CN107678032A - A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon - Google Patents
A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon Download PDFInfo
- Publication number
- CN107678032A CN107678032A CN201710599155.5A CN201710599155A CN107678032A CN 107678032 A CN107678032 A CN 107678032A CN 201710599155 A CN201710599155 A CN 201710599155A CN 107678032 A CN107678032 A CN 107678032A
- Authority
- CN
- China
- Prior art keywords
- beacon
- virtual
- ranging
- underwater target
- acoustic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 5
- 230000008054 signal transmission Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000006506 Brasenia schreberi Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010219 correlation analysis Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
本发明公开了一种基于虚拟收发信标的单信标测距定位方法，属于水声定位技术领域。本发明利用水下目标声学测距周期，根据水下目标大地坐标系中的运动参数和实际布放的信标建立虚拟发射信标；利用水下目标声学测距双程传播时延，根据水下目标大地坐标系中的运动参数和虚拟发射信标建立虚拟接收信标；根据虚拟发射信标位置、虚拟接收信标位置和单信标测距系统测得的双程传播时延建立观测方程；通过对基于虚拟收发信标的观测方程组成的定位方程组进行求解，解算得到了水下目标在大地坐标系中的位置。本发明通过构建虚拟接收信标和虚拟发射信标，克服了单信标测距定位中声学测距收发非共点的问题，提高了水下运动目标的单信标测距的定位精度。
The invention discloses a single-beacon ranging and positioning method based on a virtual sending and receiving beacon, and belongs to the technical field of underwater acoustic positioning. The present invention utilizes the acoustic ranging period of the underwater target to establish a virtual launch beacon according to the motion parameters in the geodetic coordinate system of the underwater target and the actually deployed beacon; The motion parameters in the lower target geodetic coordinate system and the virtual transmitting beacon are used to establish a virtual receiving beacon; the observation equation is established according to the position of the virtual transmitting beacon, the virtual receiving beacon position and the two-way propagation delay measured by the single-beacon ranging system ; By solving the positioning equations based on the observation equations of the virtual sending and receiving beacons, the position of the underwater target in the earth coordinate system is obtained. By constructing virtual receiving beacons and virtual transmitting beacons, the present invention overcomes the problem of non-co-points of acoustic ranging and transmitting and receiving in single-beacon ranging and positioning, and improves the positioning accuracy of single-beacon ranging for underwater moving targets.
Description
技术领域technical field
本发明属于水声定位技术领域，具体涉及一种基于虚拟收发信标的单信标测距定位方法。The invention belongs to the technical field of underwater acoustic positioning, and in particular relates to a single-beacon ranging and positioning method based on a virtual sending and receiving beacon.
背景技术Background technique
目前对于水上目标的定位通常采用卫星技术为主的技术手段(GPS系统、伽利略系统、北斗系统等)，辅以惯性及其它定位技术。当目标处于水下时，由于水介质对无线电波的强烈吸收作用，限制了卫星定位的应用。此时，以声波作为信息载体的水声定位技术成为主要选择，不但能完成对目标的定位、导航，还能作为惯性定位导航技术的有效辅助校准手段。At present, the positioning of water targets usually adopts satellite technology-based technical means (GPS system, Galileo system, Beidou system, etc.), supplemented by inertial and other positioning technologies. When the target is underwater, the application of satellite positioning is limited due to the strong absorption of radio waves by the water medium. At this time, the underwater acoustic positioning technology using sound waves as the information carrier has become the main choice. It can not only complete the positioning and navigation of the target, but also serve as an effective auxiliary calibration method for inertial positioning and navigation technology.
水声定位技术最先应用于军事，后由于海洋开发、勘探、资源开采的需求逐步应用于各类商用、民用工程。它能够提供海底勘查设备如ROV(Remotely Operated Vehicle)和AUV(Autonomous Underwater Vehicle)等重要的定位、导航和通信支撑。通过在水面工作船只、水下移动平台以及作业海区上加装和布放声学定位设备，可实现水面对水下目标位置的实时监控、水面与水下平台的信息交互，是海洋科学考察、海洋资源勘探、海洋资源开发、深海空间站建设等工程的必备手段。Hydroacoustic positioning technology was first applied to the military, and then gradually applied to various commercial and civil projects due to the needs of ocean development, exploration, and resource extraction. It can provide important positioning, navigation and communication support for seabed exploration equipment such as ROV (Remotely Operated Vehicle) and AUV (Autonomous Underwater Vehicle). By installing and deploying acoustic positioning equipment on surface working vessels, underwater mobile platforms, and operating sea areas, real-time monitoring of underwater target positions on the surface of the surface and information interaction between the surface and the underwater platform can be realized. It is an essential means for projects such as resource exploration, marine resource development, and deep-sea space station construction.
声学测距是基于相关分析法的相关滤波效应以及信号与其经过延时后信号的互相关函数的时移特性的相关测量，是在背景噪声大的环境中，准确进行距离测量的有效方法，其抗干扰能力强，测量准确，精度高。Acoustic ranging is based on the correlation filtering effect of the correlation analysis method and the correlation measurement of the time-shift characteristics of the cross-correlation function of the signal and its delayed signal. It is an effective method for accurate distance measurement in an environment with large background noise. Strong anti-interference ability, accurate measurement and high precision.
声学测距系统在目标定位的方法中是一种常用且有效的方式，声学测距系统在基于单信标测距的定位系统工作时，声学测距系统的测距仪在每个测距周期发射测距信号。由于水下目标运动的影响，声学测距系统发射信号的位置和接收信号的位置发生了改变。因此，水下目标发射点至信标对应的单程传播时间和水下目标接收点至信标对应的单程传播时间是不同的。The acoustic ranging system is a commonly used and effective method in the method of target positioning. When the acoustic ranging system works in a positioning system based on single beacon ranging, the rangefinder of the acoustic ranging system Transmit a ranging signal. Due to the influence of underwater target motion, the position where the acoustic ranging system transmits the signal and receives the signal changes. Therefore, the one-way propagation time corresponding to the transmitting point of the underwater target to the beacon is different from the one-way propagation time corresponding to the receiving point of the underwater target to the beacon.
常规的定位解算模型以双程传播时延的一半作为单程传播时延的近似量不再准确，为了补偿水下目标运动造成的单程传播时延近似误差，提高单信标测距定位系统对水下运动目标的定位精度，我们需要克服水下目标声学测距信号发射与接收非共点的问题。为了解决上述问题，本发明提出了一种基于虚拟收发信标的单信标测距定位方法。The conventional positioning calculation model uses half of the two-way propagation delay as the approximation of the one-way propagation delay, which is no longer accurate. For the positioning accuracy of underwater moving targets, we need to overcome the problem of non-co-location of acoustic ranging signal transmission and reception of underwater targets. In order to solve the above problems, the present invention proposes a single-beacon ranging and positioning method based on virtual sending and receiving beacons.
发明内容Contents of the invention
本发明的目的在于提供一种能够克服水下目标声学测距信号发射与接收非共点的问题且能提高单信标测距定位系统对水下运动目标的定位精度的基于虚拟收发信标的单信标测距定位方法。The purpose of the present invention is to provide a single-beacon-based virtual sending and receiving beacon that can overcome the problem of non-co-point transmission and reception of underwater target acoustic ranging signals and can improve the positioning accuracy of the single-beacon ranging and positioning system for underwater moving targets. Beacon ranging positioning method.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
本发明公开了一种基于虚拟收发信标的单信标测距定位方法，其具体的实现步骤包括：The invention discloses a single-beacon ranging and positioning method based on a virtual sending and receiving beacon, and its specific implementation steps include:
(1)设定声学测距系统的测距仪的测距周期，根据水下目标在大地坐标系中的运动参数和实际布放的信标建立虚拟发射信标；(1) Set the ranging period of the rangefinder of the acoustic ranging system, and establish a virtual launch beacon according to the motion parameters of the underwater target in the geodetic coordinate system and the actually deployed beacons;
(2)利用水下目标声学测距双程传播时延，根据水下目标大地坐标系中的运动参数和虚拟发射信标建立虚拟接收信标；(2) Using the two-way propagation delay of underwater target acoustic ranging, the virtual receiving beacon is established according to the motion parameters in the underwater target geodetic coordinate system and the virtual transmitting beacon;
(3)根据虚拟发射信标位置、虚拟接收信标位置和单信标测距系统测得的双程传播时延建立观测方程；(3) Establish the observation equation according to the virtual transmitting beacon position, the virtual receiving beacon position and the two-way propagation delay measured by the single-beacon ranging system;
(4)对基于虚拟收发信标的观测方程组成的定位方程组求解，解算得到水下运动目标在大地坐标系中的位置。(4) Solve the positioning equations composed of observation equations based on virtual transceiver beacons, and obtain the position of the underwater moving target in the earth coordinate system.
对于一种基于虚拟收发信标的单信标测距定位方法，所述的步骤(1)的具体实现步骤包括：For a single beacon ranging and positioning method based on virtual sending and receiving beacons, the specific implementation steps of the step (1) include:
(1.1)对声学测距系统进行初始化设置，校准时钟，设定声学测距系统的测距仪的测距周期T；(1.1) Initialize the acoustic ranging system, calibrate the clock, and set the ranging period T of the rangefinder of the acoustic ranging system;
(1.2)将声学测距系统的测距仪安装在水下目标平台上，实体信标布放于水底，标定实体信标在大地坐标系下的坐标AT；(1.2) Install the rangefinder of the acoustic ranging system on the underwater target platform, place the physical beacon on the bottom of the water, and calibrate the coordinate AT of the physical beacon in the geodetic coordinate system;
(1.3)将载体坐标系安装在水下目标上，在载体坐标系下测量水下目标的运动参数，得到水下目标的运动速度Bvb，根据载体坐标系与大地坐标系的转换关系，将Bvb转化为水下目标在大地坐标系下的运动速度Lvb；(1.3) Install the carrier coordinate system on the underwater target, measure the motion parameters of the underwater target under the carrier coordinate system, and obtain the moving speed B v b of the underwater target. According to the conversion relationship between the carrier coordinate system and the earth coordinate system, Transform B v b into the moving speed L v b of the underwater target in the earth coordinate system;
(1.4)根据实体信标的坐标AT及水下目标在大地坐标系下的运动速度Lvb建立虚拟发射目标Xvtks。(1.4) Establish a virtual launching target X vtks according to the coordinate AT of the physical beacon and the moving speed L v b of the underwater target in the earth coordinate system.
对于一种基于虚拟收发信标的单信标测距定位方法，所述的步骤(2)的具体实现步骤包括：For a single beacon ranging and positioning method based on a virtual transceiver beacon, the specific implementation steps of the step (2) include:
(2.1)设定声学测定信标的转发时延为ttat，且转发时延ttat在每个测距周期的大小相等；(2.1) Set the forwarding delay of the acoustic measurement beacon as t tat , and the forwarding delay t tat is equal in each ranging period;
(2.2)在第k个测距周期Tk的起始时刻，声学测距系统的测距仪发射测距信号，水下目标记录自身发射测距信号的时刻为tsendk，水下目标接收到声学测定信标回复信号的时刻为treceptk；(2.2) At the initial moment of the kth ranging period T k , the rangefinder of the acoustic ranging system transmits the ranging signal, and the underwater target records the time when it transmits the ranging signal as t sendk , and the underwater target receives The moment when the acoustic measurement beacon replies to the signal is t acceptk ;
(2.3)根据声学测距系统及水下目标记录的各时刻信息，得到水下目标从发射点至接收点经过的时间为treceptk-tsendk＝tsk+ttat+trk，声学测距系统测得的双程传播时延为tsk+trk＝treceptk-tsendk-ttat，其中tsk+trk为第k个周期内声学测距系统测得的双程传播时延；(2.3) According to the time information recorded by the acoustic ranging system and the underwater target, the time elapsed by the underwater target from the transmitting point to the receiving point is obtained as t receptk -t sendk =t sk +t tat +t rk , the acoustic ranging The two-way propagation delay measured by the system is t sk +t rk =t receptk -t sendk -t tat , where t sk +t rk is the two-way propagation delay measured by the acoustic ranging system in the kth cycle;
(2.4)根据声学测距系统测得的第k个周期内双程传播时延tsk+trk及水下目标在大地坐标系下的运动速度Lvb建立虚拟接收信标Xvtkr。(2.4) Establish a virtual receiving beacon X vtkr according to the two-way propagation delay t sk +t rk in the k-th period measured by the acoustic ranging system and the moving speed L v b of the underwater target in the earth coordinate system.
对于一种基于虚拟收发信标的单信标测距定位方法，所述的步骤(3)的具体实现方式为：构建完成虚拟发射信标Xvtks和虚拟接收信标Xvtkr后，虚拟收发信标对应的双程传播时延为tsk+trk，根据虚拟收发信标位置和单信标测距系统测得的双程传播时延建立观测方程。For a single-beacon ranging and positioning method based on virtual sending and receiving beacons, the specific implementation of step (3) is: after constructing the virtual sending beacon X vtks and the virtual receiving beacon X vtkr , the virtual sending and receiving beacon The corresponding two-way propagation delay is t sk +t rk , and the observation equation is established according to the position of the virtual transceiver beacon and the two-way propagation delay measured by the single-beacon ranging system.
对于一种基于虚拟收发信标的单信标测距定位方法，所述的步骤(4)的具体实现方式为：将定位方程组的各个基于虚拟收发信标的观测方程进行线性化处理，消除待求水下目标位置的二次项，对线性化处理后的定位方程组求解，通过最小二乘法解算得到水下目标在大地坐标系中的位置。For a single-beacon ranging and positioning method based on virtual transceiver beacons, the specific implementation of step (4) is: linearize each observation equation based on virtual transceiver beacons in the positioning equation group, and eliminate the The quadratic term of the position of the underwater target is solved by solving the linearized positioning equations, and the position of the underwater target in the earth coordinate system is obtained by solving the least square method.
本发明的有益效果在于：The beneficial effects of the present invention are:
本发明公开的一种基于虚拟收发信标的单信标测距定位方法利用水下目标声学测距周期，根据水下目标大地坐标系中的运动参数和实际布放的信标建立了虚拟发射信标；利用水下目标声学测距双程传播时延，根据水下目标大地坐标系中的运动参数和虚拟发射信标建立了虚拟接收信标；根据虚拟发射信标位置、虚拟接收信标位置和单信标测距系统测得的双程传播时延建立了观测方程；通过对基于虚拟收发信标的观测方程组成的定位方程组进行求解，解算得到了水下目标在大地坐标系中的位置。A single-beacon ranging and positioning method based on virtual sending and receiving beacons disclosed by the present invention utilizes the underwater target acoustic ranging period to establish a virtual transmitting signal according to the motion parameters in the underwater target geodetic coordinate system and the actually deployed beacons. The two-way propagation time delay of underwater target acoustic ranging is used to establish a virtual receiving beacon according to the motion parameters of the underwater target geodetic coordinate system and the virtual transmitting beacon; according to the position of the virtual transmitting beacon and the position of the virtual receiving beacon The observation equation is established with the two-way propagation time delay measured by the single beacon ranging system; by solving the positioning equation group composed of the observation equation based on the virtual sending and receiving beacon, the position of the underwater target in the earth coordinate system is obtained through the solution .
本发明公开的这种基于虚拟收发信标的单信标测距定位方法通过构建虚拟接收信标和虚拟发射信标，解决了水下目标声学测距信号发射与接收非共点的问题，提高了单信标测距定位系统对水下运动目标的定位精度。The single-beacon ranging and positioning method based on virtual sending and receiving beacons disclosed by the present invention solves the problem of non-co-location of underwater target acoustic ranging signal transmission and reception by constructing virtual receiving beacons and virtual transmitting beacons, and improves The positioning accuracy of single beacon ranging and positioning system for underwater moving targets.
附图说明Description of drawings
图1为本发明中虚拟收发信标构建原理示意图；Fig. 1 is a schematic diagram of the construction principle of virtual sending and receiving beacons in the present invention;
图2为本发明中水下目标航行轨迹；Fig. 2 is underwater target navigation track among the present invention;
图3为本发明中方法与常规方法的定位误差对比。Fig. 3 is a comparison of positioning errors between the method of the present invention and the conventional method.
具体实施方式detailed description
下面结合附图对本发明做进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.
结合图1，为本发明的基于虚拟收发信标的目标定位原理。基于单信标测距的定位系统工作时，声学测距系统的测距仪在每个测距周期发射测距信号，测距周期为T。由于水下目标运动的影响，声学测距系统发射信号的位置Xsk和接收信号的位置Xrk发生了改变。因此，目标发射点Xsk至信标Xt对应的单程传播时间tsk和目标接收点Xrk至信标Xt对应的单程传播时间trk是不同的。在第k个测距周期，水下目标发射测距信号的时刻为tsendk，水下目标接收到信标回复信号的时刻为treceptk，则水下目标从发射点Xsk至接收点Xrk经过的时间为treceptk-tsendk＝tsk+ttat+trk，所以声学测距系统测得的双程传播时延为tsk+trk＝treceptk-tsendk-ttat。其中，转发时延ttat预先设定且在每个测距周期大小相等。以双程传播时延的一半作为单程传播时延的近似量不再准确，为了补偿目标运动造成的单程传播时延近似误差，提高定位系统对运动目标的定位精度，我们需要考虑水下目标测距信号发射与接收非共点的情况。In conjunction with FIG. 1 , it shows the principle of target positioning based on virtual sending and receiving beacons of the present invention. When the positioning system based on single-beacon ranging works, the rangefinder of the acoustic ranging system transmits a ranging signal in each ranging period, and the ranging period is T. Due to the influence of the underwater target's movement, the position X sk of the acoustic ranging system's transmitting signal and the position X rk of receiving the signal have changed. Therefore, the one-way propagation time t sk corresponding to the target transmitting point X sk to the beacon X t is different from the one-way propagation time t rk corresponding to the target receiving point X rk to the beacon X t . In the k-th ranging period, the time when the underwater target transmits the ranging signal is t sendk , and the time when the underwater target receives the beacon reply signal is t receptk , then the underwater target travels from the transmitting point X sk to the receiving point X rk The elapsed time is t receptk -t sendk =t sk +t tat +t rk , so the two-way propagation delay measured by the acoustic ranging system is t sk +t rk =t receptk -t sendk -t tat . Wherein, the forwarding delay t tat is preset and equal in each ranging period. Taking half of the two-way propagation delay as the approximate value of the one-way propagation delay is no longer accurate. In order to compensate the approximate error of the one-way propagation delay caused by the target movement and improve the positioning accuracy of the positioning system for the moving target, we need to consider the underwater target measurement. The situation where the signal transmission and reception are not at the same point.
基于虚拟收发信标的目标定位的第1个关键步骤：直接利用声学测距系统测得的双程传播时延，不再以双程传播时延的一半作为单程传播时延的近似量。The first key step of target positioning based on virtual transceiving beacons is to directly use the two-way propagation delay measured by the acoustic ranging system, and no longer use half of the two-way propagation delay as the approximate amount of one-way propagation delay.
为了能够直接利用双程传播时延，对于第1个测距周期，将目标从发射点Xs1至接收点Xr1的运动参数应用到实际布放的单只信标Xt上，构建虚拟信标Xvt。发射信号单程传播时延ts1对应的虚拟信标为Xvt1s'，接收信号单程传播时延tr1对应的虚拟信标为Xvt1r'，这两个虚拟信标与实际布放的单只信标Xt的相对位置关系满足：In order to directly utilize the two-way propagation delay, for the first ranging period, the motion parameters of the target from the transmitting point X s1 to the receiving point X r1 are applied to the actual deployed single beacon X t to construct a virtual signal Mark Xvt . The virtual beacon corresponding to the one-way propagation delay t s1 of the transmitting signal is X vt1s' , and the virtual beacon corresponding to the one-way propagation delay t r1 of the receiving signal is X vt1r '. The relative position relationship of the label X t satisfies:
其中，Lvb为大地坐标系下水下目标的速度，Bvb为目标坐标系下水下目标的速度，为载体坐标系{B}变换到大地坐标系{L}的旋转矩阵，c为声速，Δt为目标运动参数测量的采样间隔。Among them, L v b is the speed of the underwater target in the earth coordinate system, B v b is the speed of the underwater target in the target coordinate system, is the rotation matrix for transforming the carrier coordinate system {B} to the earth coordinate system {L}, c is the speed of sound, and Δt is the sampling interval of target motion parameter measurement.
对于第1个测距周期，声学测距收发非共点的问题转化为目标发射点至不同信标测距的问题，这样便能够直接利用声学测距系统测得的双程传播时延。目标发射点位置Xs1、虚拟信标位置Xvt1s'、Xvt1r'和双程传播时延ts1+tr1满足如下的关系式：For the first ranging cycle, the problem of the non-co-point of the acoustic ranging sending and receiving is transformed into the problem of ranging from the target transmitting point to different beacons, so that the two-way propagation delay measured by the acoustic ranging system can be directly used. The target launch point position X s1 , the virtual beacon position X vt1s' , X vt1r' and the round-trip propagation delay t s1 +t r1 satisfy the following relationship:
||Xs1-Xt||+||Xr1-Xt||＝||Xs1-Xvt1s'||+||Xs1-Xvt1r'||＝c·(ts1+tr1) (2)||X s1 -X t ||+||X r1 -X t ||＝||X s1 -X vt1s' ||+||X s1 -X vt1r' ||＝c·(t s1 +t r1 ) (2)
同理，得到第2个测距周期的目标位置与虚拟信标满足如下关系式：Similarly, the target position and virtual beacon in the second ranging cycle satisfy the following relationship:
基于虚拟收发信标的目标定位的第2个关键步骤：经过第1个关键步骤后，声学测距收发非共点的问题转化为目标发射点至不同信标测距的问题。下面将把不同目标发射点对应的测距信息转移到同一个目标发射点，从而构建测距信息方程组解算出水下目标的具体位置。The second key step of target positioning based on virtual transceiver beacons: after the first key step, the problem of non-co-point of acoustic ranging transceiving is transformed into the problem of ranging from the target transmitting point to different beacons. Next, the ranging information corresponding to different target launching points will be transferred to the same target launching point, so as to construct the ranging information equations and solve the specific position of the underwater target.
对于第1个测距周期，将目标从发射点Xs1至发射点Xs2的运动参数应用到发射点Xs1的虚拟信标Xvt1s'和Xvt1r'上，构建发射信号单程传播时延ts1对应的虚拟信标Xvt1s和接收信号单程传播时延tr1对应的虚拟信标Xvt1r，则虚拟信标Xvt1s和Xvt1r与虚拟信标Xvt1s'和Xvt1r'的相对位置关系满足：For the first ranging cycle, the motion parameters of the target from the launch point X s1 to the launch point X s2 are applied to the virtual beacons X vt1s' and X vt1r' of the launch point X s1 to construct the one-way propagation delay t of the transmit signal The virtual beacon X vt1s corresponding to s1 and the virtual beacon X vt1r corresponding to the received signal one-way propagation delay t r1 , then the relative position relationship between virtual beacons X vt1s and X vt1r and virtual beacons X vt1s ' and X vt1r ' satisfies :
联立公式(1)和公式(4)，进一步得到虚拟信标Xvt1s和Xvt1r与实际布放的单只信标Xt的相对位置关系满足：Combining formula (1) and formula (4), it is further obtained that the relative positional relationship between the virtual beacons X vt1s and X vt1r and the actual deployed single beacon X t satisfies:
通过构建上式的虚拟信标，将第1个测距周期的测距信息转移到了第2个测距周期，第1个测距周期的双程传播时延ts1+tr1、虚拟信标Xvt1s和Xvt1r与第2个测距周期的目标发射点位置Xs2满足如下的关系式：By constructing the virtual beacon of the above formula, the ranging information of the first ranging period is transferred to the second ranging period, the two-way propagation delay t s1 +t r1 of the first ranging period, the virtual beacon X vt1s and X vt1r and the target emission point position X s2 in the second ranging period satisfy the following relationship:
综上，对于第k个测距周期，当构建的虚拟信标个数为n时，需要利用第k-(n-1)～k个测距周期的目标运动参数。假设第k个测距周期对应的虚拟信标为Xvt(n)s和Xvt(n)r，第k-(n-1)个测距周期对应的虚拟信标为Xvt(1)s和Xvt(1)r，则第k-(n-m)个测距周期对应的虚拟信标为Xvt(m)s和Xvt(m)r。所以，第k个测距周期对应的所有2n个虚拟信标与实际布放的单只信标Xt的相对位置关系满足：To sum up, for the kth ranging period, when the number of constructed virtual beacons is n, it is necessary to use the target motion parameters of the k-(n-1)~k ranging period. Assume that the virtual beacons corresponding to the kth ranging period are X vt(n)s and X vt(n)r , and the virtual beacons corresponding to the k-(n-1)th ranging period are X vt(1) s and X vt(1)r , then the virtual beacon corresponding to the k-(nm)th ranging period is X vt(m)s and X vt(m)r . Therefore, the relative position relationship between all 2n virtual beacons corresponding to the k-th ranging period and the actual deployed single beacon X t satisfies:
构建完成虚拟信标后，下面结合虚拟信标对应的双程传播时延组成测距方程，其中虚拟信标Xvt(m)s和Xvt(m)r对应的双程传播时延为ts(k-(n-m))+tr(k-(n-m))。则第k个测距周期对应的n个测距方程满足如下的关系式：After the virtual beacon is constructed, the ranging equation is composed of the two-way propagation delay corresponding to the virtual beacon, where the two-way propagation delay corresponding to the virtual beacon X vt(m)s and X vt(m)r is t s(k-(nm)) +t r(k-(nm)) . Then the n ranging equations corresponding to the kth ranging cycle satisfy the following relational expression:
至此，便可根据第k个测距周期对应的n个测距方程构建测距方程组，从而利用最小二乘法解算出第k个测距周期中目标发射点Xsk的具体位置。计算得到目标发射点Xsk的位置后，根据目标的运动状态能计算第k个测距周期任意时刻的目标位置。So far, the ranging equations can be constructed according to the n ranging equations corresponding to the k-th ranging period, and the specific position of the target launch point X sk in the k-th ranging period can be calculated by using the least square method. After the position of the target launch point X sk is calculated, the target position at any time in the kth ranging period can be calculated according to the motion state of the target.
下面对本发明提供的基于虚拟收发信标的单信标测距定位方法进行仿真分析。The simulation analysis of the single-beacon ranging and positioning method based on virtual sending and receiving beacons provided by the present invention is carried out below.
结合图2为水下目标的梳形航行轨迹图，声信标布放在海底的位置为(0,0,4000)m，信标的转发时延为20ms；水下目标在恒定深度4100m作前向速度1m/s的匀速直线运动；水下目标的初始位置为(-1000,-300)m，测距周期20s。Combined with Figure 2, the comb-shaped navigation trajectory of the underwater target is shown. The position of the acoustic beacon placed on the seabed is (0,0,4000)m, and the forwarding delay of the beacon is 20ms; the underwater target operates at a constant depth of 4100m. Moving in a straight line with a speed of 1m/s; the initial position of the underwater target is (-1000,-300)m, and the ranging period is 20s.
结合图3，根据本发明的方法与常规方法定位误差对比，给测得的双程传播时延添加标准差0.1ms的测时误差。基于单程测距近似的定位方法，以双程传播时延的一半作为单程传播时延的量测量，定位误差均值1.535m，标准差1.855m，其中水下目标航行轨迹拐弯处定位误差明显增大；本发明提供的基于虚拟收发信标的定位误差均值0.299m，标准差0.378m，定位误差明显小于时延近似造成的定位误差，其中水下目标航行轨迹拐弯处定位误差更加改善明显。Referring to FIG. 3 , according to the comparison of positioning errors between the method of the present invention and the conventional method, a timing error with a standard deviation of 0.1 ms is added to the measured two-way propagation delay. Based on the positioning method of one-way ranging approximation, half of the two-way propagation delay is used as the measurement of the one-way propagation delay. The average positioning error is 1.535m, and the standard deviation is 1.855m. The positioning error of the underwater target navigation trajectory increases significantly. The average value of the positioning error based on the virtual sending and receiving beacon provided by the present invention is 0.299m, and the standard deviation is 0.378m. The positioning error is obviously smaller than the positioning error caused by the time delay approximation, and the positioning error at the corner of the underwater target navigation track is more obvious.
需要说明的是，以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。It should be noted that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710599155.5A CN107678032A (en) | 2017-07-21 | 2017-07-21 | A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710599155.5A CN107678032A (en) | 2017-07-21 | 2017-07-21 | A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107678032A true CN107678032A (en) | 2018-02-09 |
Family
ID=61133146
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710599155.5A Pending CN107678032A (en) | 2017-07-21 | 2017-07-21 | A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107678032A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109960266A (en) * | 2019-04-16 | 2019-07-02 | 哈尔滨工程大学 | A comb-shaped path design method for underwater acoustic beacon search and detection of submersible platforms |
| CN110187302A (en) * | 2019-06-17 | 2019-08-30 | 北京航空航天大学 | A single-beacon-based self-navigation method for underwater frogmen |
| CN110309581A (en) * | 2019-06-27 | 2019-10-08 | 哈尔滨工程大学 | A method for rapid optimization of layout of measurement points for comprehensive calibration of underwater submerged buoy positions |
| CN112083427A (en) * | 2020-09-14 | 2020-12-15 | 哈尔滨工程大学 | Distance measurement method for unmanned underwater vehicle |
| CN112285652A (en) * | 2020-10-28 | 2021-01-29 | 浙江大学 | Underwater glider positioning method utilizing single beacon virtual arrival time difference |
| CN112596047A (en) * | 2020-12-08 | 2021-04-02 | 中国船舶重工集团公司七五0试验场 | Underwater track tracking self-checking system and method for track dynamic cooperation beacon simulation |
| CN113702907A (en) * | 2021-08-09 | 2021-11-26 | 哈尔滨工程大学 | Underwater single beacon navigation method based on propagation delay of direct sound and primary sea surface reflected sound |
| CN118549886A (en) * | 2024-05-29 | 2024-08-27 | 青岛哈尔滨工程大学创新发展中心 | Deep sea acoustic wide-area positioning system and dynamic positioning method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806883A (en) * | 2010-04-09 | 2010-08-18 | 哈尔滨工程大学 | Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays |
| CN101833081A (en) * | 2010-04-23 | 2010-09-15 | 哈尔滨工程大学 | Method for precise calibration of absolute position of deep sea underwater transponder |
| CN103376452A (en) * | 2012-04-18 | 2013-10-30 | 中国科学院沈阳自动化研究所 | Method for correction of underwater robot position error with single acoustic beacon |
| CN105022032A (en) * | 2015-07-08 | 2015-11-04 | 中国人民解放军91388部队 | Long baseline navigation positioning system absolute array measurement distance measurement correction method |
| US10199879B2 (en) * | 2015-06-30 | 2019-02-05 | Ossia Inc. | Techniques for facilitating beacon sampling efficiencies in wireless power delivery environments |
-
2017
- 2017-07-21 CN CN201710599155.5A patent/CN107678032A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806883A (en) * | 2010-04-09 | 2010-08-18 | 哈尔滨工程大学 | Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays |
| CN101833081A (en) * | 2010-04-23 | 2010-09-15 | 哈尔滨工程大学 | Method for precise calibration of absolute position of deep sea underwater transponder |
| CN103376452A (en) * | 2012-04-18 | 2013-10-30 | 中国科学院沈阳自动化研究所 | Method for correction of underwater robot position error with single acoustic beacon |
| US10199879B2 (en) * | 2015-06-30 | 2019-02-05 | Ossia Inc. | Techniques for facilitating beacon sampling efficiencies in wireless power delivery environments |
| CN105022032A (en) * | 2015-07-08 | 2015-11-04 | 中国人民解放军91388部队 | Long baseline navigation positioning system absolute array measurement distance measurement correction method |
Non-Patent Citations (2)
| Title |
|---|
| 曹俊等: "系数矩阵正定的单信标测距定位算法", 《电子与信息学报》 * |
| 郭燕子等: "长基线系统应答器回收导引软件开发", 《舰船电子工程》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109960266A (en) * | 2019-04-16 | 2019-07-02 | 哈尔滨工程大学 | A comb-shaped path design method for underwater acoustic beacon search and detection of submersible platforms |
| CN110187302A (en) * | 2019-06-17 | 2019-08-30 | 北京航空航天大学 | A single-beacon-based self-navigation method for underwater frogmen |
| CN110309581A (en) * | 2019-06-27 | 2019-10-08 | 哈尔滨工程大学 | A method for rapid optimization of layout of measurement points for comprehensive calibration of underwater submerged buoy positions |
| CN110309581B (en) * | 2019-06-27 | 2022-11-01 | 哈尔滨工程大学 | Rapid optimization layout method for comprehensive calibration measuring points of underwater submerged buoy position |
| CN112083427A (en) * | 2020-09-14 | 2020-12-15 | 哈尔滨工程大学 | Distance measurement method for unmanned underwater vehicle |
| CN112083427B (en) * | 2020-09-14 | 2023-09-19 | 哈尔滨工程大学 | A method of ranging for unmanned underwater vehicles under ice |
| CN112285652A (en) * | 2020-10-28 | 2021-01-29 | 浙江大学 | Underwater glider positioning method utilizing single beacon virtual arrival time difference |
| CN112596047A (en) * | 2020-12-08 | 2021-04-02 | 中国船舶重工集团公司七五0试验场 | Underwater track tracking self-checking system and method for track dynamic cooperation beacon simulation |
| CN112596047B (en) * | 2020-12-08 | 2023-10-03 | 中国船舶重工集团公司七五0试验场 | Underwater track tracking self-checking system and method for track dynamic cooperative beacon simulation |
| CN113702907A (en) * | 2021-08-09 | 2021-11-26 | 哈尔滨工程大学 | Underwater single beacon navigation method based on propagation delay of direct sound and primary sea surface reflected sound |
| CN118549886A (en) * | 2024-05-29 | 2024-08-27 | 青岛哈尔滨工程大学创新发展中心 | Deep sea acoustic wide-area positioning system and dynamic positioning method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107678032A (en) | A kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon | |
| CN107272004B (en) | Single-beacon ranging and positioning method based on underwater beacon position correction | |
| CN102981144B (en) | Method for three-dimensional passive positioning of targets by air moving platform | |
| CN105319534B (en) | A kind of more AUV co-locateds methods based on underwater sound round trip ranging | |
| CN105137394B (en) | Ultra-short baseline acoustic positioning system and its location algorithm based on Maximum-likelihood estimation | |
| KR100906362B1 (en) | Pseudo LBL Underwater Navigation System of Unmanned Submersible Ship Using Distance Information for Two Reference Points and Low Precision Inertial Sensor | |
| US20090287414A1 (en) | System and process for the precise positioning of subsea units | |
| WO2020005116A1 (en) | Method for locating underwater objects | |
| Zwirello et al. | Sensor data fusion in UWB-supported inertial navigation systems for indoor navigation | |
| CN109782289B (en) | Underwater vehicle positioning method based on baseline geometric structure constraint | |
| US8908475B2 (en) | Acoustic positioning system and method | |
| CN103968830B (en) | Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method | |
| CN107576939A (en) | A kind of single beacon distance-measuring and positioning method based on virtual ranging beacon | |
| CN103868493B (en) | A kind of depth datum geodetic height measuring method based on PPP technology | |
| RU2437114C1 (en) | System for determining coordinates of underwater objects | |
| CN104197939A (en) | Multi-reference-point under-water vehicle combination navigation method based on underwater information network | |
| CN105974363B (en) | A kind of underwater enhancing localization method based on sounding error correlation | |
| CN101832775A (en) | Deep ocean work and underwater vehicle combined navigation system and underwater initial alignment method | |
| CN105116372A (en) | Shallow sea seabed horizontal linear hydrophone array orientation calibration method | |
| JP6207817B2 (en) | Underwater position-related information acquisition system | |
| CN115856975A (en) | Underwater target accurate positioning resolving method based on Beidou floating platform | |
| CN111522013A (en) | Submarine target positioning device based on side scan sonar | |
| CN111521973A (en) | A system and method for active measurement of element space position of hydrophone array | |
| CN108882167B (en) | A Navigation and Positioning Method Using Signal Strength in Underwater Acoustic Communication Network | |
| CN201673258U (en) | Integrated Navigation System for Underwater Vehicles in Deep Sea Operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180209 |