CN108303715A - Underwater mobile node passive location method based on ″Beidou″ beacon and its system - Google Patents
Underwater mobile node passive location method based on ″Beidou″ beacon and its system Download PDFInfo
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- CN108303715A CN108303715A CN201711371839.6A CN201711371839A CN108303715A CN 108303715 A CN108303715 A CN 108303715A CN 201711371839 A CN201711371839 A CN 201711371839A CN 108303715 A CN108303715 A CN 108303715A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/28—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of underwater mobile node passive location method based on ″Beidou″ beacon, including：The location navigation signal of step 1. sea beaconing nodes reception Beidou satellite navigation system broadcast, real-time update self-position, and it is synchronous with big dipper clock holding；The information such as self-position and serial number are combined into positioning message by 3 sea beacons in a triangular lattice vertex, and the time-scale of positioning message is sent according to itself, while being broadcast to underwater mobile node；For step 2. when underwater mobile node receives positioning message, the arrival time for positioning message using 3 and message content resolve the position at its current time with filtering algorithm；The message moment is positioned when underwater mobile node is not received by, filtering algorithm can also be utilized to estimate the position at its current time.The invention also includes the systems for implementing the method for the present invention.
Description
Technical field
The present invention relates to the passive location methods and its system of underwater mobile node, and in particular to determines to using big-dipper satellite
Position navigation system realizes the positioning of sea beaconing nodes, and underwater mobile node is realized based on multiple sea beaconing nodes positioning signals
The method and system of passive location.
Background technology
As the mankind increasingly frequently carry out Activities of Ocean, such as marine resources are detected, disaster prevention alerts, ocean war,
Underwater unmanned machine is used widely.Therefore, the positioning with navigation of underwater unmanned machine receive significant attention.Environment under water
In, since radio signal and optical signal decline are very fast, it cannot be satisfied to propagate over long distances and require, and sound is propagated and is in water
Bright, therefore, long distance transmission is generally carried out using sound wave, to which hydrolocation becomes the common hand of underwater unmanned machine positioning
Section.But hydrolocation method still faces many challenges.First, bandwidth is smaller in the transmission for sound wave, causes transmission rate far low
In radiofrequency signal；Secondly, the spread speed of sound wave has larger propagation delay, and inhomogeneous medium in 1500m/s or so
It is a constant that can lead to underwater sound wave spread speed not, and then it is straight line to make propagation trajectories not；In addition, underwater time-varying
Channel condition and multipath propagation phenomena cause link transmission quality poor.Therefore, high-precision Underwater Navigation is one and needs to solve
Problem certainly.
The location navigation of land and offshore installations has many mature technologies, such as satellite navigation (GPS, Big Dipper etc.).These are fixed
Position navigation system uses position location, because seawater to the strong absorption of electromagnetic wave, leads to determining for these land and sea
Position system loses its due locating effect under water.
The acoustic positioning system being widely used at present can be divided into Long baselines, short baseline and ultra-short baseline by baseline length.Its
In, existing Long baselines positioning system can be used for the autonomous positioning of underwater unmanned machine, to lay sensor array in seabed, adopt
Ranging is carried out with acknowledgement mechanism, to obtain higher positioning accuracy, but needs the deployment underwater sound response dress in fixed waters
It sets, and transponder node location calibration difficulty is high, and it is higher to achieve cost；Short baseline acoustic positioning system is needed in carrier
Sensor array is laid on platform, underwater unmanned machine is installed transponder, can be positioned to underwater unmanned machine, but can not
Realize underwater unmanned machine autonomous positioning；Ultra-short baseline acoustic positioning system needs lay acoustics baseline battle array on carrier platform
Row, underwater unmanned machine install transponder, are realized using acknowledgement mechanism and are positioned to underwater unmanned machine, but equally cannot achieve
The autonomous positioning of underwater unmanned machine.In addition, the baseline scale of short baseline and ultra-short baseline acoustic positioning system is much smaller than long base
Line, sphere of action is limited, cannot be satisfied the positioning requirements in big region marine site.
The another kind of underwater unmanned machine location navigation is achieved in that inertial navigation system, but its Underwater Navigation error
It can accumulate, and not eliminate mechanism well, can run down over time, so as to cause difficult to realize accurate fixed
Position；Meanwhile high-precision Inertial Measurement Unit is bulky, it is at high price.Inertial navigation system and satellite positioning and navigation system
Integrated positioning is also a kind of customary means, and the introducing of satellite positioning navigation signal can make the underwater unmanned machine to emerge real
Existing position correction, realizes preferable locating effect.But the floating of equipment can interrupt appointing for underwater unmanned machine with sinking watching
Business reduces operating efficiency, while consuming the energy, is less useful for the concealment of underwater unmanned machine.
Also have at present and propose the submarine target location technology based on sea beaconing nodes, i.e., first with satellite positioning navigation
System realizes the positioning of sea beaconing nodes, is then based on multiple sea beaconing nodes positioning signals and realizes underwater mobile node
Positioning.It is a kind of disclosed in U.S. Patent number US7512036B2 through retrieval in the existing positioning system based on sea beaconing nodes
A kind of method of extension GPS submerged applications, the two disclosed in the system and method and U.S. Patent number US5119341 of Underwater Navigation
Be limited in that and assume time synchronization between sea beaconing nodes and submarine target node, while not considering underwater nodal clock
It will appear offset problem, lead to the increase of position error；One kind of Chinese Patent Application No. CN200310118440 disclosure of the invention
Water-system control Position Fixing Navigation System and method without high stable frequency marking and 201210065951 disclosure of the invention of Chinese Patent Application No.
A kind of submarine navigation device localization method and system based on GNSS satellite, the limitation of the two are that round trip ranging, which is utilized, solves letter
It can not be always maintained at stationary problem between mark node and destination node, i.e., underwater node needs to send request positioning signal, with sea
Face localizer beacon interacts.But round trip ranging can cause the concealment of submarine target poor, and power consumption increases, and realization can be made to position
Underwater interstitial content be restricted；Chinese Patent Application No. 201410073253 discloses a kind of based on the underwater of DGPS buoys
Position Fixing Navigation System and method, limitation is the system default, and there are regular times between beaconing nodes and destination node
Difference does not consider frequency deviation and skew that the clock of submarine target will appear.In addition, above system does not all account for underwater sound propagation path
Buckling problem.
The technical problem to be solved by the present invention is to ensure that sea beaconing nodes are synchronous with underwater mobile node clock,
And in the case of not using acknowledgement mechanism ranging, the passive autonomous positioning of underwater mobile node is realized.
Invention content
The present invention will overcome the above-mentioned technical disadvantages of the prior art, provide a kind of underwater shifting based on Big Dipper sea beacon
Dynamic node passive location method and its system.
A kind of underwater mobile node passive location method based on ″Beidou″ beacon, includes the following steps：
1. the Beidou satellite receiver on the beaconing nodes of sea receives the location navigation letter of Beidou satellite navigation system broadcast
Number, real time parsing goes out longitude, latitude and the elevation of sea beacon big-dipper satellite antenna present position, is transferred to sea beaconing nodes
Master control system, and it is synchronous with the holding of Big Dipper fiducial time to calibrate master control system clock, i.e., keeps same between all sea beacons
Step；The acoustics that the master control system of sea beacon subtracts Beidou satellite receiver elevation information comprehensive Positioning/Communication function is received and dispatched
The height difference of system, as the elevation of sea beaconing nodes, then information such as own beacon serial number, longitude, latitude, elevations
It is combined into positioning message.The time-scale that positioning message is sent according to itself, in the sea of triangular lattice apex letter
It marks node and positioning message is broadcasted by respective sound system simultaneously；
2. the acoustic receiver system of the synthesis Positioning/Communication function of underwater mobile node is in and intercepts state, once it receives
To positioning signal, sound system is completed multiple user signals and is received, and records the arrival time of 3 positioning messages, and decoded fixed
Position message and its arrival time are sent to master control system；The master control system of underwater mobile node understands positioning message content, report
Longitude, dimension, elevation and corresponding message arrival time in text are transferred to resolving module；The master control system of underwater mobile node simultaneously
System reads depth information from pressure sensor in real time, is transferred to resolving module；When the resolving module of underwater mobile node receives
When message information from master control system, the position at its current time is resolved using filtering algorithm；When not receiving from master control
When the message information of system, filtering algorithm can also be utilized to estimate the position at its current time.
In step 1, the sea beacon deployment of sea anchor node number at least three, underwater mobile node positioning system is opened up
Flutter for:Three sea beaconing nodes constitute equilateral triangle grid first, and beaconing nodes are located at triangular apex；All sea beacons
It is base unit, seamless coverage target marine site that the deployment topologies of node, which take equilateral triangle grid,；
In step 1, the positioning signal broadcasting timeline of sea beaconing nodes：As unit of equilateral triangle grid, that is, it is located at one
3 sea beaconing nodes on a triangular lattice broadcast it and position message simultaneously；When the sea letter on a triangular lattice
It marks node broadcasts and positions message, after Fixed Time Interval, the sea beaconing nodes on the triangular lattice of next sequential
Broadcast positioning message；Until all triangular lattices have broadcasted positioning message, when restarting the broadcast of next round positioning message
Sequence；
In step 1,3 sea beaconing nodes broadcast positioning message simultaneously, and sea beaconing nodes use CDMA (Code
Division Multiple Access, CDMA) mode broadcast positioning signals, specifically, for encoding the positioning message generated,
It is combined using multi-system convolutional code and M system symbols offset keying (Code Shift Keying, CSK), and distributes to sea
The different pseudo-random sequence of beaconing nodes realizes multi-user communication.3 sea beacons on each equilateral triangle grid are being broadcasted
It can all be assigned 3 different pseudo-random sequences when positioning message；Belong to the same sea beacon of different equilateral triangle grids
Node can be assigned different pseudo-random sequences in different equilateral triangle grid broadcast positioning messages.
In step 2, since 3 beaconing nodes on equilateral triangle grid broadcast positioning report using CDMA modes simultaneously
Text, underwater mobile node receive 3 signals simultaneously.Due to the quasi- property of orthogonality of frequency expansion sequence in CDMA modes, using serial
Multi-user interference caused by MAI suppression technology inhibition near-far interference (Multiple Access Interference,
MAI), restore desired positioning message information.
In step 2, underwater mobile node position calculation method is as follows：
A. when the acoustic receiver system of underwater mobile node receives 3 positioning messages：
(1) longitude, dimension, elevation, positioning message arrival time T from master control system can be received by resolving modulei(i
=1,2,3 refer to beacon serial numbers) depth information with underwater mobile node；With T1For the reference time, different positioning messages are obtained
Reaching time-difference：ΔT12=T2-T1With Δ T13=T3-T1；
(2) resolve module just calculated using Gauss by message longitude and latitude be converted into Gauss plane coordinate system, in conjunction with
Three-dimensional coordinate position (X of the elevation as beaconing nodesi,Yi,Zi) (i=1,2,3 refers to beacon serial number)；Underwater mobile node position
It installs as (Xt,Yt,Zt) (t is for referring to underwater mobile node), wherein ZtIt for depth information, is obtained, is made by pressure sensor
For known quantity；Sea beaconing nodes i (i=1,2,3 refers to beacon serial number) is expressed as to distance between underwater mobile node
(3) it is constant to lead to the velocity of sound since medium is uneven not, does not consider the cross directional variations of Sound speed profile, Sound speed profile table
It is shown as c (z), z indicates depth variable；Using Snell laws, sea beaconing nodes i (i=1,2,3) and underwater movable joint are established
Horizontal distance, propagation delay between point and the relationship between propagation constant, and discretization can obtain：
Wherein ρi、τiAnd niIndicate that sea beaconing nodes i (i=1,2,3) arrives the corresponding horizontal distance of underwater mobile node,
Propagation delay and propagation constant；N indicates the sampled point quantity on c (z), in depth ZiAnd ZtBetween uniform sampling, j indicate sampling
Point serial number, zjIndicate the depth at sampled point, c (zj) indicate depth zjThe corresponding velocity of sound,
Ratio is expressed as between sea beaconing nodes i and underwater mobile node air line distance and propagation delay：
Due to itemsBetween variable quantity it is smaller, above formula can be simplified to：
According to Taylor expansion, above formula can be further simplified into：
Since beaconing nodes are all located at sea, depth disparity is smaller between beaconing nodes, therefore, it is considered that different seas beacon
Ratio is equal between the air line distance of node and underwater mobile node and propagation delay, and is expressed as m, i.e.,：
Based on above formula, after obtaining different sea beaconing nodes and positioning the difference between the propagation delay of messages, can obtain
To the difference DELTA D of distance between different sea beaconing nodes and underwater mobile node12With Δ D13(with node 1 be reference) i.e.：
(4) step (a3) is based on it is found that resolving module has obtained different sea beaconing nodes and underwater mobile node spacing
From difference DELTA D12 and Δ D13；Establish the observational equation and state equation of Extended Kalman filter：
θt,k=θt,k-1+TkVk-1+wk (8)
Wherein, scalar at the time of subscript k-1 and k indicates to introduce in Kalman filtering is k-1 and k moment, Δ D12,k, Δ
D13,kIndicate the observed quantity at k moment, i.e., the difference of distance between k moment differences sea beaconing nodes and underwater mobile node；θt,kWith
θt,k-1The state vector at k moment and k-1 moment, the i.e. two-dimensional coordinate (X of underwater mobile node are indicated respectivelyt,k,Yt,k) and
(Xt,k-1,Yt,k-1)；Zt,kIndicate the depth information of k moment underwater mobile nodes；S1,k,S2,k,S3,kFor 3 sea beacons of k moment
Nodes Three-dimensional coordinate (Xi,k,Yi,k,Zi,k) (i=1,2,3)；Vk-1Indicate the two-dimensional movement speed of k-1 moment underwater mobile nodes；
TkIndicate the time interval at k-1 moment and k moment；δkAnd wkFor k moment observation noise and process noise；
H (θ in observational equationt,k,Zt,k,S1,k,Si,k) (l=2,3 refer to beacon serial number 2,3) be expressed as：
It is primarily based on k-1 moment underwater mobile node location estimates θt,k-1|k-1With movement speed estimated valueFor
It is predicted k moment underwater mobile nodes position：
Wherein θt,k|k-1=[Xt,k|k-1Yt,k|k-1]TIndicate k moment underwater mobile node predicted values；
Calculate its covariance Pk|k-1：
Wherein, Pk|k-1Indicate the covariance matrix of k moment underwater mobile node predicted values, Pk-1|k-1Indicate k-1 moment water
The covariance matrix of lower positions of mobile nodes estimated value, Qk-1|k-1Indicate the association side of underwater mobile node movement speed estimated value
Difference；
Therefore kalman gain KkIt is expressed as：
Wherein RkIndicate the covariance of observation error；HkFor observing matrix, due to observation equation nonlinear equation, to it
Carry out first order Taylor expansion, approximate linearization：
Wherein,It is expressed as：
Therefore, the underwater mobile node location estimate at k moment is：
Two-dimensional coordinate position is converted into longitude and latitude using Gauss inverse；And update k moment underwater mobile nodes position
The covariance set is calculated for subsequent time：
Pk|k=Pk|k-1-KkHkPk|k-1 (15)
Estimate k moment underwater mobile node movement speedsAnd calculate its covariance Qk|k, calculated for subsequent time：
B. when the acoustic receiver system of underwater mobile node does not receive 3 positioning messages：
When the resolving module of underwater mobile node will not be received from master control system submission message information and message arrival
It carves, receives only the depth information of underwater mobile node, that is, be between k-1 moment and k moment.Water is estimated based on the k-1 moment
The position and movement speed of lower mobile node estimates the position θ ' of current time underwater mobile nodet,k|k, i.e.,
Wherein, T'kIndicate the time interval at distance k-1 moment at current time；
Two-dimensional space coordinate position is converted into longitude and latitude using Gauss inverse.
The system for implementing the underwater mobile node passive location method based on Big Dipper sea beacon of the present invention, including at least
In 3 sea beaconing nodes, underwater mobile node (including second location receiver), bank base Data Control Center and the control of ship base
The heart.In addition, present system needs to be realized the positioning of sea beacon by means of Beidou satellite navigation system.
The sea beaconing nodes include Beidou satellite receiver, the first master control system, comprehensive Positioning/Communication function the
One acoustics receive-transmit system etc..Since underwater mobile node at least needs the positioning signal for receiving 3 localizer beacons that could complete position
Resolving is set, and beaconing nodes constitute the topological structure maximizing covering oceanic area of equilateral triangle grid.Therefore sea beacon
Node deployment topology uses equilateral triangle for grid, and 3 sea beacons are located at equilateral triangle vertex, all sea beaconing nodes
Deployment topologies are constituted based on taking equilateral triangle grid, coverage goal marine site, ensure the water of any position below covering marine site
Lower mobile node can receive to the positioning signal that 3 sea beacons are sent on an equilateral triangle vertex raster.
The underwater mobile node has certain movement speed, including propeller, the second location receiver (the second master
Control system, the second acoustic receiver system of comprehensive Positioning/Communication function, second resolve module, the second short message processing module),
Pressure sensor etc.；
The Chuan Ji control centres are locating assist system, are deployed in sea beaconing nodes covering marine site, carry the
(third acoustic receiver system, the third of comprehensive Positioning/Communication function resolve module, the processing of third short message to three location receivers
Module), the working condition for monitoring sea beaconing nodes.Chuan Ji control centres lead in sea beaconing nodes covering marine site
It crosses third acoustic receiver system and monitors the message that specific sea beaconing nodes are sent, according to the sequential that receives message and interior
Hold, judges the working condition of sea beaconing nodes.In addition, Chuan Ji control centres intermittent can monitor all seas by movement
The working condition of face beaconing nodes, to monitoring location system operation conditions；
The bank base Data Control Center, for controlling underwater mobile node.Bank base Data Control Center can pass through the Big Dipper
Satellite navigation system assigns instruction and gives sea beaconing nodes, and sea beaconing nodes are broadcast to pair by short data message mode again
The underwater mobile node answered.
Sea beaconing nodes deployment topologies are constituted based on taking equilateral triangle grid：
It is resolved since underwater mobile node at least needs 3 positioning signals of reception that could complete position, and beaconing nodes structure
Oceanic area is covered at the topological structure maximizing of equilateral triangle grid.Therefore sea beaconing nodes deployment topologies use positive three
Angular is grid, and 3 sea beacons are located at equilateral triangle vertex, and the deployment topologies of all sea beaconing nodes take equilateral triangle
It is constituted based on grid, coverage goal marine site, ensures the underwater mobile node of any position below covering marine site, can receive
The positioning signal that 3 sea beacons are sent on one equilateral triangle vertex raster；
The broadcasting timeline of sea beaconing nodes is：As unit of equilateral triangle grid, that is, it is located on a triangular lattice
3 sea beaconing nodes simultaneously broadcast its position message；When the sea beaconing nodes broadcast positioning on a triangular lattice
Message, after Fixed Time Interval, the sea beaconing nodes broadcast positioning message on the triangular lattice of next sequential；Directly
Positioning message has been broadcasted to all triangular lattices, has restarted the broadcasting timeline of next round positioning message；
Sea beaconing nodes are in such a way that CDMA is spread to underwater broadcast positioning message：3 on a triangular lattice
A sea beacon needs while broadcasting its positioning message, therefore uses CDMA modes；For the positioning message of generation, using mostly into
Convolutional code processed is combined with M system symbols offset keying (Code Shift Keying, CSK), and distributes to sea beaconing nodes
Different pseudo-random sequences realizes multi-user communication；
Underwater mobile node inhibits multi-user interference caused by near-far interference using serial MAI suppression technology, restores
Desired positioning message information；
The positioning calculation process of underwater mobile node is as follows：
A. when the acoustic receiver system of underwater mobile node receives 3 positioning messages：
Underwater mobile node calculates different positioning message reaching time-differences, and base according to the arrival time of 3 positioning messages
In Snell laws, Ray-tracing method is compensated, obtains the difference of distance between different sea beaconing nodes and underwater mobile node
Value；
Based on Extended Kalman filter method, the difference conduct of distance between different sea beaconing nodes and underwater mobile node
Observation, and according to the position and movement velocity information of last moment, the position for current time underwater mobile node and shifting
Dynamic speed is resolved；
B. when the acoustic receiver system of underwater mobile node does not receive 3 positioning messages：
When underwater mobile node do not receiving positioning the message moment, be based on Extended Kalman filter method.Utilize upper one
The position and movement speed that moment resolves, estimates the underwater mobile node position at current time.
Underwater mobile node need not keep synchronous with sea beaconing nodes, and need not send out any signal.
Positioning in message need not include that sending time is stabbed.
The present invention also includes subsidiary communications function：
Bank base Data Control Center, for controlling underwater mobile node.When bank base Data Control Center needs to send control
When instructing to some underwater mobile node, first by Beidou satellite navigation system, control instruction is assigned to sea beacon section
Point.In the interval that sea beaconing nodes broadcast positioning message, a sea beaconing nodes on each triangular lattice are in the future
From the control command code of bank base Data Control Center at short message message, it is broadcast to underwater mobile node, to ensure that sea is believed
The underwater mobile node in mark coverage marine site at least receives primary short breath message packet；When the synthesis of underwater mobile node is fixed
When position/communication acoustic receiver system receives short message message, master control system is submitted to；The master control system of underwater mobile node according to
The type of message is by the message transmissions to the short message processing module of underwater mobile node；Short message processing module analytic message
Destination address, when destination address matches the underwater mobile node, the command content in analytic message instructs underwater mobile node
Corresponding operating is made, if address mismatches, abandons corresponding short message message.
It is an advantage of the invention that：It realizes under underwater mobile node and sea beaconing nodes out of step conditions, it is underwater mobile
The passive location of node.Propagation path buckling problem is considered, the error of positioning is reduced.Sea beaconing nodes are with equilateral triangle grid
Lattice are that unit deployment way realizes maximized marine site covering, it is possible to provide the node locating in big region；Realize the solution of Sequential filter
Calculation method, and can estimate self-position when there is no positioning message；The CDMA modes of comprehensive Positioning/Communication sound system
M system CSK high order modulations are combined, compared to traditional Direct Sequence Spread Spectrum mode, location receiver utilizes the serial multiple access of zero setting
Interference cancellation techniques eliminate MAI caused by near-far interference, and improve traffic rate；On the other hand, subsidiary communications work(is increased
Can, realize the functional diversities of system.
Description of the drawings：
Fig. 1 is total composition figure of the implementation system of the method for the present invention；
Fig. 2 is present example sea beaconing nodes topology diagram；
Fig. 3 is present example system sea beaconing nodes and underwater mobile node operation principle block diagram；
Fig. 4 is that one sea beaconing nodes grid of present example positions message arrival time figure.
Specific implementation mode：
In order to which the invention is explained in more detail, quasi-step matrix attached drawing illustrates, but not office
It is limited in attached drawing, structure is omitted wherein in attached drawing or scale does not meet actual size, only | join for further illustrating
Examine use.
A kind of underwater mobile node passive location method based on ″Beidou″ beacon, includes the following steps：
1. the Beidou satellite receiver on the beaconing nodes of sea receives the location navigation letter of Beidou satellite navigation system broadcast
Number, real time parsing goes out longitude, latitude and the elevation of sea beacon big-dipper satellite antenna present position, is transferred to sea beaconing nodes
Master control system, and it is synchronous with the holding of Big Dipper fiducial time to calibrate master control system clock, i.e., keeps same between all sea beacons
Step；The acoustics that the master control system of sea beacon subtracts Beidou satellite receiver elevation information comprehensive Positioning/Communication function is received and dispatched
The height difference of system, as the elevation of sea beaconing nodes, then information such as own beacon serial number, longitude, latitude, elevations
It is combined into positioning message.The time-scale that positioning message is sent according to itself, in the sea of triangular lattice apex letter
It marks node and positioning message is broadcasted by respective sound system simultaneously；
2. the acoustic receiver system of the synthesis Positioning/Communication function of underwater mobile node is in and intercepts state, once it receives
To positioning signal, sound system is completed multiple user signals and is received, and records the arrival time of 3 positioning messages, and decoded fixed
Position message and its arrival time are sent to master control system；The master control system of underwater mobile node understands positioning message content, report
Longitude, dimension, elevation and corresponding message arrival time in text are transferred to resolving module；The master control system of underwater mobile node simultaneously
System reads depth information from pressure sensor in real time, is transferred to resolving module；When the resolving module of underwater mobile node receives
When message information from master control system, the position at its current time is resolved using filtering algorithm；When not receiving from master control
When the message information of system, filtering algorithm can also be utilized to estimate the position at its current time.
In step 1, the sea beacon deployment of sea anchor node number at least three, underwater mobile node positioning system is opened up
Flutter for:Three sea beaconing nodes constitute equilateral triangle grid first, and beaconing nodes are located at triangular apex；All sea beacons
It is base unit, seamless coverage target marine site that the deployment topologies of node, which take equilateral triangle grid,；
In step 1, the positioning signal broadcasting timeline of sea beaconing nodes：As unit of equilateral triangle grid, that is, it is located at one
3 sea beaconing nodes on a triangular lattice broadcast it and position message simultaneously；When the sea letter on a triangular lattice
It marks node broadcasts and positions message, after Fixed Time Interval, the sea beaconing nodes on the triangular lattice of next sequential
Broadcast positioning message；Until all triangular lattices have broadcasted positioning message, when restarting the broadcast of next round positioning message
Sequence；
In step 1,3 sea beaconing nodes broadcast positioning message simultaneously, and sea beaconing nodes use CDMA (Code
Division Multiple Access, CDMA) mode broadcast positioning signals, specifically, for encoding the positioning message generated,
It is combined using multi-system convolutional code and M system symbols offset keying (Code Shift Keying, CSK), and distributes to sea
The different pseudo-random sequence of beaconing nodes realizes multi-user communication.3 sea beacons on each equilateral triangle grid are being broadcasted
It can all be assigned 3 different pseudo-random sequences when positioning message；Belong to the same sea beacon of different equilateral triangle grids
Node can be assigned different pseudo-random sequences in different equilateral triangle grid broadcast positioning messages.
In step 2, since 3 beaconing nodes on equilateral triangle grid broadcast positioning report using CDMA modes simultaneously
Text, underwater mobile node receive 3 signals simultaneously.Due to the quasi- property of orthogonality of frequency expansion sequence in CDMA modes, using serial
Multi-user interference caused by MAI suppression technology inhibition near-far interference (Multiple Access Interference,
MAI), restore desired positioning message information.
In step 2, underwater mobile node position calculation method is as follows：
C. when the acoustic receiver system of underwater mobile node receives 3 positioning messages：
(1) longitude, dimension, elevation, positioning message arrival time T from master control system can be received by resolving modulei(i
=1,2,3 refer to beacon serial numbers) depth information with underwater mobile node；With T1For the reference time, different positioning messages are obtained
Reaching time-difference：ΔT12=T2-T1With Δ T13=T3-T1；
(2) resolve module just calculated using Gauss by message longitude and latitude be converted into Gauss plane coordinate system, in conjunction with
Three-dimensional coordinate position (X of the elevation as beaconing nodesi,Yi,Zi) (i=1,2,3 refers to beacon serial number)；Underwater mobile node position
It installs as (Xt,Yt,Zt) (t is for referring to underwater mobile node), wherein ZtIt for depth information, is obtained, is made by pressure sensor
For known quantity；Sea beaconing nodes i (i=1,2,3 refers to beacon serial number) is expressed as to distance between underwater mobile node
(3) it is constant to lead to the velocity of sound since medium is uneven not, does not consider the cross directional variations of Sound speed profile, Sound speed profile table
It is shown as c (z), z indicates depth variable；Using Snell laws, sea beaconing nodes i (i=1,2,3) and underwater movable joint are established
Horizontal distance, propagation delay between point and the relationship between propagation constant, and discretization can obtain：
Wherein ρi、τiAnd niIndicate that sea beaconing nodes i (i=1,2,3) arrives the corresponding horizontal distance of underwater mobile node,
Propagation delay and propagation constant；N indicates the sampled point quantity on c (z), in depth ZiAnd ZtBetween uniform sampling, j indicate sampling
Point serial number, zjIndicate the depth at sampled point, c (zj) indicate depth zjThe corresponding velocity of sound,
Ratio is expressed as between sea beaconing nodes i and underwater mobile node air line distance and propagation delay：
Due to itemsBetween variable quantity it is smaller, above formula can be simplified to：
According to Taylor expansion, above formula can be further simplified into：
Since beaconing nodes are all located at sea, depth disparity is smaller between beaconing nodes, therefore, it is considered that different seas beacon
Ratio is equal between the air line distance of node and underwater mobile node and propagation delay, and is expressed as m, i.e.,：
Based on above formula, after obtaining different sea beaconing nodes and positioning the difference between the propagation delay of messages, can obtain
To the difference DELTA D of distance between different sea beaconing nodes and underwater mobile node12With Δ D13(with node 1 be reference) i.e.：
(4) step (a3) is based on it is found that resolving module has obtained different sea beaconing nodes and underwater mobile node spacing
From difference DELTA D12 and Δ D13；Establish the observational equation and state equation of Extended Kalman filter：
θt,k=θt,k-1+TkVk-1+wk (8)
Wherein, scalar at the time of subscript k-1 and k indicates to introduce in Kalman filtering is k-1 and k moment, Δ D12,k, Δ
D13,kIndicate the observed quantity at k moment, i.e., the difference of distance between k moment differences sea beaconing nodes and underwater mobile node；θt,kWith
θt,k-1The state vector at k moment and k-1 moment, the i.e. two-dimensional coordinate (X of underwater mobile node are indicated respectivelyt,k,Yt,k) and
(Xt,k-1,Yt,k-1)；Zt,kIndicate the depth information of k moment underwater mobile nodes；S1,k,S2,k,S3,kFor 3 sea beacons of k moment
Nodes Three-dimensional coordinate (Xi,k,Yi,k,Zi,k) (i=1,2,3)；Vk-1Indicate the two-dimensional movement speed of k-1 moment underwater mobile nodes；
TkIndicate the time interval at k-1 moment and k moment；δkAnd wkFor k moment observation noise and process noise；
H (θ in observational equationt,k,Zt,k,S1,k,Si,k) (l=2,3 refer to beacon serial number 2,3) be expressed as：
It is primarily based on k-1 moment underwater mobile node location estimates θt,k-1|k-1With movement speed estimated valueFor
It is predicted k moment underwater mobile nodes position：
Wherein θt,k|k-1=[Xt,k|k-1Yt,k|k-1]TIndicate k moment underwater mobile node predicted values；
Calculate its covariance Pk|k-1：
Wherein, Pk|k-1Indicate the covariance matrix of k moment underwater mobile node predicted values, Pk-1|k-1Indicate k-1 moment water
The covariance matrix of lower positions of mobile nodes estimated value, Qk-1|k-1Indicate the association side of underwater mobile node movement speed estimated value
Difference；
Therefore kalman gain KkIt is expressed as：
Wherein RkIndicate the covariance of observation error；HkFor observing matrix, due to observation equation nonlinear equation, to it
Carry out first order Taylor expansion, approximate linearization：
Wherein,It is expressed as：
Therefore, the underwater mobile node location estimate at k moment is：
Two-dimensional coordinate position is converted into longitude and latitude using Gauss inverse；And update k moment underwater mobile nodes position
The covariance set is calculated for subsequent time：
Pk|k=Pk|k-1-KkHkPk|k-1 (15)
Estimate k moment underwater mobile node movement speedsAnd calculate its covariance Qk|k, calculated for subsequent time：
D. when the acoustic receiver system of underwater mobile node does not receive 3 positioning messages：
When the resolving module of underwater mobile node will not be received from master control system submission message information and message arrival
It carves, receives only the depth information of underwater mobile node, that is, be between k-1 moment and k moment.Water is estimated based on the k-1 moment
The position and movement speed of lower mobile node estimates the position θ ' of current time underwater mobile nodet,k|k, i.e.,
Wherein, T'kIndicate the time interval at distance k-1 moment at current time；
Two-dimensional space coordinate position is converted into longitude and latitude using Gauss inverse.
The present invention is based on the example of the underwater mobile node positioning system of ″Beidou″ beacon, by bank base data center 12,10
Wave aerodone 13-1,2 ... 10,14,2 underwater glider 15-1 of Chuan Ji control centres, 2 (including location receiver) compositions；
The system also by Beidou satellite navigation system 11 realize sea beaconing nodes positioning with it is synchronous.Its Wave aerodone serves as
Sea beaconing nodes, underwater glider serve as underwater mobile node.As shown in Figure 1.
10 wave aerodones serve as sea beaconing nodes, and top half is located on sea, and lower half portion is located under sea
Side, equipped with Beidou satellite receiver, the acoustics receive-transmit system etc. of master control system, comprehensive Positioning/Communication function；Wherein the Big Dipper is defended
Star receiver is located at wave aerodone sea part, and acoustics receive-transmit system is located at wave aerodone underwater portion；Wave aerodone
By receiving the navigation signal of Beidou satellite navigation system, real-time update self-position, and kept with big-dipper satellite reference clock
Synchronous, i.e., all wave aerodone retention times synchronize；Each wave aerodone believes self-position according to the time-scale of itself
Breath and serial number code are broadcast to underwater glider at positioning message；
2 underwater gliders serve as underwater mobile node, equipped with location receiver (master control system, comprehensive Positioning/Communication
The acoustic receiver system of function resolves module, short message processing module), pressure sensor etc.；Underwater glider is positioned when reception
When signal, self-position is resolved using SEQUENTIAL ALGORITHM；When not receiving positioning signal, itself can also be estimated using SEQUENTIAL ALGORITHM
Position；
Bank base Data Control Center is located on seashore, for controlling underwater glider.Bank base Data Control Center passes through north
Struggle against satellite navigation system, assigns instruction and wave aerodone, wave aerodone is given to be broadcast to accordingly by short data message mode again
Underwater glider.
Chuan Ji control centres, equipped with location receiver (the acoustic receiver system of comprehensive Positioning/Communication function, resolving mould
Block, short message processing module), the working condition for monitoring wave aerodone.Chuan Ji control centres are located at wave aerodone and cover
In lid marine site, the message that specific wave aerodone is sent is monitored by acoustic receiver system, according to the sequential for receiving message
And content, judge the working condition of wave aerodone.In addition, Chuan Ji control centres intermittent can be monitored all by movement
The working condition of wave aerodone, to monitoring location system operation conditions；
10 wave aerodones are quasi- to use topological structure shown in Fig. 2, wherein 21,22 ..., 210 indicate 10 waves respectively
Aerodone.3 wave aerodones first constitute equilateral triangle grid, and the triangular lattice length of side is 4.5 kilometers, wave gliding seat in the plane
In triangular apex；10 wave aerodones constitute 10 equilateral triangle grids 1,2 ... 10, seamless coverage target marine site；It can be real
Existing 100 square kilometres or more of covering marine site range.
3 wave aerodones being first on grid 1 while its positioning message is broadcasted, at a distance of Fixed Time Interval
Afterwards, 3 wave aerodones on grid 2 broadcast it and position message simultaneously, until 3 wave aerodones on grid 10 have been broadcasted
It positions message, then starts the broadcasting timeline of next round.
When 3 wave aerodones on a grid broadcast positioning message using CDMA modes simultaneously, 3 can be assigned
A different pseudo-random sequence, such as when grid 1 broadcasts positioning message, wave aerodone 21,23 and 24 can be assigned 3 differences
Pseudo-random sequence；The same wave aerodone for belonging to different equilateral triangle grids is broadcasted in different equilateral triangle grids
When positioning message, different pseudo-random sequences can be assigned, if wave aerodone 24 belongs to grid 1 and 2, when grid 1 or
Message is positioned in broadcast on grid 2, for wave aerodone 24 in broadcast positioning message twice, the pseudo-random sequence of distribution is not yet
Together；
When bank base Data Control Center needs to control underwater glider, it can be assigned to two waves by satellite communication and slide
Control command and destination address are encoded into short message message by Xiang machine 21 and 22, wave aerodone 21 and 22；In two serial number phases
Adjacent grid broadcast positioning message interval, can be with broadcast SMS message to underwater glider.
When 3 wave aerodones on a grid broadcast it simultaneously positions message, underwater glider realizes multi-user
It receives.Specifically, as shown in Figure 3.
The Beidou satellite receiver 31 of 3 wave aerodones on one grid, each wave gliding is come from by receiving
The satellite-signal of Beidou satellite navigation system parses the longitude at antenna place, latitude, elevation and is transferred to master control system, and
Realize that master control system 32 is synchronous with Big Dipper reference clock；Elevation where satellite antenna is subtracted satellite antenna and acoustics by master control system
33 difference in height of receive-transmit system, as the elevation of wave aerodone, master control system is by longitude, latitude, elevation and itself serial number code
At positioning message, according to itself time-scale, acoustic receiver that 3 wave aerodones pass through respective comprehensive Positioning/Communication function
The broadcast positioning message of system 33；
The acoustic receiver system 34 of the synthesis Positioning/Communication function of underwater glider is in and intercepts state, once it receives
Positioning signal is completed multiple user signals and is received, and records the arrival times of 3 positioning messages, and decoded positioning message and its
Arrival time is sent to master control system 35；The master control system of underwater glider understands positioning message content, in message longitude,
Dimension, elevation and corresponding message arrival time are transferred to and resolve module 38；The master control system of underwater glider is in real time from pressure simultaneously
Force snesor 36 reads depth information, is transferred to resolving module；When the resolving module of underwater glider is received from master control system
When the message information of system, the position at its current time is resolved using filtering algorithm；When not receiving the message from master control system
When information, filtering algorithm can also be utilized to estimate the position at its current time.
When wave aerodone receives short message message, master control system by judging the destination address in message, when
When with destination address, short message processing module 37 is submitted to, makes respective response, otherwise abandons the short message message.
As Fig. 4 resolves module and obtain arrival time T after underwater glider realizes multi-user reception1, T2, T3.Assuming that
The propagation delay of wave aerodone 1 on a triangular lattice, 2,3 corresponding positioning signals is Δ T1, Δ T2, Δ T3。
Since 3 wave aerodones broadcast its positioning signal simultaneously, it is known that Δ T2-ΔT1=T2-T1=Δ T12,ΔT3-ΔT1=T3-T1
=Δ T13.Therefore, based on the arrival time obtained in receiving terminal, the difference of different positioning signal propagation time delays can be obtained；
According to the amendment for Ray-tracing method, resolves module and obtain the difference of different wave aerodones and underwater glider air line distance
Value.In addition to this, it resolves module to also need to just calculating longitude and latitude and elevation progress Gauss, obtains the three of corresponding wave aerodone
Dimension coordinate；After obtaining the three-dimensional coordinate of underwater glider, it is also desirable to which Gauss inverse obtains corresponding longitude and latitude and elevation.
The above is an example of the present invention, and wherein sea beaconing nodes can be replaced by buoy etc., realize it
The positioning of his submarine target；Chuan Ji control centres can be substituted as subsystem by other carriers or multiple carriers, real
Referring now to positioning system monitoring function；Bank base data center in addition to being in seashore, while can also build elsewhere, need
Realize satellite communication；
In addition, in addition to by means of Beidou satellite navigation system, it is also possible by means other Global Navigation Systems, such as GPS,
GLONASS, GALILEO etc..And velocity vector can be provided by working as underwater mobile node itself, can improve positioning accuracy；And it is underwater
When mobile node itself does not provide depth information, it is only necessary to make equilateral triangle grid the other shapes such as into quadrangle, ensure underwater
Mobile node can once receive 4 and its position message above.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (2)
1. the underwater mobile node passive location method based on ″Beidou″ beacon, includes the following steps：
Beidou satellite receiver on the beaconing nodes of step 1. sea receives the location navigation letter of Beidou satellite navigation system broadcast
Number, real time parsing goes out longitude, latitude and the elevation of sea beacon big-dipper satellite antenna present position, is transferred to sea beaconing nodes
Master control system, and it is synchronous with the holding of Big Dipper fiducial time to calibrate master control system clock, i.e., keeps same between all sea beacons
Step；The acoustics that the master control system of sea beacon subtracts Beidou satellite receiver elevation information comprehensive Positioning/Communication function is received and dispatched
The height difference of system, as the elevation of sea beaconing nodes, then information such as own beacon serial number, longitude, latitude, elevations
It is combined into positioning message；The time-scale that positioning message is sent according to itself, in the sea of triangular lattice apex letter
It marks node and positioning message is broadcasted by respective sound system simultaneously；
The sea beacon deployment topologies of sea anchor node number at least three, underwater mobile node positioning system are:Three first
Sea beaconing nodes constitute equilateral triangle grid, and beaconing nodes are located at triangular apex；The deployment of all sea beaconing nodes is opened up
It is base unit, seamless coverage target marine site to flutter and take equilateral triangle grid；
The positioning signal broadcasting timeline of sea beaconing nodes：As unit of equilateral triangle grid, that is, it is located at a triangular lattice
On 3 sea beaconing nodes simultaneously broadcast its position message；When the sea beaconing nodes broadcast on a triangular lattice is fixed
Position message, after Fixed Time Interval, the sea beaconing nodes broadcast positioning message on the triangular lattice of next sequential；
Until all triangular lattices have broadcasted positioning message, restart the broadcasting timeline of next round positioning message；
3 sea beaconing nodes broadcast positioning message simultaneously, and sea beaconing nodes broadcast positioning using CDMA CDMA modes
Signal specifically for the positioning message that coding generates, is tied using multi-system convolutional code and M system symbol offset keying CSK phases
It closes, and distributes to the different pseudo-random sequence of sea beaconing nodes, realize multi-user communication；3 on each equilateral triangle grid
A sea beacon can all be assigned 3 different pseudo-random sequences when broadcast positions message；Belong to different equilateral triangle grids
The same sea beaconing nodes can be assigned different pseudorandoms in different equilateral triangle grid broadcast positioning message
Sequence；
The acoustic receiver system of the synthesis Positioning/Communication function of step 2. underwater mobile node is in and intercepts state, once it receives
To positioning signal, sound system is completed multiple user signals and is received, and records the arrival time of 3 positioning messages, and decoded fixed
Position message and its arrival time are sent to master control system；The master control system of underwater mobile node understands positioning message content, report
Longitude, dimension, elevation and corresponding message arrival time in text are transferred to resolving module；The master control system of underwater mobile node simultaneously
System reads depth information from pressure sensor in real time, is transferred to resolving module；When the resolving module of underwater mobile node receives
When message information from master control system, the position at its current time is resolved using filtering algorithm；When not receiving from master control
When the message information of system, filtering algorithm can also be utilized to estimate the position at its current time.
It is underwater mobile since 3 beaconing nodes on equilateral triangle grid broadcast positioning message simultaneously using CDMA modes
Node receives 3 signals simultaneously.Due to the quasi- property of orthogonality of frequency expansion sequence in CDMA modes, serial MAI suppression is utilized
Technology inhibits multi-user interference MAI caused by near-far interference, restores desired positioning message information.
Underwater mobile node position calculation method is as follows：
A. when the acoustic receiver system of underwater mobile node receives 3 positioning messages：
(1) longitude, dimension, elevation, positioning message arrival time T from master control system can be received by resolving modulei(i=1,2,
3 refer to beacon serial numbers) depth information with underwater mobile node；With T1For the reference time, when obtaining different positioning messages and reaching
Between it is poor：ΔT12=T2-T1With Δ T13=T3-T1；
(2) resolve module just calculated using Gauss by message longitude and latitude be converted into Gauss plane coordinate system, in conjunction with elevation
Three-dimensional coordinate position (X as beaconing nodesi,Yi,Zi), i=1,2,3 refer to beacon serial number；Underwater mobile node position is set as
(Xt,Yt,Zt), t refers to underwater mobile node, wherein ZtIt for depth information, is obtained by pressure sensor, as known quantity；Sea
Face beaconing nodes i is expressed as to distance between underwater mobile node
(3) it is constant to lead to the velocity of sound since medium is uneven not, does not consider that the cross directional variations of Sound speed profile, Sound speed profile are expressed as
C (z), z indicate depth variable；Using Snell laws, establish sea beaconing nodes i (i=1,2,3) and underwater mobile node it
Between horizontal distance, the relationship between propagation delay and propagation constant, and discretization can obtain：
Wherein ρi、τiAnd niIt indicates that sea beaconing nodes i (i=1,2,3) arrives the corresponding horizontal distance of underwater mobile node, propagates
Time delay and propagation constant；N indicates the sampled point quantity on c (z), in depth ZiAnd ZtBetween uniform sampling, j indicate sampled point sequence
Number, zjIndicate the depth at sampled point, c (zj) indicate depth zjThe corresponding velocity of sound,
Ratio is expressed as between sea beaconing nodes i and underwater mobile node air line distance and propagation delay：
Due to itemsBetween variable quantity it is smaller, above formula can be simplified to：
According to Taylor expansion, above formula can be further simplified into：
Since beaconing nodes are all located at sea, depth disparity is smaller between beaconing nodes, therefore, it is considered that different seas beaconing nodes
Ratio is equal between the air line distance of underwater mobile node and propagation delay, and is expressed as m, i.e.,：
Based on above formula, after obtaining different sea beaconing nodes and positioning the difference between the propagation delay of messages, can obtain not
With the difference DELTA D of distance between sea beaconing nodes and underwater mobile node12With Δ D13, it is reference with node 1, i.e.,：
(4) step (3) is based on it is found that resolving module has obtained the difference of distance between different sea beaconing nodes and underwater mobile node
It is worth Δ D12 and Δ D13；Establish the observational equation and state equation of Extended Kalman filter：
θt,k=θt,k-1+TkVk-1+wk(8)
Wherein, scalar at the time of subscript k-1 and k indicates to introduce in Kalman filtering is k-1 and k moment, Δ D12,k, Δ D13,kTable
Show the observed quantity at k moment, i.e., the difference of distance between k moment differences sea beaconing nodes and underwater mobile node；θt,kAnd θt,k-1Point
Not Biao Shi k moment and k-1 moment state vector, i.e. two-dimensional coordinate (the X of underwater mobile nodet,k,Yt,k) and (Xt,k-1,
Yt,k-1)；Zt,kIndicate the depth information of k moment underwater mobile nodes；S1,k,S2,k,S3,kFor 3 sea beaconing nodes three of k moment
Dimension coordinate (Xi,k,Yi,k,Zi,k) (i=1,2,3)；Vk-1Indicate the two-dimensional movement speed of k-1 moment underwater mobile nodes；TkIt indicates
The time interval at k-1 moment and k moment；δkAnd wkFor k moment observation noise and process noise；
H (θ in observational equationt,k,Zt,k,S1,k,Si,k) it is expressed as formula (9), wherein l=2,3 refer to beacon serial number 2,3：
It is primarily based on k-1 moment underwater mobile node location estimates θt,k-1|k-1With movement speed estimated valueFor the k moment
It is predicted underwater mobile node position：
Wherein θt,k|k-1=[Xt,k|k-1 Yt,k|k-1]TIndicate k moment underwater mobile node predicted values；
Calculate its covariance Pk|k-1：
Wherein, Pk|k-1Indicate the covariance matrix of k moment underwater mobile node predicted values, Pk-1|k-1Indicate that the k-1 moment moves under water
The covariance matrix of dynamic node location estimated value, Qk-1|k-1Indicate the covariance of underwater mobile node movement speed estimated value；
Therefore kalman gain KkIt is expressed as：
Wherein RkIndicate the covariance of observation error；HkIt is carried out due to observation equation nonlinear equation for observing matrix
First order Taylor is unfolded, approximate linearization：
Wherein,It is expressed as：
Therefore, the underwater mobile node location estimate at k moment is：
Two-dimensional coordinate position is converted into longitude and latitude using Gauss inverse；And update k moment underwater mobile nodes position
Covariance is calculated for subsequent time：
Pk|k=Pk|k-1-KkHkPk|k-1 (15)
Estimate k moment underwater mobile node movement speedsAnd calculate its covariance Qk|k, calculated for subsequent time：
B. when the acoustic receiver system of underwater mobile node does not receive 3 positioning messages：
The resolving module of underwater mobile node will not be received submits message information and message arrival time from master control system, only
The depth information of underwater mobile node is received, that is, is between k-1 moment and k moment；It is estimated based on the k-1 moment underwater mobile
The position and movement speed of node estimates the position θ ' of current time underwater mobile nodet,k|k, i.e.,
Wherein, T 'kIndicate the time interval at distance k-1 moment at current time；
Two-dimensional space coordinate position is converted into longitude and latitude using Gauss inverse.
2. implement the system of the underwater mobile node passive location method based on ″Beidou″ beacon as described in claim 1, it is special
Sign is：It is made of at least three sea beaconing nodes, underwater mobile node, bank base Data Control Center and Chuan Ji control centres；
The sea beaconing nodes include Beidou satellite receiver, the first master control system, the first sound for integrating Positioning/Communication function
Learn receive-transmit system；
The underwater mobile node, including propeller, the second location receiver, pressure sensor, the second location receiver include
Second master control system, the second acoustic receiver system of comprehensive Positioning/Communication function, second resolve module, the processing of the second short message
Module；
The Chuan Ji control centres are locating assist system, are deployed in the beaconing nodes covering marine site of sea, it is fixed to carry third
Position receiver, the working condition for monitoring sea beaconing nodes, third position receiver include the of comprehensive Positioning/Communication function
Three acoustic receiver systems, third resolve module, third short message processing module；Chuan Ji control centres cover in sea beaconing nodes
In marine site, the message that specific sea beaconing nodes are sent is monitored by third acoustic receiver system, according to receiving message
Sequential and content judge the working condition of sea beaconing nodes；In addition, Chuan Ji control centres pass through movement, intermittent monitoring institute
There is the working condition of sea beaconing nodes, to monitoring location system operation conditions；
The bank base Data Control Center, for controlling underwater mobile node；Bank base Data Control Center is led by big-dipper satellite
Boat system assigns instruction and sea beaconing nodes, sea beaconing nodes is given to be broadcast to corresponding water by short data message mode again
Lower mobile node；
Sea beaconing nodes deployment topologies are constituted based on taking equilateral triangle grid：
It is resolved since underwater mobile node at least needs 3 positioning signals of reception that could complete position, and beaconing nodes are constituted just
The topological structure maximizing of triangular lattice covers oceanic area.Therefore sea beaconing nodes deployment topologies use equilateral triangle
For grid, 3 sea beacons are located at equilateral triangle vertex, and the deployment topologies of all sea beaconing nodes take equilateral triangle grid
Based on constitute, coverage goal marine site, ensure covering marine site below any position underwater mobile node, can receive to one
The positioning signal that 3 sea beacons are sent on equilateral triangle vertex raster；
The broadcasting timeline of sea beaconing nodes is：As unit of equilateral triangle grid, i.e., 3 on a triangular lattice
Sea beaconing nodes broadcast it and position message simultaneously；It is broadcasted when the sea beaconing nodes on a triangular lattice and positions message,
After Fixed Time Interval, the sea beaconing nodes broadcast positioning message on the triangular lattice of next sequential；Until institute
There is triangular lattice to broadcast positioning message, restarts the broadcasting timeline of next round positioning message；
Sea beaconing nodes are in such a way that CDMA is spread to underwater broadcast positioning message：
3 sea beacons on a triangular lattice need while broadcasting its positioning message, therefore use CDMA modes；
For the positioning message of generation, using multi-system convolutional code and M system symbols offset keying (Code Shift Keying, CSK)
It is combined, and distributes to the different pseudo-random sequence of sea beaconing nodes, realize multi-user communication；
Underwater mobile node inhibits multi-user interference caused by near-far interference using serial MAI suppression technology, restores it is expected
Positioning message information；
The positioning calculation process of underwater mobile node is as follows：
C. when the acoustic receiver system of underwater mobile node receives 3 positioning messages：
Underwater mobile node calculates different positioning message reaching time-differences, and be based on according to the arrival time of 3 positioning messages
Snell laws, compensate Ray-tracing method, obtain the difference of distance between different sea beaconing nodes and underwater mobile node
Value；
Based on Extended Kalman filter method, the difference of distance is as observation between different sea beaconing nodes and underwater mobile node
Value, and according to the position and movement velocity information of last moment, for the position and movement speed of current time underwater mobile node
Degree is resolved；
D. when the acoustic receiver system of underwater mobile node does not receive 3 positioning messages：
When underwater mobile node do not receiving positioning the message moment, be based on Extended Kalman filter method.Utilize last moment
The position and movement speed of resolving estimates the underwater mobile node position at current time.
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