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
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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
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Abstract
The invention discloses a kind of single beacon distance-measuring and positioning method based on virtual transceiving beacon, belong to acoustic positioning technique field.The present invention utilizes the submarine target acoustic range cycle, and kinematic parameter in submarine target earth coordinates and the beacon actually laid establish virtual emission beacon；Using submarine target acoustic range round trip propagation delay, kinematic parameter and virtual emission beacon in submarine target earth coordinates establish virtual reception beacon；Observational equation is established according to the round trip propagation delay that virtual emission beacon position, virtual reception beacon position and single beacon range-measurement system measure；Solved by the positioning equation group formed to the observational equation based on virtual transceiving beacon, resolving has obtained position of the submarine target in earth coordinates.The present invention overcomes the problem of non-concurrent point is received and dispatched in acoustic range in single beacon ranging localization, improves the positioning precision of single beacon ranging of underwater movement objective by building virtual reception beacon and virtual emission beacon.
Description
Technical Field
The invention belongs to the technical field of underwater sound positioning, and particularly relates to a single beacon ranging and positioning method based on virtual transceiving beacons.
Background
At present, technical means (a GPS system, a Galileo system, a Beidou system and the like) mainly based on satellite technology are generally adopted for positioning the aquatic target, and inertia and other positioning technologies are assisted. When the target is underwater, the application of satellite positioning is limited due to the strong absorption of radio waves by the water medium. In this case, the underwater acoustic positioning technology using acoustic waves as information carriers is the main choice, and not only can complete the positioning and navigation of the target, but also can be used as an effective auxiliary calibration means for the inertial positioning and navigation technology.
The underwater acoustic positioning technology is firstly applied to military affairs, and then is gradually applied to various commercial and civil engineering due to the requirements of ocean development, exploration and resource exploitation. It can provide important positioning, navigation and communication support for submarine exploration equipment such as ROV (remote Operated vehicle) and AUV (autonomous Underwater vehicle). By additionally arranging and laying acoustic positioning equipment on the water surface working ship, the underwater mobile platform and the operation sea area, the real-time monitoring of the underwater target position of the water surface and the information interaction of the water surface and the underwater platform can be realized, and the method is a necessary means for engineering such as marine scientific investigation, marine resource exploration, marine resource development, deep sea space station construction and the like.
The acoustic ranging is based on the correlation filtering effect of a correlation analysis method and the correlation measurement of the time shift characteristic of the cross-correlation function of a signal and the signal after time delay, is an effective method for accurately measuring the distance in an environment with large background noise, and has the advantages of strong anti-interference capability, accurate measurement and high precision.
The acoustic ranging system is a common and effective way in a target positioning method, and when the acoustic ranging system works based on a positioning system of single-beacon ranging, a range finder of the acoustic ranging system transmits a ranging signal in each ranging period. Due to the influence of the underwater target motion, the positions of the transmitting signals and the positions of the receiving signals of the acoustic ranging system are changed. Therefore, the one-way propagation time corresponding to the underwater target transmitting point to the beacon and the one-way propagation time corresponding to the underwater target receiving point to the beacon are different.
The conventional positioning calculation model takes half of a two-way propagation delay as an approximate quantity of a one-way propagation delay, which is not accurate any more, and in order to compensate an approximate error of the one-way propagation delay caused by the movement of an underwater target and improve the positioning precision of a single-beacon ranging positioning system on the underwater moving target, the problem that the acoustic ranging signals of the underwater target are transmitted and received in a non-concurrent manner needs to be solved. In order to solve the above problems, the present invention provides a single beacon ranging and positioning method based on virtual transceiving beacons.
Disclosure of Invention
The invention aims to provide a single-beacon ranging and positioning method based on virtual transceiving beacons, which can overcome the problem of non-concurrent transmission and reception of acoustic ranging signals of an underwater target and improve the positioning accuracy of a single-beacon ranging and positioning system on an underwater moving target.
The purpose of the invention is realized as follows:
the invention discloses a single beacon ranging and positioning method based on virtual transceiving beacons, which comprises the following specific implementation steps of:
(1) setting a ranging period of a range finder of the acoustic ranging system, and establishing a virtual transmitting beacon according to the motion parameters of the underwater target in the geodetic coordinate system and the actually laid beacon;
(2) establishing a virtual receiving beacon according to the motion parameters and the virtual transmitting beacon in the geodetic coordinate system of the underwater target by using the acoustic ranging two-way propagation delay of the underwater target;
(3) establishing an 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) and solving a positioning equation set formed by observation equations based on the virtual transceiving beacons, and resolving to obtain the position of the underwater moving target in the geodetic coordinate system.
For a single beacon ranging and positioning method based on virtual transceiving beacons, the specific implementation step of step (1) includes:
(1.1) carrying out initialization setting on the acoustic ranging system, calibrating a clock, and setting a ranging period T of a range finder of the acoustic ranging system;
(1.2) installing a distance meter of the acoustic distance measuring system on an underwater target platform, laying an entity beacon AT the water bottom, and calibrating a coordinate AT of the entity beacon under a geodetic coordinate system;
(1.3) installing a carrier coordinate system on the underwater target, and measuring the motion parameters of the underwater target under the carrier coordinate system to obtain the motion speed of the underwater targetBvbAccording to the conversion relation between the carrier coordinate system and the geodetic coordinate systemBvbConverted into the moving speed of the underwater target under the geodetic coordinate systemLvb；
(1.4) according to the coordinate AT of the entity beacon and the movement speed of the underwater target in the geodetic coordinate systemLvbEstablishing a virtual transmission target Xvtks。
For a single beacon ranging and positioning method based on virtual transceiving beacons, the specific implementation step of step (2) includes:
(2.1) setting the transfer delay of the acoustic measurement beacon to ttatAnd a forwarding delay ttatThe size of each ranging period is equal;
(2.2) in the second placek ranging periods TkThe starting time of the acoustic ranging system, the distance measuring instrument of the acoustic ranging system transmits the ranging signal, and the underwater target records the time t of transmitting the ranging signal by the underwater targetsendkThe time when the underwater target receives the acoustic measurement beacon reply signal is treceptk；
(2.3) obtaining the time t of the underwater target from the transmitting point to the receiving point according to the acoustic ranging system and the time information recorded by the underwater targetreceptk-tsendk＝tsk+ttat+trkThe two-way propagation delay measured by the acoustic ranging system is tsk+trk＝treceptk-tsendk-ttatWherein t issk+trkMeasuring the two-way propagation delay of the acoustic ranging system in the kth period;
(2.4) according to the two-way propagation delay t in the kth period measured by the acoustic ranging systemsk+trkAnd the moving speed of the underwater target under the geodetic coordinate systemLvbEstablishing a virtual receive Beacon Xvtkr。
For a single beacon ranging and positioning method based on virtual transceiving beacons, the specific implementation manner of step (3) is as follows: build-up completed virtual transmit beacon XvtksAnd virtual reception of beacon XvtkrThen, the two-way propagation delay corresponding to the virtual transceiving beacon is tsk+trkAnd establishing an observation equation according to the virtual beacon transmitting and receiving position and the two-way propagation delay measured by the single-beacon ranging system.
For a single beacon ranging and positioning method based on virtual transceiving beacons, the specific implementation manner of step (4) is as follows: and (3) carrying out linearization processing on each observation equation based on the virtual transceiving beacon in the positioning equation set, eliminating a quadratic term of the position of the underwater target to be solved, solving the positioning equation set after linearization processing, and solving by a least square method to obtain the position of the underwater target in the geodetic coordinate system.
The invention has the beneficial effects that:
the invention discloses a single beacon ranging and positioning method based on virtual transceiving beacons, which utilizes an underwater target acoustic ranging period to establish a virtual transmitting beacon according to a motion parameter in an underwater target geodetic coordinate system and a beacon which is actually arranged; establishing a virtual receiving beacon according to the motion parameters in the geodetic coordinate system of the underwater target and the virtual transmitting beacon by using the acoustic ranging two-way propagation delay of the underwater target; establishing an 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; and solving a positioning equation set formed by observation equations based on the virtual transceiving beacons to obtain the position of the underwater target in the geodetic coordinate system.
The single-beacon ranging and positioning method based on the virtual transceiving beacons disclosed by the invention solves the problem that the acoustic ranging signals of the underwater target are transmitted and received in a non-concurrent manner by constructing the virtual receiving beacons and the virtual transmitting beacons, and improves the positioning precision of the single-beacon ranging and positioning system on the underwater moving target.
Drawings
Fig. 1 is a schematic diagram illustrating a virtual transceiving beacon construction principle in the present invention;
FIG. 2 is a navigation track of an underwater target in the present invention;
FIG. 3 is a comparison of the positioning error of the method of the present invention and the conventional method.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the principle of target location based on virtual transceiving beacons according to the present invention is shown. When the positioning system based on single-beacon ranging works, a range finder of the acoustic ranging system transmits a ranging signal in each ranging period, and the ranging period is T. Due to being underwaterInfluence of object movement, position X of signal transmitted by acoustic distance measuring systemskAnd the position X of the received signalrkA change has occurred. Thus, the target emission point XskTo beacon XtCorresponding one-way travel time tskAnd a target receiving point XrkTo beacon XtCorresponding one-way travel time trkIs different. In the kth ranging period, the moment when the underwater target transmits the ranging signal is tsendkThe moment when the underwater target receives the beacon reply signal is treceptkThen the underwater target is launched from the launching point XskTo a receiving point XrkThe elapsed time is treceptk-tsendk＝tsk+ttat+trkSo that the two-way propagation delay measured by the acoustic ranging system is tsk+trk＝treceptk-tsendk-ttat. Wherein, the forwarding time delay ttatThe size is preset and equal in each ranging period. Half of the two-way propagation delay is taken as the approximate quantity of the one-way propagation delay and is not accurate any more, and in order to compensate the one-way propagation delay approximate error caused by target motion and improve the positioning precision of a positioning system on a moving target, the condition that the distance measurement signals transmitted and received by the underwater target are not concurrent needs to be considered.
1 st key step of target location based on virtual transceiving beacons: the two-way propagation delay measured by the acoustic ranging system is directly used, and half of the two-way propagation delay is not used as the approximate quantity of the one-way propagation delay any more.
To be able to directly exploit the two-way propagation delay, the target is moved from the transmission point X for the 1 st ranging periods1To a receiving point Xr1The motion parameters of (1) are applied to the actually deployed single beacon XtTo construct virtual beacon Xvt. One-way propagation delay t of transmitted signals1The corresponding virtual beacon is Xvt1s'One-way propagation delay t of received signalr1The corresponding virtual beacon is Xvt1r' the two virtual beacons and the single beacon X actually placedtSatisfies the following relative positional relationship:
wherein,Lvbis the velocity of the underwater target under the geodetic coordinate system,Bvbis the velocity of the underwater target under the target coordinate system,the method is characterized in that a rotation matrix transformed from a carrier coordinate system { B } to a geodetic coordinate system { L }, c is sound velocity, and delta t is a sampling interval of target motion parameter measurement.
For the 1 st ranging period, the problem of acoustic ranging transceiving non-concurrent points is converted into the problem of ranging from a target transmitting point to different beacons, so that the two-way propagation delay measured by an acoustic ranging system can be directly utilized. Target emission point position Xs1Virtual beacon position Xvt1s'、Xvt1r'And a two-way propagation delay ts1+tr1Satisfies the following relation:
||Xs1-Xt||+||Xr1-Xt||＝||Xs1-Xvt1s'||+||Xs1-Xvt1r'||＝c·(ts1+tr1) (2)
similarly, the target position and the virtual beacon in the obtained 2 nd ranging period satisfy the following relation:
2 nd key step of target location based on virtual transceiving beacons: after the 1 st key step, the problem of acoustic ranging transceiving non-concurrent points is converted into the problem of ranging from a target transmitting point to different beacons. The ranging information corresponding to different target transmitting points is transferred to the same target transmitting point, so that a ranging information equation set is constructed to solve the specific position of the underwater target.
For the 1 st ranging period, the target is transmitted from the transmission point Xs1To the emission point Xs2Is applied to the emission point Xs1Virtual beacon X ofvt1s'And Xvt1r'In the above, the one-way propagation time delay t of the transmission signal is constructeds1Corresponding virtual beacon Xvt1sAnd one-way propagation delay t of received signalr1Corresponding virtual beacon Xvt1rThen virtual beacon Xvt1sAnd Xvt1rAnd virtual beacon Xvt1s' and Xvt1rThe relative positional relationship of' satisfies:
the formula (1) and the formula (4) are combined to further obtain the virtual beacon Xvt1sAnd Xvt1rWith the single beacon X actually deployedtSatisfies the following relative positional relationship:
by constructing the virtual beacon in the above formula, the ranging information of the 1 st ranging period is transferred to the 2 nd ranging period, and the two-way propagation delay t of the 1 st ranging periods1+tr1Virtual beacon Xvt1sAnd Xvt1rPosition X of target emission point corresponding to 2 nd ranging periods2Satisfies the following relation:
in summary, for the k-th ranging period, when the number of constructed virtual beacons is n, the target motion parameters of the k- (n-1) -th ranging period need to be used. Suppose the virtual beacon corresponding to the kth ranging period is Xvt(n)sAnd Xvt(n)rThe virtual beacon corresponding to the k- (n-1) th ranging period is Xvt(1)sAnd Xvt(1)rIf the virtual beacon corresponding to the k- (n-m) th ranging period is Xvt(m)sAnd Xvt(m)r. Therefore, all 2n virtual beacons corresponding to the kth ranging period and the actually deployed single beacon XtSatisfies the following relative positional relationship:
after the virtual beacon is constructed, combining the two-way propagation delay corresponding to the virtual beacon to form a ranging equation, wherein the virtual beacon Xvt(m)sAnd Xvt(m)rCorresponding two-way propagation delay ts(k-(n-m))+tr(k-(n-m)). Then the n ranging equations corresponding to the kth ranging period satisfy the following relation:
so far, a distance measurement equation set can be constructed according to n distance measurement equations corresponding to the kth distance measurement period, and the target emission point X in the kth distance measurement period is solved and calculated by using a least square methodskThe specific location of (a). Calculating to obtain a target emission point XskAnd after the position of the target is determined, the target position at any moment of the kth ranging period can be calculated according to the motion state of the target.
The single beacon ranging positioning method based on the virtual transceiving beacon provided by the invention is subjected to simulation analysis.
Referring to fig. 2, a comb-shaped navigation trajectory diagram of the underwater target is shown, where the position of the acoustic beacon placed on the seabed is (0, 4000) m, and the forwarding delay of the beacon is 20 ms; the underwater target makes a uniform linear motion with a forward speed of 1m/s at a constant depth 4100 m; the initial position of the underwater target is (-1000, -300) m, and the ranging period is 20 s.
With reference to fig. 3, the method according to the present invention compares the positioning error with the conventional method, and adds a measurement error with a standard deviation of 0.1ms to the measured two-way propagation delay. The positioning method based on the one-way distance measurement approximation takes half of the two-way propagation delay as the measurement of the one-way propagation delay, the mean value of the positioning error is 1.535m, the standard deviation is 1.855m, and the positioning error at the turning of the underwater target navigation track is obviously increased; the mean value of the positioning errors based on the virtual transceiving beacons is 0.299m, the standard deviation is 0.378m, the positioning errors are obviously smaller than the positioning errors caused by approximate time delay, and the positioning errors at the turning positions of the navigation track of the underwater target are obviously improved.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and those skilled in the art can make various modifications and changes. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A single beacon ranging and positioning method based on virtual transceiving beacons is characterized by comprising the following specific implementation steps:
(1) setting a ranging period of a range finder of the acoustic ranging system, and establishing a virtual transmitting beacon according to the motion parameters of the underwater target in the geodetic coordinate system and the actually laid beacon;
(2) establishing a virtual receiving beacon according to the motion parameters and the virtual transmitting beacon in the geodetic coordinate system of the underwater target by using the acoustic ranging two-way propagation delay of the underwater target;
(3) establishing an 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) and solving a positioning equation set formed by observation equations based on the virtual transceiving beacons, and resolving to obtain the position of the underwater moving target in the geodetic coordinate system.
2. The single beacon ranging and positioning method based on virtual transceiving beacon according to claim 1, wherein the step (1) is implemented by:
(1.1) carrying out initialization setting on the acoustic ranging system, calibrating a clock, and setting a ranging period T of a range finder of the acoustic ranging system;
(1.2) installing a distance meter of the acoustic distance measuring system on an underwater target platform, laying an entity beacon AT the water bottom, and calibrating a coordinate AT of the entity beacon under a geodetic coordinate system;
(1.3) installing a carrier coordinate system on the underwater target, and measuring the motion parameters of the underwater target under the carrier coordinate system to obtain the motion speed of the underwater targetBvbAccording to the conversion relation between the carrier coordinate system and the geodetic coordinate systemBvbConverted into the moving speed of the underwater target under the geodetic coordinate systemLvb；
(1.4) according to the coordinate AT of the entity beacon and the movement speed of the underwater target in the geodetic coordinate systemLvbEstablishing a virtual transmission target Xvtks。
3. The single beacon ranging and positioning method based on virtual transceiving beacon of claim 1, wherein the step (2) is implemented by the following steps:
(2.1) setting the transfer delay of the acoustic measurement beacon to ttatAnd a forwarding delay ttatThe size of each ranging period is equal;
(2.2) in the k-th ranging period TkAt the starting moment, the distance measuring instrument of the acoustic distance measuring system transmits a distance measuring signal, and the underwater target records self-transmitting distance measuringThe time of the signal is tsendkThe time when the underwater target receives the acoustic measurement beacon reply signal is treceptk；
(2.3) obtaining the time t of the underwater target from the transmitting point to the receiving point according to the acoustic ranging system and the time information recorded by the underwater targetreceptk-tsendk＝tsk+ttat+trkThe two-way propagation delay measured by the acoustic ranging system is tsk+trk＝treceptk-tsendk-ttatWherein t issk+trkMeasuring the two-way propagation delay of the acoustic ranging system in the kth period;
(2.4) according to the two-way propagation delay t in the kth period measured by the acoustic ranging systemsk+trkAnd the moving speed of the underwater target under the geodetic coordinate systemLvbEstablishing a virtual receive Beacon Xvtkr。
4. The single beacon ranging and positioning method based on virtual transceiving beacons according to claim 1, wherein the specific implementation manner of the step (3) is as follows: build-up completed virtual transmit beacon XvtksAnd virtual reception of beacon XvtkrThen, the two-way propagation delay corresponding to the virtual transceiving beacon is tsk+trkAnd establishing an observation equation according to the virtual beacon transmitting and receiving position and the two-way propagation delay measured by the single-beacon ranging system.
5. The single beacon ranging and positioning method based on virtual transceiving beacon according to claim 1, wherein the specific implementation manner of the step (4) is as follows: and (3) carrying out linearization processing on each observation equation based on the virtual transceiving beacon in the positioning equation set, eliminating a quadratic term of the position of the underwater target to be solved, solving the positioning equation set after linearization processing, and solving by a least square method to obtain the position of the underwater target in the geodetic coordinate system.
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| 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 |
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