CN107462891B - Three-point type deep sea submerged buoy positioning method - Google Patents
Three-point type deep sea submerged buoy positioning method Download PDFInfo
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- CN107462891B CN107462891B CN201710684951.9A CN201710684951A CN107462891B CN 107462891 B CN107462891 B CN 107462891B CN 201710684951 A CN201710684951 A CN 201710684951A CN 107462891 B CN107462891 B CN 107462891B
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
Abstract
A three-point type deep sea submerged buoy positioning method relates to deep sea submerged buoy positioning. Acquiring longitude and latitude and corresponding distance measurement values of different positions in response distances of the 3 releasers; substituting the data into the designed geometric model; and calculating through a calculation program to obtain calculated values and schematic diagrams of the longitude and latitude and the depth of the weight. The method is simple, convenient, scientific and effective to implement, and can be used for positioning in deep sea submerged buoy recovery work, the actual position of the available submerged buoy in water can be recovered only through three-point positioning, the time required for recovery can be greatly saved, and the risk of submerged buoy loss is effectively reduced.
Description
Technical Field
The invention relates to deep sea submerged buoy positioning, in particular to a three-point type deep sea submerged buoy positioning method which can be applied to positioning, recovery and detection of a deep sea submerged buoy system.
Background
The submerged buoy is important technical equipment for acquiring noise information of marine environment. The submerged buoy device can carry various measuring and detecting instruments, and carries out long-term, fixed-point, continuous and multi-level synchronous measurement in a relatively concealed manner under the condition of severe sea conditions, so that the submerged buoy device is widely applied to the aspects of marine scientific investigation and research, marine military reconnaissance and the like.
Positioning a deep sea submerged buoy: after the submerged buoy enters water, the weight can drift under the influence of ocean currents, and the drift distance in the deep sea and sea area increases along with the depth of the sea, so that the error between the actual position of the submerged buoy in the sea and the latitude and longitude of the submerged buoy is hundreds of meters. For deep sea areas, compared with shallow sea areas, the overall length of the submerged buoy is 1000-6000 m, the posture of the submerged buoy is inclined to a certain extent under the influence of ocean currents, and the horizontal distance between the main floating body and the weight can reach hundreds of meters to nearly kilometers. In order to obtain the actual position of the submerged buoy in the water for subsequent recovery, repositioning is necessary to reduce the risk of recovery. Particularly, when the submerged buoy is recovered, if the condition that the submerged buoy cannot be recovered is met, the sanitary equipment cannot work, positioning is carried out firstly, and the actual position of the submerged buoy is obtained to carry out salvage work.
1. General structure of deep sea submerged buoy
The structure of the deep sea submerged buoy is shown in fig. 1 and generally comprises the following parts:
the satellite communication device 21: the underwater buoy can communicate with a satellite, is in a dormant state in the sea, is in a working state after water is discharged, and is responsible for sending the coordinate longitude and latitude of the main floating body of the underwater buoy to a survey crew;
main floating body 11: the main buoyancy of the whole submerged buoy system is provided, and a drifting rope can be tied on the submerged buoy system for convenient recovery;
xm receiving array 23: recording equipment (such as a hydrophone and a depth recorder (TD)) carried by the submerged buoy is determined according to the sea area condition and the hydrological condition;
xm transition rope 24: a cable for connecting the receiving array and the bottom device;
floating ball 14: providing partial buoyancy of the whole set of system and buoyancy required by the floating of the releaser, and calculating the number and unit buoyancy specifically;
acoustic releaser 15: the main equipment for recovering the submerged buoy can return distance data from the deck unit to the releaser through communication with the survey ship deck unit and can trigger the release mode to disconnect the weight so as to enable the whole system to float;
the wire rope 27: the length of the connecting releaser and the weight is not too short;
the weight 16: the whole system can be submerged into the sea bottom, the weight needs to be calculated specifically and is generally two to three times larger than the buoyancy of the system, and the speed of the whole system can be increased and decreased by the accelerating and decelerating umbrella to reduce the submergence speed.
2. Working mode of deep sea submerged buoy
The main working process of the deep sea submerged buoy is as follows: after the survey ship sails to a designed station, the survey ship is sequentially hoisted into the sea according to the sequence from the main floating body to the weight block, and after the survey ship is completely sunk into the sea bottom and the communication with the acoustic releaser confirms that the distance is stable, the distribution work is completed; navigation and acoustic experiments of relevant survey lines are carried out; and returning to the design station, informing the acoustic releaser to release, waiting for the satellite communication equipment to send back the submerged buoy coordinates, and navigating to the coordinates to carry out submerged buoy recovery.
3. Work risk of deep sea submerged buoy
Risks mainly include subsurface buoy design rationality, watertightness, connections, pressure resistance, net buoyancy, etc. The largest and least predictable risk is loss or recovery failure of the submerged buoy. Once the submerged buoy cannot be recovered, the recorded data and expensive equipment are all lost, and the scientific research task cannot be completed and the lost manpower and material resources cannot be estimated. Several accidents have occurred over the years with the loss of a submerged buoy.
Disclosure of Invention
The invention aims to provide a three-point deep sea submerged buoy positioning method which can be applied to positioning, recovery and detection of a deep sea submerged buoy system aiming at the problems existing in the accurate positioning of the deep sea submerged buoy.
The invention comprises the following steps:
1) acquiring longitude and latitude and corresponding distance measurement values of different positions in response distances of the 3 releasers;
2) substituting the data into the designed geometric model;
3) and calculating through a calculation program to obtain calculated values and schematic diagrams of the longitude and latitude and the depth of the weight.
In the step 1), the longitude and latitude and the corresponding distance measurement value of different positions in the response distance of the 3 releasers are obtained, and the survey ship only needs to make 3 times of measurement in the navigation close to the submerged buoy, and a measuring line is designed for positioning.
In step 2), the data are substituted into a designed geometric model for calculation, and the geometric principle is as follows:
the coordinates of 3 measurement experiments are recorded as A, B, C, the A, B, C three points are not on the same straight line, and the measured 3 distance values are recorded as ra，rb，rcWith A as the center of the sphere raRadius of the sphere and B as the center of the sphere, rbThe sphere with radius intersects the surface 1, and similarly, A is the center of the sphere, raRadius of the sphere and C as the center of the sphere, rcThe surface where the spheres with the radius intersect on the surface 2 and the three points A, B, C are the sea surface, the projection of the intersection surface of the sphere A and the sphere B on the sea surface is recorded as OD, the projection of the intersection surface of the sphere A and the sphere C on the sea surface is recorded as OE, the sea surface is perpendicular to the point O, and the point O is the projection of the line OL on the sea surface. The projection on the sea surface is recorded as O point, and the straight line vertical to the O point is recorded as OL; it is easy to know that the surface 1 and the surface 2 must be perpendicular to the sea surface and intersect with a straight line OL, and then OL is also perpendicular to the sea surface, so the longitude and latitude of the point O is the position of the weight, and the length of OL is the sea depth of the weight.
In step 3), the calculation program can be written based on Matlab software, and the calculation result includes the longitude and latitude of the weight, the sea depth of the position of the weight, the position schematic diagram of the measurement result, and the like.
Due to the extremely low self-noise and good data quality, the submerged buoy is the main equipment used in the current marine acoustic investigation, but has a larger risk. Compared with the shallow sea area, the deep sea area has variable marine environment and a plurality of submerged buoy lengths, and the submerged buoy is the most important and difficult step in the work of the deep sea submerged buoy. At present, data and information observed by a submerged standard device at home and abroad are basically stored in measuring equipment or a submerged standard special recorder. People can only read the information of the recovered submerged buoy to acquire the data, and once the submerged buoy is lost or fails to be recovered, the data are not acquired, so that great difficulty and inconvenience are caused to marine scientific research. The method is simple, convenient, scientific and effective to implement, can be used for recovering the actual position of the submersible buoy in water only by three-point positioning, can greatly save the time required for recovery, and effectively reduces the risk of losing the submersible buoy.
Drawings
Fig. 1 is a schematic structural diagram of a conventional deep sea submerged buoy.
FIG. 2 is a schematic diagram of a space geometry model according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a planar geometric model according to an embodiment of the present invention.
FIG. 4 is a flowchart of an embodiment of a method.
FIG. 5 shows the results of a verification experiment performed in accordance with an embodiment of the present invention.
FIG. 6 is a validation experiment error analysis of an embodiment of the present invention.
Detailed Description
The invention discloses a three-point deep sea submerged buoy positioning method which is simple to implement, the measurement process can be completed in the recovery navigation process, the actual position of a weight block in a submerged buoy system on the sea bottom can be accurately positioned, and a foundation is laid for subsequent recovery or salvage work. Firstly, data of three stations are measured and recorded, the requirement on the required data station is extremely low, the measurement can be completed in the recycling navigation process, and only three measuring points are required to be ensured not to be on the same straight line; secondly, substituting the measured data into the geometric model for calculation; thirdly, calculating to obtain the longitude and latitude of the target and drawing a measurement experiment schematic diagram; finally, the results obtained can be verified experimentally. Embodiments of the present invention will be described below with reference to the drawings.
The specific implementation mode and the operation key of the invention comprise:
1) and acquiring the longitude and latitude and the corresponding distance measurement value of different positions in the response distance of the 3 releasers, and designing a measuring line for positioning by only needing 3 times of measurement of the survey ship in the navigation close to the submerged buoy.
2) And substituting the data into a designed geometric model, wherein the geometric model and the schematic diagram are as follows:
the coordinates of 3 measurement experiments are recorded as A, B, C, the A, B, C three points are not on the same straight line, and the measured 3 distance values are recorded as ra，rb，rcWith A as the center of the sphere raRadius of the sphere and B as the center of the sphere, rbThe sphere with radius intersects the surface 1, and similarly, A is the center of the sphere, raRadius of the sphere and C as the center of the sphere, rcA sphere of radius intersects the face 2 as shown in figure 2. For convenience of illustration, the schematic plan view is shown in fig. 3. A. The plane where the B, C points are located is the sea surface, OD is the projection of the intersection surface of the sphere A and the sphere B on the sea surface, OE is the projection of the intersection surface of the sphere A and the sphere C on the sea surface, OL is perpendicular to the point O on the sea surface, and the point O is the projection of the line OL on the sea surface. It is easy to know that the faces 1 and 2 must be perpendicular to the sea surface and that they intersect at a line OL, which is then also perpendicular to the sea surface. Therefore, the longitude and latitude of the point O are the position of the weight, and the length of the OL is the sea depth of the weight.
3) And calculating through a calculation program to obtain calculated values and schematic diagrams of the longitude and latitude and the depth of the weight.
Referring to fig. 4, a flow chart of an implementation method of the present invention is as follows:
(1) carrying out 3 times of acoustic releaser response experiments at 3 different stations near the submerged buoy placing point to obtain 3 groups of data; can be carried out in the navigation process of recovering the submerged buoy.
(2) And inputting parameters such as a weight water falling point, a local average sound velocity, an earth average radius and the like, wherein the parameters can comprise an ultra-short baseline test result.
(3) Taking one of the points A, B and C as a base point, converting the earth coordinate system into a space coordinate system taking the point A as an original point, recording the space coordinate system as a coordinate system A, and calculating the coordinates B and C in the coordinate system A, wherein the point A, the point B and the point C are points on the sea surface; the points A, B and C should be regarded as curved surfaces so as to reduce errors.
(4) According to the space geometric relationship, calculating to obtain the coordinates of the target point and the length of OL, and the specific calculation steps are as follows:
a. solving the equation of the plane where the two intersected circles of the point A, the point B and the point A and the point C are located;
b. calculating an ABC plane unit normal vector;
c. and determining the coordinates of the O point and the OL length by the ABC plane and the plane of the two intersected circles.
(5) And restoring the target to a terrestrial coordinate system to obtain the longitude and latitude value and the sea depth of the target.
Experimental verification is given below:
the invention carries out verification by utilizing the ultrashort baseline positioning equipment carried on the submerged buoy during the survey voyage period of a certain sea area. The depth of the sea area where the submerged buoy laid by the experiment is positioned is about 2000m, and the standard of deep sea is met.
The verification method comprises the following steps: an ultra-short baseline underwater positioning system is arranged on a floating ball of the submerged buoy, and after the system is activated, the longitude and latitude where the underwater equipment is located and the distance between the underwater equipment and an investigation ship can be obtained through communication with a ship-borne partial GPS. By comparing the invention with the data position, the accuracy and the error range of the invention can be judged.
The experimental process comprises the following steps: after the survey vessel lays the submerged buoy, recording the water entry point of the heavy block; three measurements are made in the nearby sea area, and in order to improve the accuracy of the experiment, the measurements are made at three stations in three different directions of the weight entry point, as shown in fig. 5.
Experimental results and error analysis: according to the experimental result, the horizontal drift distance 379m between the weight 16 and the water falling point, the difference between the coordinate returned by the ultra-short baseline underwater positioning system 12 and the coordinate calculated by the invention is 359m, the length of the cable 13 between the position of the floating ball 14 where the ultra-short baseline is located and the acoustic releaser 15 is 1420m (design), and then according to the data of the depth sensor, the attitude inclination angle of the submerged buoy in the water is judged to be about 14 degrees, the actual horizontal distance between the submerged buoy and the floating ball is 343.5m, the actual error is 55.7m, as shown in fig. 6, the mark 11 is a main floating body in fig. 6.
Claims (2)
1. A three-point deep sea submerged buoy positioning method is characterized by comprising the following steps:
1) acquiring longitude and latitude and corresponding distance measurement values of 3 different positions in the releaser response distance, wherein the longitude and latitude and the corresponding distance measurement values of the 3 different positions in the releaser response distance are acquired, and a survey ship is only required to make 3 times of measurement in the navigation close to the submerged buoy, and a survey line is designed for positioning;
2) substituting the data into the designed geometric model;
3) calculating through a calculation program to obtain a calculated value and a schematic diagram of the longitude and latitude and the depth of the weight block; substituting data into a designed geometric model for calculation, wherein the geometric principle is as follows: the coordinates of 3 measurement experiments are recorded as A, B, C, the A, B, C is a curved surface, the A, B, C three points are not on the same straight line, and the measured 3 distance values are recorded as ra，rb，rcThe sphere with A as the center and ra as the radius and the sphere with B as the center, rbThe sphere with radius intersects with the surface 1, and similarly, the sphere with A as the center of sphere and ra as the radius and the sphere with C as the center of sphere and rcThe sphere with the radius intersects the surface 2, the surface where the three points A, B, C are located is the sea surface, the projection of the intersection surface of the sphere A and the sphere B on the sea surface is recorded as OD, the projection of the intersection surface of the sphere A and the sphere C on the sea surface is recorded as OE, the sea surface is perpendicular to a point O, and the point O is the projection of a line OL on the sea surface; the projection on the sea surface is recorded as O point, and the straight line vertical to the O point is recorded as OL; it is easy to know that the surface 1 and the surface 2 are perpendicular to the sea surface and intersect with a straight line OL, and then OL is also perpendicular to the sea surface, so the longitude and latitude of the O point is the position of the weight, and the length of OL is the sea depth of the weight;
according to the space geometric relationship, calculating to obtain the coordinates of the target point and the length of OL, and the specific calculation steps are as follows:
a. solving the equation of the plane where the two intersected circles of the point A, the point B and the point A and the point C are located;
b. calculating an ABC plane unit normal vector;
c. and determining the coordinates of the O point and the OL length by the ABC plane and the plane of the two intersected circles.
2. The three-point deep-sea submersible buoy positioning method as claimed in claim 1, wherein in step 3), the calculation program is written based on Matlab software, and the calculation results include the longitude and latitude of the weight, the sea depth of the position where the weight is located, and the position diagram of the measurement result.
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| CN109367705A (en) * | 2018-11-26 | 2019-02-22 | 国家海洋局第海洋研究所 | A kind of polar season ice formation punctual and duly communication subsurface buoy |
| CN113120166B (en) * | 2021-05-13 | 2023-04-25 | 自然资源部第一海洋研究所 | Polar region anchorage submerged buoy laying system, polar region anchorage submerged buoy laying method, polar region anchorage submerged buoy laying storage medium and polar region anchorage submerged buoy laying computer |
| CN113306667B (en) * | 2021-06-16 | 2023-04-07 | 自然资源部第一海洋研究所 | Polar region anchorage subsurface buoy recovery method, system and application |
| CN117741572A (en) * | 2024-02-21 | 2024-03-22 | 自然资源部第二海洋研究所 | Method and system for rapidly positioning anchor point of ocean submerged buoy under water |
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| CN100565239C (en) * | 2004-12-07 | 2009-12-02 | 中国科学院海洋研究所 | A kind of system for automatic searching buoy and locating of submerged buoy |
| CN102636785B (en) * | 2012-04-06 | 2013-08-28 | 哈尔滨工程大学 | Submarine target three-dimensional positioning method |
| CN104932020B (en) * | 2015-04-22 | 2017-09-22 | 国家深海基地管理中心 | Manned underwater vehicle Long baselines alignment system sea trial method |
| CN105116402B (en) * | 2015-07-30 | 2017-09-12 | 中国人民解放军91388部队 | A kind of championship seabed formation bearing calibration |
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