CN107340531A - A kind of positioner and method of underwater passive basic point - Google Patents
A kind of positioner and method of underwater passive basic point Download PDFInfo
- Publication number
- CN107340531A CN107340531A CN201710668840.9A CN201710668840A CN107340531A CN 107340531 A CN107340531 A CN 107340531A CN 201710668840 A CN201710668840 A CN 201710668840A CN 107340531 A CN107340531 A CN 107340531A
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- waterborne
- sound source
- underwater
- data acquisition
- acquisition device
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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
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
Abstract
A kind of positioner of underwater passive basic point provided by the invention, including underwater passive sensor, data acquisition device waterborne, sound source generators waterborne.Present invention also offers a kind of localization method of underwater passive basic point：Sound source generators waterborne send specific voice signal, while by time during GPS positioning device acquisition transmission voice signal and geographical location information and send to data acquisition device waterborne；Data acquisition device waterborne gathers the time that underwater passive sensor detects voice signal；The three groups of time differences collected using data acquisition device waterborne, the distance between underwater passive sensor and sound source generators waterborne is calculated, draws ball respectively, the position that individual sphere intersects is the geographical position where underwater passive sensor.Provided by the invention passive basic point positioning device structure is simple, cost is cheap, realization is convenient under water, and this method finding speed is fast, accuracy is high, can be achieved to demarcate the geographical location information of high-volume sub-sea location simultaneously.
Description
Technical field
The invention belongs to underwater exploration and audiomonitor field, the positioner of more particularly to a kind of underwater passive basic point and
Method.
Background technology
Underwater Navigation is obtained for extensive use with navigation in many fields.However, the geographical position of the water surface can pass through
GPS location obtains easily, but due to being limited by condition, the demarcation of submarine site can not use GPS radio signals to position.
Ground installation receives GPS radio signals, contains geographical location information and time letter that gps signal sends satellite
Cease (time of multiple satellites is regular controlled synchronous), ground installation is calculated by receiving the information of multiple satellites, iterative solution
The position of oneself.In order to realize this purpose, there are two conditions：1st, contained in signal information send place positional information and
Temporal information；2nd, accepting device possesses faster computing capability.
However, underwater equipment is compared with surface facilities, traffic rate can be much lower, and the frequency of communications carrier is also much lower
A lot, in the communications carrier of so low frequency, precise time synchronization information difficult；And ensure that power supply also compares for underwater installation
More difficult, the long trouble free of especially underwater active equipment works also compared with Customers ' Legal Right.
The content of the invention
Technical problem：In order to solve the defects of prior art, the invention provides a kind of positioning dress of underwater passive basic point
Put and method.
Technical scheme：A kind of positioner of underwater passive basic point provided by the invention, including underwater passive sensor, water
Upper data acquisition device, sound source generators waterborne；The underwater passive sensor and data acquisition device waterborne are connected by optical fiber
Connect；The sound source generators waterborne are connected with data acquisition device waterborne；Sound source generators waterborne are provided with GPS positioning device.
As an improvement, the quantity of the sound source generators waterborne is 1 or 3.
Present invention also offers a kind of localization method of underwater passive basic point, filled using the positioning of above-mentioned underwater passive basic point
Put, comprise the following steps：
(1) sound source generators waterborne send specific voice signal, while are obtained by GPS positioning device and send sound letter
Number when time and geographical location information and send to data acquisition device waterborne：When sound source generators waterborne are one, one
Individual sound source generators waterborne send specific voice signal in three diverse locations, while are obtained and sent by GPS positioning device
Time and geographical location information during voice signal are simultaneously sent to data acquisition device waterborne；When sound source generators waterborne are three
When, three sound source generators waterborne separately send specific voice signal in diverse location, while are filled by GPS location
Put time when obtaining transmission voice signal and geographical location information and send to data acquisition device waterborne；Three positions are connect
Three groups of times being subject to and geographical location information are designated as respectively：T1, G1, T2, G2, T3, G3；
(2) data acquisition device waterborne gathers the time that underwater passive sensor detects voice signal, will detect three
The time of individual unlike signal is designated as respectively：T1 ', T2, T3 '；
(3) the three groups of time differences collected using data acquisition device waterborne, underwater passive sensor and water is calculated
The distance between upper sound source generators, L1, L2, L3 are designated as respectively；Using G1 as the centre of sphere, L1 be radius draw sphere, using G2 as the centre of sphere,
L2 is that radius draws sphere, is that radius draws sphere using G3 as the centre of sphere, L3, the position that 3 spheres intersect is underwater passive sensor
The geographical position at place.
Beneficial effect：The positioning device structure of underwater passive basic point provided by the invention is simple, cost is cheap, realization side
Just, this method is easy, cost is cheap, finding speed is fast, accuracy is high, later maintenance is easy, can be achieved to demarcate high-volume simultaneously
The geographical location information of sub-sea location.
For a fixed bit operation under water, applicant expects that a underwater installation is placed in fixed position under water first
Signal source (voice signal), then receive post processing for the signal by the surface facilities of diverse location, position surface facilities
Position relative to underwater installation relative position；If, it is necessary to know the geographic position data of this underwater fixed position, pass through
The GPS information and relative position of surface facilities position, extrapolate the geographic position data of this position；If, it is necessary to know certain
The geographical location information in individual waters multiple places under water, in order to avoid interference, it is necessary to place a signal response in these places
Device (signal source), sent and instructed by surface facilities, the transponder response of different location, then in conjunction with GPS information and relative position
Put, extrapolate the geographic position data of these positions.However, existing this method still needs guarantee power supply, especially for big
The geographical location information monitoring of batch is difficult to.
Therefore, applicant further improves technology, using underwater passive sensor (such as fiber optic acoustic sensorses) and
Water surface acquisition system is combined, and the computing capability of underwater installation is moved on in water surface acquisition system and realized, underwater sensor is just not required to
Power supply is wanted, it is non-maintaining in life cycle so as to realize.In addition, the geographical location information of water surface signal source can also be by ground
Communication mode be sent to water surface acquisition system, so as to solve the problems, such as that geographical location information transmits in water.
This method and device can be realized while fast and accurately demarcate the geographical position in a large amount of places in some underwater region
Information.For example, seabed physical prospecting, the underwater demarcation for underwater sensor itself geographical location information in field such as intercepting, only these
The geographical location information demarcation of sensor in itself is accurate, and the data that they are detected can provide accurate object position
Put.
Brief description of the drawings
Fig. 1 is the structural representation of the positioner of the underwater passive basic point of the present invention.
Embodiment
The positioner of underwater passive basic point of the invention is further illustrated below.
Spread speed of the sound in different material：
Spread speed depends on temperature, pressure and the salinity of seawater；
The velocity of sound non-linear increase with the increase of pressure；
Ocean temperature is every high 1 DEG C, and acoustic wave propagation velocity about increases by 4.5 meter per seconds；
Salinity often increases by 1 ‰, and velocity of sound accelerates 1.30 meter per seconds.
In deep-sea, the vertical change of temperature tends towards stability, and the velocity of sound increases with the increase of pressure.
The positioner of underwater passive basic point, is shown in Fig. 1, including underwater passive sensor 1, data acquisition device 2 waterborne, water
Upper sound source generators 3；Underwater passive sensor 1 and data acquisition device waterborne 2 are connected by optical fiber 4；Sound source generators 3 waterborne
It is connected with data acquisition device 2 waterborne；Sound source generators 3 waterborne are provided with GPS positioning device.
The quantity of sound source generators 3 waterborne is 1 or 3.
The localization method of underwater passive basic point, using the positioner of above-mentioned underwater passive basic point, comprise the following steps：
(1) sound source generators 3 waterborne send specific voice signal, while are obtained by GPS positioning device and send sound
Time and geographical location information during signal are simultaneously sent to data acquisition device 2 waterborne：When sound source generators 3 waterborne are one
When, a sound source generators 3 waterborne send specific voice signal in three diverse locations, while are obtained by GPS positioning device
Take time when sending voice signal and geographical location information and send to data acquisition device 2 waterborne；When sound source waterborne occurs
When device 3 is three, three sound source generators 3 waterborne separately send specific voice signal in diverse location, lead to simultaneously
Cross time when GPS positioning device obtains transmission voice signal and geographical location information and send to data acquisition device 2 waterborne；
The three groups of times and geographical location information that three positions are received are designated as respectively：T1, G1, T2, G2, T3, G3；
(2) data acquisition device 2 waterborne gathers the time that underwater passive sensor 1 detects voice signal, will detect
The time of three unlike signals is designated as respectively：T1 ', T2, T3 '；
(3) the three groups of time differences collected using data acquisition device 2 waterborne, with reference to the propagation speed of sound in media as well
Degree, is calculated the distance between underwater passive sensor 1 and sound source generators waterborne 3, is designated as L1, L2, L3 respectively；Using G1 as
The centre of sphere, L1 are that radius draws sphere, are that radius draws sphere using G2 as the centre of sphere, L2, are that radius draws sphere, 3 balls using G3 as the centre of sphere, L3
The position that face intersects is the geographical position where underwater passive sensor 1.
Invention calculating process：
The time when sound source generators waterborne of 3 diverse locations send sound is T1, T2, T3 respectively；
Assuming that 3 positions are all in the horizontal plane that height above sea level is 0, then height is 0, and position is (X respectively1 Y1 0)、(X2
Y2 0)、(X3 Y30)；
Data acquisition device waterborne collects the time point that underwater passive sensor detects 3 diverse location sound source informations
It is not t1, t2, t3；
Assuming that underwater basic point passive sensor position is (X Y Z)
Speed of the sound in 4 DEG C of seawater calculates according to 1500m/s.
Then,
L1=1500* (t1-T1)
L2=1500* (t2-T2)
L3=1500* (t3-T3)
There is equation group：
[
(X-X1)2+(Y-Y1)2+Z2=L12---①
(X-X2)2+(Y-Y2)2+Z2=L22---②
(X-X3)2+(Y-Y3)2+Z2=L32---③
]
There are 3 unknown numbers, 3 equations in equation group, therefore result can be solved, position (XYZ).
The inventive method once is illustrated with an example below.
3 diverse locations of sound source generators waterborne are:
G1:N35 ° 16 ' 00 " 00, E123 ° 30 ' 00 " 00,0
G2:N35 ° 17 ' 00 " 00, E123 ° 32 ' 00 " 00,0
G3:N35 ° 18 ' 00 " 00, E123 ° 31 ' 00 " 00,0
Time when sending sound is respectively：
T1：2017/08/01 08:30:01 123ms
T2：2017/08/01 08:40:01 100ms
T3：2017/08/01 08:50:01 200ms
Underwater passive sensor detects that the time of 3 diverse location sound source informations is respectively:
t1：2017/08/01 08:30:02 578ms
t2：2017/08/01 08:40:03 302ms
t3：2017/08/01 08:50:01 769ms
Speed of the sound in 4 DEG C of seawater is 1500m/s, it is known that：
L1=2182.7 rice；L2=3303.1 rice；L3=2354.2 rice；
By solving equation, two solutions are can obtain：
Obviously, the height of underwater passive sensor is less than sea level, so obtain unique consequence：
Underwater passive sensor is located at：N35 ° 17 ' 10 " 00, E123 ° 29 ' 50 " 00, -217 meters of height underwater.With reality
Contrast, as a result accurately.
Claims (3)
- A kind of 1. positioner of underwater passive basic point, it is characterised in that：Including underwater passive sensor (1), data waterborne are adopted Acquisition means (2), sound source generators (3) waterborne；The underwater passive sensor (1) and data acquisition device waterborne (2) pass through light Fine (4) connection；The sound source generators waterborne (3) are connected with data acquisition device waterborne (2)；On sound source generators (3) waterborne Provided with GPS positioning device.
- A kind of 2. positioner of underwater passive basic point according to claim 2, it is characterised in that：The sound source hair waterborne The quantity of raw device (3) is 1 or 3.
- A kind of 3. localization method of underwater passive basic point, it is characterised in that：Using the underwater passive base described in claim 1 or 2 The positioner of point, comprises the following steps：(1) sound source generators (3) waterborne send specific voice signal, while are obtained by GPS positioning device and send sound letter Number when time and geographical location information and send to data acquisition device waterborne (2)：When sound source generators waterborne (3) are one When, a sound source generators (3) waterborne sends specific voice signal in three diverse locations, while passes through GPS positioning device Obtain time when sending voice signal and geographical location information and send to data acquisition device waterborne (2)；When sound source waterborne When generator (3) is three, three sound source generators (3) waterborne separately send specific sound letter in diverse location Number, while by time during GPS positioning device acquisition transmission voice signal and geographical location information and send to data waterborne Harvester (2)；The three groups of times and geographical location information that three positions are received are designated as respectively：T1, G1, T2, G2, T3, G3；(2) data acquisition device (2) waterborne gathers the time that underwater passive sensor (1) detects voice signal, will detect The time of three unlike signals is designated as respectively：T1 ', T2, T3 '；(3) using data acquisition device waterborne (2) three groups of time differences collecting, be calculated underwater passive sensor (1) and The distance between sound source generators (3) waterborne, are designated as L1, L2, L3 respectively；Using G1 as the centre of sphere, L1 be radius draw sphere, using G2 as The centre of sphere, L2 are that radius draws sphere, are that radius draws sphere using G3 as the centre of sphere, L3, the position that 3 spheres intersect is underwater passive biography Geographical position where sensor (1).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108318863A (en) * | 2017-12-28 | 2018-07-24 | 浙江大学 | Underwater unmanned machine passive location method based on subsea beacon and its system |
| CN109001739A (en) * | 2018-05-31 | 2018-12-14 | 深圳臻迪信息技术有限公司 | Underwater Navigation method |
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Patent Citations (5)
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| Publication number | Priority date | Publication date | Assignee | Title |
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