative position information and posture information of the underwater vehicle relative to an initial position of the underwater vehicle, and further may specifically include a distance, an angle, a submergence depth, a heading, a posture and the like of the underwater vehicle from the initial position of the underwater vehicle. Meanwhile, the initial position of the underwater vehicle can be the initial position of the buoy relay.
The device for observing the relative position of the underwater vehicle can output the relative position information and the posture information of the underwater vehicle, solves the problem that an operator cannot quickly and accurately acquire the position and the posture of the underwater vehicle after the underwater vehicle enters water, and achieves the effect of accurately and conveniently outputting the relative position and the posture information of the underwater vehicle.
Preferably, on the basis of the above technical solution, as shown in fig. 2, the acoustic measurement module 110 includes a response unit 211 and a matrix unit 212. The array unit 212 comprises at least 3 transducers, which can be arranged in a fixed angle form between the transducers and form an array unit 211 by being arranged on a carrier of the underwater vehicle, and is used for transmitting an inquiry signal and receiving a response signal transmitted by the response unit 211, and meanwhile, the relation between the coordinate system of the array unit 212 and the coordinate system of the underwater vehicle needs to be accurately calculated when the array unit 212 is arranged. The response unit 211 is configured to receive the interrogation signal and the transmission response signal transmitted by the matrix unit 212, and the response unit 211 and the positioning module 120 are simultaneously disposed on the carrier of one buoy relay 100, so that the positioning module 120 can determine the positions of the response unit 211 and the buoy relay 100, and further obtain the same position information of the response unit 211 and the buoy relay 100 as the second position information obtained by the positioning module 120. One transducer in the array unit 212 may transmit an interrogation signal, while the response unit 211 may receive the interrogation signal transmitted by the array unit 212 and transmit a response signal, while the transducer of the array unit 212 may also receive the response signal transmitted by the response unit 211, further the phase difference between the response signals transmitted by the response units 211 received by the different transducers may be calculated, and the propagation time of the interrogation signal transmitted by the array unit 212 and the response signal transmitted by the response unit 211 is calculated and output as first data to the control processing module 140 for processing.
Preferably, on the basis of the above technical solution, the initial position of the buoy relay 100 is the initial position of the underwater vehicle, and the positioning module 120 provided on the buoy relay 100 may output the second data. The second data includes the position information and the speed information of the buoy relay 100, or may be specifically the position information and the speed information of the response unit 211, so that the position information of the response unit 211 at the moment can be further determined, then the distance information and the azimuth angle information between the matrix unit 212 and the response unit 211 are calculated according to the second data determined by the acoustic measurement module 110, and further the distance information and the angle information between the matrix unit 212 and the initial position of the response unit 211, that is, the distance information and the azimuth angle information between the position of the underwater vehicle at the moment and the initial position of the underwater vehicle, where the distance information and the azimuth angle information between the position of the underwater vehicle at the moment and the initial position of the underwater vehicle are the position information which is not corrected by the control processing module 140, that is, the second position information.
Preferably, based on the above technical solution, the positioning module 120 may be a GPS positioning module, or other relevant positioning technologies, including relevant positioning technologies such as a beidou navigation satellite positioning system in china, a global positioning system in the united states, a russian global navigation satellite system, and a european galileo navigation system.
Preferably, on the basis of the above technical solution, as shown in fig. 3a, the inertia measurement module 130 includes an acceleration detection unit 331, an angular velocity detection unit 332, a depth detection unit 333, and a heading detection unit 334. The acceleration detection unit 331 includes at least one triaxial acceleration sensor for acquiring linear motion information of the underwater vehicle, for example, the linear motion information of the underwater vehicle may be three-dimensional acceleration of the underwater vehicle; the angular velocity detection unit 332 includes at least one triaxial angular velocity sensor for acquiring angular motion information of the underwater vehicle, for example, the angular motion information of the underwater vehicle may be three-dimensional angular velocity of the underwater vehicle; the depth detection unit 333 includes at least one depth detection sensor for acquiring submergence depth information of the underwater vehicle; the heading detection unit 334 includes at least one magnetic compass for acquiring heading information of the underwater vehicle and correcting the angular motion information acquired by the angular velocity detection unit 332. The linear motion information, the angular motion information, the submergence depth information, the heading information and the corrected angular motion information acquired by the inertial measurement module 130 are output as third data to the control processing module 140, and the control processing module 140 is configured to process the linear motion information, the angular motion information, the submergence depth information, the heading information and the corrected angular motion information according to the linear motion information, the angular motion information, the submergence depth information and the corrected angular motion information, so as to determine a linear motion state, an angular motion state, a submergence state and a heading state of the underwater vehicle.
Preferably, on the basis of the above technical solution, as shown in fig. 3a, the control processing module 140 includes a data fusion unit 341 and a control unit 342, where the data fusion unit 341 is configured to perform a resolving, a fusion correcting and a filtering process on the first data, the second data and the third data to obtain first position information; the control unit 341 is configured to control the data fusion unit 341 to receive the first data, the second data, and the third data, and output the first location information processed by the data fusion unit 341.
Preferably, on the basis of the above technical solution, as shown in fig. 3b, the control processing of the data by the control processing module 140 specifically includes: first, the control unit 342 controls the data fusion unit 341 to receive the first data, the second data, and the third data. For example, the first data may be phase difference information between response signals transmitted by the response unit 211 received by different transducers in the array unit 212 acquired by the acoustic measurement module 110 and time information of the response signals transmitted by the response unit 211 and transmitted by the array unit 211; the second data may be distance information and speed information of the buoy relay 100 acquired by the positioning module 120, that is, distance information and speed information of the response unit 211; the third data may be linear motion information, angular motion information, submergence depth information, heading information, corrected angular motion information, and the like of the underwater vehicle acquired by the inertial measurement module 130. Secondly, a position calculating subunit 3411 and a posture calculating subunit 3413 in the data fusion unit 341 calculate angle information and distance information between the matrix unit 212 and the response unit 211, namely distance information and angle information between the underwater vehicle and 100 of the buoy relay according to the first data acquired by the acoustic measuring module 110, and further calculate second position information of the underwater vehicle by combining the second data acquired by the positioning module 120, namely relative position information and posture information between the current position of the underwater vehicle and the initial position of the underwater vehicle acquired by the acoustic measuring module 110; meanwhile, the position calculating subunit 3411 and the gesture calculating subunit 3413 in the data fusion unit 341 can also calculate the speed information of the underwater vehicle according to the third data acquired by the inertia measuring module 130, and further calculate the distance information and the angle information between the underwater vehicle and the initial position of the underwater vehicle by combining the initial position of the underwater vehicle acquired by the positioning module 120, so as to determine the third position information of the underwater vehicle, namely the relative position information and the gesture information between the current position of the underwater vehicle and the initial position of the underwater vehicle acquired by the inertia measuring module 130; then, the position correction subunit 3412 and the posture correction subunit 3414 in the data fusion unit 341 receive the second position information and the third position information, and perform fusion correction on the second position information and the third position information to obtain corrected position information; finally, the corrected position information is filtered by the filtering processing subunit 3415 in the data fusion unit 341, so as to obtain the first position information and output the first position information to the control unit 342. For example, the filtering processing subunit 3415 may perform filtering processing on the corrected position information by using a kalman filtering method to obtain first position information; the first position information comprises relative position information and posture information between the current position of the underwater vehicle and the initial position of the underwater vehicle, which are processed by the control processing module, and specifically comprises distance information, angle information, submergence depth information, course information and posture information between the current position of the underwater vehicle and the initial position of the underwater vehicle.
Wherein the second position information includes distance information, angle information and depth information between the underwater vehicle and the initial position of the underwater vehicle acquired according to the acoustic measurement module 110 and the positioning module 120; the third position information includes distance information, angle information, depth information, attitude information and heading information between the underwater vehicle and the initial position of the underwater vehicle acquired by the inertial measurement module 130; the first position information includes distance information, angle information, submergence depth information, gesture information and heading information between the underwater vehicle and the initial position of the underwater vehicle processed by the control processing module 140, that is, relative position information and gesture information of the underwater vehicle.
Example two
Fig. 4 is a schematic diagram of a system for observing the relative position of an underwater vehicle according to the second embodiment of the present invention, where the system for observing the relative position of an underwater vehicle by using a door according to the present embodiment is applicable to a case where the relative position and the posture of an underwater vehicle are observed intuitively.
As shown in fig. 4, the system for observing the relative position of the underwater vehicle comprises a communication module, an interaction control module, a display module, an external input module and a device for observing the relative position of the underwater vehicle, which is provided by any embodiment of the invention; wherein the acoustic measurement module 110, the positioning module 120, the inertial measurement module 130, and the control processing module 140, wherein: an acoustic measurement module 110 for detecting a position of the underwater vehicle and outputting first data; the positioning module 120 is arranged on the buoy relay, and is used for determining the position of the buoy relay and outputting second data; the inertial measurement module 130 is arranged on the underwater vehicle, and is used for detecting the motion state of the underwater vehicle and outputting third data; the control processing module 140 is connected to the output ends of the acoustic measurement module 110, the positioning module 120 and the inertial measurement module 130, and is configured to receive the first data, the second data and the third data, and process the received data to obtain first position information; the communication module 150 is connected to an output end of the control processing module 140, and is configured to receive distance information, angle information, depth information, attitude information and heading information of the underwater vehicle relative to an initial position of the underwater vehicle, that is, relative position information and attitude information of the underwater vehicle, and output the information to the interaction control module 160; the interaction control module 160 is connected with an input end of the display module 170, and is used for receiving the relative position information and the posture information of the underwater vehicle output by the communication module 150, and displaying the relative position and the posture of the underwater vehicle through the display module 170; meanwhile, the interactive control module 160 is also connected with the external input module 180, and is used for inputting control instructions through the external input module 180, transmitting the control instructions to the communication module 150, further transmitting the control instructions to the control processing module 140, and controlling the movement of the underwater vehicle through the control processing module 140.
Specifically, the underwater vehicle detects the position information of the underwater vehicle through the acoustic measurement module 110, and outputs the first data to the control processing module 140. For example, the position information of the underwater vehicle may be distance information, azimuth angle information, and the like. The positioning module 120 is disposed on a buoy relay, and can determine the position of the buoy relay through the positioning function of the positioning module, so as to obtain the position information of the buoy relay, and output the second data to the control processing module 140. For example, the position information relayed by the buoy may be movement distance information, speed information, and the like relayed by the buoy. When the position information of the float relay is determined, the position information of other units, modules, components, etc. provided on the float relay may also be determined, and the float relay may then be used as a reference position. Meanwhile, the underwater vehicle detects the motion state of the underwater vehicle through the inertia measurement module 130, acquires the motion information of the underwater vehicle, and outputs third data to the control processing module 140. For example, the motion information of the underwater vehicle may be linear motion information, angular motion information, submergence depth information, heading information, and the like, and may specifically be three-dimensional acceleration, three-dimensional angular velocity, submergence depth, navigation direction, and the like. The control processing module 140 may be a micro-control processor, such as an STM32 series micro-control processor chip, or the like, for receiving the first data, the second data, and the third data for processing, and outputting the first position information. For example, the first position information may be a relative position and posture of the underwater vehicle with respect to an initial position of the underwater vehicle, and further may be specifically a distance, an angle, a submergence depth, a posture, etc. of the underwater vehicle with respect to the initial position of the underwater vehicle. The communication module 150 is configured to receive the first location information output by the control processing module 150, and output the first location information to the interaction control module 160. For example, the communication module 150 may be a wireless bluetooth module, a wireless WIFI module, or the like, and the communication module may include a first communication module and a second communication module, where the first module is disposed on the buoy relay 100 and connected to the control processing module 140 through a communication cable, for transmitting position information. The interaction control module 160 is connected with an input end of the display module 170, and is used for receiving the relative position information and the posture information of the underwater vehicle output by the communication module 150, and displaying the relative position and the posture of the underwater vehicle through the display module 170; meanwhile, the interactive control module 160 is also connected with the external input module 180, and is used for inputting control instructions through the external input module 180, transmitting the control instructions to the communication module 150, further transmitting the control instructions to the control processing module 140, and controlling the movement of the underwater vehicle through the control processing module 140.
According to the system for observing the relative position of the underwater vehicle, the relative position information and the posture information of the underwater vehicle are output through the device for observing the relative position of the underwater vehicle, and the relative position information and the posture information of the underwater vehicle are transmitted to the display module to be intuitively displayed, so that the problem that an operator cannot intuitively observe the position and the posture of the underwater vehicle on the water surface after the underwater vehicle enters water is solved, and the effect of accurately and conveniently outputting the relative position and the posture information of the underwater vehicle is achieved.
Preferably, based on the above embodiments, as shown in fig. 5a, the communication mode of the communication module in the system for observing the relative position of the underwater vehicle may be a semi-cabled mode. The semi-cabled underwater vehicle 190 is connected with the buoy relay 100 through the communication cable 200, and is used for transmitting the position information of the underwater vehicle to the buoy relay 100 through the communication cable 200, meanwhile, the wireless communication module is arranged on the buoy relay 100, is connected with the interactive control module in a wireless communication mode 300, and transmits the position information to the interactive control module in a wireless mode, and further transmits the position information to the display module 170 for display.
Preferably, on the basis of the above embodiments, as shown in fig. 5b, the communication mode of the communication module in the system for observing the relative position of the underwater vehicle may be a cabled mode. The cabled underwater vehicle 190 is connected with the interactive control module 160 through the communication cable 200, and the position information is directly transmitted to the interactive control module 160 through the communication cable 200 by the underwater vehicle 190, and then transmitted to the display module 170 for display.
Preferably, based on the above embodiments, as shown in fig. 5c, the communication mode of the communication module in the system for observing the relative position of the underwater vehicle may be a cableless mode. The cable-free underwater vehicle 190 is connected with the interactive control module 160 through the wireless communication mode 300, and the position information is directly transmitted to the interactive control module 160 through the wireless communication mode 300 by the underwater vehicle 190, and then transmitted to the display module 170 for display.
Preferably, on the basis of the above embodiments, the relative position information of the underwater vehicle gives position information relative to the initial position of the underwater vehicle, wherein the position information includes distance information, azimuth angle information, submergence depth information, and the posture information includes posture information of the underwater vehicle. As shown in fig. 6a, the display module uses 2D graphics to display the positional relationship of the underwater vehicle position 620 relative to the initial position 610 of the underwater vehicle, i.e., the distance and angle between the underwater vehicle and the initial position, and the relative position is correctly displayed by defining the display radius 630 (i.e., determining the scale), while the submergence depth information of the underwater vehicle position 620 relative to the initial position 610 of the underwater vehicle can be displayed in the display module. As shown in fig. 6b, when the display module uses the 2D graph to display the positional relationship between the position 620 of the underwater vehicle and the initial position 610 of the underwater vehicle, the relative position can be better displayed by setting a plurality of display radii, that is, setting a plurality of scales, in the range of the display radius 630, where the display radius of the plurality of scales includes the display radius 640 and the display radius 650, for example, the radius of the display radius 640 is 500 meters, and the radius of the display radius 650 is 100 meters.
Preferably, on the basis of the above embodiments, as shown in fig. 7a, when the display module displays the relative position of the underwater vehicle by using a 3D graph, the display module draws the relative position of the underwater vehicle according to the relative position coordinates by using the initial position as the origin of coordinates in a 3D graph drawing manner, that is, the relative position of the underwater vehicle is the underwater vehicle (x, y, z). As shown in fig. 7b, given initial heading information of the underwater vehicle, this heading is recorded by the underwater vehicle in charge of, for example, dividing the underwater vehicle by an unlocking operation to record the current heading as the initial heading. In the process of adjusting the gesture, the underwater vehicle sends gesture information to the interaction control module 160 and the display module 170, wherein the heading information can be the relative heading corrected by the initial heading (can be directly used for display), or can send the initial heading and simultaneously send the initial heading (which is displayed after being corrected by the data fusion unit 341). The display module 170 draws the attitude information through the 3D graph, namely, the attitude information is drawn and displayed in a 3D graph form, and the underwater attitude of the robot is intuitively and truly displayed.
Preferably, on the basis of the above embodiments, the 3D drawing mode is not limited to the pseudo form of fig. 7b, but a more abstract or more technological mode can be adopted, but the 3D drawing mode is used for intuitively representing the attitude of the underwater vehicle. When the initial heading is given, if the heading of the underwater vehicle is the same as the heading of the operation terminal, an operator can intuitively judge whether the underwater vehicle is far away from or near the operation terminal through the heading of the machine head in the 3D graph. And after the operation terminal moves towards, the relative heading of the underwater vehicle can be corrected by giving the initial heading again.
Example III
The third embodiment of the present invention provides a method for observing a relative position of an underwater vehicle, which may be implemented by using the device for observing a relative position of an underwater vehicle provided by any of the embodiments of the present invention, and the method includes:
acquiring first data, second data and third data according to the detection of the acoustic measurement module 110, the positioning module 120 and the inertial measurement module 130;
the control processing module 140 receives the first data, the second data and the third data, and performs resolving, fusion correction and filtering processing on the first data, the second data and the third data through the data fusion unit 341 to obtain processed first position information.
The method for observing the relative position of the underwater vehicle can acquire the relative position information and the attitude information of the underwater vehicle, solves the problem that an operator cannot acquire the position and the attitude of the underwater vehicle after the underwater vehicle enters water, and achieves the effect of accurately and conveniently outputting the relative position and the attitude information of the underwater vehicle.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
1. The device for observing the relative position of the underwater vehicle is characterized by comprising an acoustic measurement module, a positioning module, an inertial measurement module and a control processing module, wherein:
the acoustic measurement module is used for detecting the position of the underwater vehicle and outputting first data;
the positioning module is arranged on the buoy relay and used for determining the position of the buoy relay and outputting second data;
the inertial measurement module is arranged on the underwater vehicle and used for detecting the motion state of the underwater vehicle and outputting third data;
the control processing module is connected with the output ends of the acoustic measuring module, the positioning module and the inertial measuring module, and is used for receiving the first data, the second data and the third data, and processing the received data to obtain first position information;
the acoustic measurement module comprises a response unit and a matrix unit, wherein:
the array unit comprises at least three transducers, is arranged on the underwater vehicle and is used for transmitting an inquiry signal and receiving a response signal transmitted by the response unit;
the response unit is arranged on the buoy relay and is used for receiving the inquiry signal and transmitting the response signal;
wherein a phase difference between the response signals and a time at which the array unit transmits the interrogation signal and receives the response signal are received by different transducers as the first data;
the positioning module is a GPS positioning module and is arranged on the buoy relay together with the response unit;
the initial position of the buoy relay is the initial position of the underwater vehicle, and the position information and the speed information of the buoy relay are used as the second data.
2. The apparatus of claim 1, wherein the inertial measurement module comprises an acceleration detection unit, an angular velocity detection unit, a depth detection unit, and a heading detection unit, wherein:
the acceleration detection unit comprises at least one triaxial acceleration sensor and is used for acquiring linear motion information of the underwater vehicle;
the angular velocity detection unit comprises at least one triaxial angular velocity sensor and is used for acquiring angular motion information of the underwater vehicle;
the depth detection unit comprises at least one depth detection sensor and is used for acquiring the submergence depth information of the underwater vehicle;
the course detection unit comprises at least one magnetic compass and is used for acquiring course information of the underwater vehicle and correcting the angular motion information;
the acceleration detection unit is further used for correcting angular motion information of the underwater vehicle, and the linear motion information, the angular motion information, the submergence depth information, the heading information and the corrected angular motion information are used as third data;
correspondingly, the control processing module is used for processing according to the linear motion information, the angular motion information, the submergence depth information, the heading information and the corrected angular motion information, and determining the linear motion state, the angular motion state, the submergence state and the heading state of the underwater vehicle.
3. The apparatus of claim 1, wherein the control processing module comprises a data fusion unit and a control unit, wherein:
the data fusion unit is used for carrying out calculation, fusion correction and filtering processing on the first data, the second data and the third data to obtain first position information;
the control unit is used for controlling the data fusion unit to receive the first data, the second data and the third data and outputting the first position information processed by the data fusion unit.
4. The apparatus of claim 3, wherein the processing of the data fusion unit is to:
calculating azimuth angle information of the underwater vehicle and the response unit according to phase differences among response signals received by different transducers in the first data, calculating distance information of the underwater vehicle and the response unit according to time of the matrix unit in the first data for transmitting the query signal and receiving the response signal, and then further calculating second position information of the underwater vehicle relative to an initial position by combining the second data;
calculating the speed information of the underwater vehicle according to the line motion information, the angular motion information, the submergence depth information, the heading information and the corrected angular motion information in the third data, further calculating the distance information and the angle information of the underwater vehicle relative to the initial position, and determining the third position information of the underwater vehicle;
performing fusion correction on the calculated second position information and third position information, and then updating the first position information through filtering;
the second position information comprises distance information, angle information and depth information of the underwater vehicle relative to the initial position of the underwater vehicle, which are obtained according to an acoustic measurement module and a positioning module; the third position information comprises distance information, angle information, depth information, attitude information and heading information of the underwater vehicle relative to the initial position of the underwater vehicle, which are obtained according to an inertia measurement module; the first position information comprises distance information, angle information, depth information, gesture information and course information of the underwater vehicle relative to the initial position of the underwater vehicle after being processed by the data fusion unit.
5. A system for observing the relative position of an underwater vehicle, comprising a communication module, an interactive control module, a display module and an external input module, and further comprising a device for observing the relative position of an underwater vehicle according to any one of claims 1-4; wherein,
the communication module is connected with the output end of the control processing module and is used for receiving and outputting the relative position information and the attitude information of the underwater vehicle;
the interaction control module is connected with the output end of the communication module, and is used for receiving the relative position information and the attitude information output by the communication module and transmitting the relative position information and the attitude information to the display module to display the relative position and/or the attitude of the underwater vehicle;
the interactive control module is also connected with the external input module and is used for inputting control instructions through the external input module, transmitting the control instructions to the communication module, further transmitting the control instructions to the control processing module and controlling the underwater vehicle to move through the control processing module.
6. The system of claim 5, wherein the display mode of the display module comprises:
the display module displays the relative position of the underwater vehicle in a 2D graphic mode, specifically the display module displays the relative position of the underwater vehicle in a radius mode; and/or
The display module also displays the relative position and the posture of the underwater vehicle in a 3D graphics mode, specifically, the display module draws the relative position and the posture of the underwater vehicle according to the relative position coordinates by taking the initial position as a coordinate origin in a 3D graphics drawing mode;
the relative position information comprises distance information, angle information, depth information, course information and the like of the underwater vehicle relative to the initial position of the underwater vehicle.
7. A method of observing the relative position of an underwater vehicle as claimed in any of claims 3 to 4, the method comprising:
acquiring the first data, the second data and the third data according to the acoustic measurement module, the positioning module and the inertial measurement module respectively;
the control processing module receives the first data, the second data and the third data, and performs resolving, fusion correction and filtering processing on the first data, the second data and the third data through the data fusion unit to obtain processed first position information;
wherein the first position information comprises relative position information and attitude information of the underwater vehicle; the acoustic measurement module comprises a response unit and a matrix unit, wherein:
the array unit comprises at least three transducers, is arranged on the underwater vehicle and is used for transmitting an inquiry signal and receiving a response signal transmitted by the response unit;
the response unit is arranged on the buoy relay and is used for receiving the inquiry signal and transmitting the response signal;
wherein a phase difference between the response signals and a time at which the array unit transmits the interrogation signal and receives the response signal are received by different transducers as the first data;
the positioning module is a GPS positioning module and is arranged on the buoy relay together with the response unit;
the initial position of the buoy relay is the initial position of the underwater vehicle, and the position information and the speed information of the buoy relay are used as the second data.
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| CN108563233A (en) * | 2017-12-28 | 2018-09-21 | 北京优尔博特创新科技有限公司 | Remote underwater robot and undersea detection system |
| CN110857996A (en) * | 2018-08-22 | 2020-03-03 | 上海中车艾森迪海洋装备有限公司 | Submarine earthquake observation system and laying method thereof |
| CN109631884B (en) * | 2018-12-19 | 2022-05-24 | 航天恒星科技有限公司 | Passive underwater navigation method based on single buoy |
| CN109856659B (en) * | 2019-01-21 | 2021-02-12 | 同济大学 | Seabed-based positioning time service and data recovery system and method |
| CN112824830B (en) * | 2019-11-21 | 2023-08-22 | 中国石油天然气集团有限公司 | Underwater pipeline positioning method |
| CN110958160B (en) * | 2019-11-25 | 2021-06-15 | 睿哲科技股份有限公司 | Website detection method, device and system and computer readable storage medium |
| CN113342013B (en) * | 2021-06-08 | 2022-08-05 | 西北工业大学 | Course control method combining roll mechanism and flapping wing asymmetric phase difference |
| CN113984045B (en) * | 2021-10-13 | 2024-01-16 | 湖南航天机电设备与特种材料研究所 | Method and system for estimating motion state of movable butt-joint target of underwater robot |
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