CN108919324B - Positioning method of underwater glider - Google Patents

Positioning method of underwater glider Download PDF

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CN108919324B
CN108919324B CN201810227053.5A CN201810227053A CN108919324B CN 108919324 B CN108919324 B CN 108919324B CN 201810227053 A CN201810227053 A CN 201810227053A CN 108919324 B CN108919324 B CN 108919324B
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underwater glider
sound signal
depth
underwater
carrier
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CN108919324A (en
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宋大雷
苏志强
孙伟成
崔志建
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Ocean University of China
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Abstract

The invention discloses a positioning method of an underwater glider, which comprises the following steps: s1. when the underwater glider glides in the sea, the sound source transducer carried on the carrier sends out sound signal at a certain time; s2, the vector hydrophone carried on the underwater glider receives the sound signal in the step s1, and the diving depth and the attitude angle of the underwater glider and the time for the underwater glider to receive the sound signal are obtained; s3. recording GPS longitude and latitude information of the carrier and the time of sending the sound signal when the carrier sends the sound signal on the shore; s4. calculating the travel time of the sound signal according to the step s2 and the step s 3; s5., obtaining the relative distance between the carrier and the underwater glider according to the propagation time of the sound signal and the propagation speed of the sound signal in water; s6., according to the GPS longitude and latitude information of the carrier, three-dimensional data calculation is carried out, and finally the three-dimensional position of the underwater glider is determined. The method is beneficial to realizing the positioning of the glider and has the characteristics of high precision and good real-time performance.

Description

Positioning method of underwater glider
Technical Field
The invention relates to the field of engineering calculation methods, in particular to a positioning method of an underwater glider.
Background
An underwater glider is a novel underwater robot. Because the propulsion is obtained by utilizing the adjustment of the net buoyancy and the attitude angle, the energy consumption is extremely low, only a small amount of energy is consumed when the net buoyancy and the attitude angle are adjusted, and the device has the characteristics of high efficiency and large endurance (up to thousands of kilometers). Although the underwater glider has a slow sailing speed, the underwater glider has the characteristics of low manufacturing cost and maintenance cost, reusability, large-scale throwing and the like, and meets the requirement of long-time and large-scale ocean exploration.
However, once the underwater glider enters water, real-time monitoring of the underwater glider is very difficult, and domestic underwater acoustic communication is immature at present, so that the requirement for real-time monitoring of the glider cannot be met. But can record the underwater three-dimensional position of the underwater glider in the whole section process through the underwater sound technology, and has important significance for researching the gliding motion of the underwater glider. The underwater positioning technology of the underwater glider is the key and difficult point of domestic and foreign research, most of the underwater gliders do not have the underwater positioning capability at present, and the few gliders with the underwater positioning capability are due to the underwater acoustic communication capability of the gliders. And carrying an underwater sound Modem on the underwater glider, and carrying out underwater positioning on the glider based on the ultra-short baseline. The ultra-short baseline positioning based on the underwater sound Modem has the problems of high energy consumption, difficult carrying on a glider, complex connection circuit with a control part, high cost and the like.
Disclosure of Invention
The invention aims to provide a positioning method of an underwater glider, which aims to solve the problem of positioning of the underwater glider.
In order to achieve the purpose, the invention adopts the following technical scheme:
a positioning method of an underwater glider comprises the following steps:
s1. when the underwater glider glides in the sea, the sound source transducer carried on the carrier sends out sound signal at a certain time;
s2. the vector hydrophone carried on the underwater glider receives the sound signal emitted by the sound source transducer in the step s1, and causes the interruption of the program for sailing the underwater glider;
acquiring the submergence depth and the attitude angle of the underwater glider and the time for the underwater glider to receive the sound signal;
s3. recording GPS longitude and latitude information of the carrier and the time of sending the sound signal when the carrier sends the sound signal on the shore;
s4., making the difference between the time of the underwater glider receiving the sound signal in the step s2 and the time of the carrier sending the sound signal in the step s3 to obtain the propagation time of the sound signal;
s5., according to the propagation time of the sound signal and the propagation speed of the sound signal in the water obtained in the step s4, further obtaining the relative distance between the carrier and the underwater glider;
s6., after the relative distance between the underwater glider and the carrier is obtained through the step s5, the three-dimensional data calculation is further carried out according to the GPS longitude and latitude information of the carrier, and the three-dimensional position of the underwater glider is finally determined.
Preferably, in step s6, the three-dimensional data calculation includes the following steps:
s6.1, establishing a position relation between a sound source and an underwater glider under a three-dimensional coordinate system;
defining the sound source of a sound signal in the seaIs p (x)0,y0,z0);
Wherein x is0,y0,z0Respectively a longitude coordinate, a latitude coordinate and a depth coordinate in the sea of the sound source;
one vertical plane pi of underwater glider in sea1Inner glide with the sound source in another vertical plane pi2Internal;
c (t) from formula L2-t1) Calculating the relative distance between the underwater glider and the carrier; wherein:
t1the moment when the sound source emits a sound signal;
t2the moment when the vector hydrophone receives the sound signal;
c is the propagation speed of the sound signal in water;
s6.2, deriving a relative position equation of the underwater glider and the sound source under the three-dimensional coordinate system; according to the relative position equation, further obtaining the relative position of the underwater glider and the carrier;
and S6.3, establishing a terrestrial coordinate system to obtain the three-dimensional absolute position of the underwater glider.
Preferably, in step s6.2, the relative position equation of the underwater glider and the sound source in the three-dimensional coordinate system is as follows:
Figure GDA0002536220800000021
l is the relative distance between the sound source and the underwater glider;
x1,y1,z1three relative position coordinates of the underwater glider, namely longitude, latitude and depth coordinate in the sea;
L=c·△t (2)
wherein △ t represents the travel time of the sound signal;
Figure GDA0002536220800000022
wherein α is the underwater glider attack angle, β is the underwater glider pitch angle,
Figure GDA0002536220800000023
is the glide speed direction angle of the underwater glider;
△Depth=Depthg-Depths(4)
wherein, DepthgDepth of underwater glider, DepthsIs the sound source depth;
Figure GDA0002536220800000024
wherein theta is an included angle between L and △ Depth;
l=Lsinθ (6)
y1=l·cosη (7)
x1=l·sinη (8)
z1=Depthg(9)
wherein η is the vertical plane pi of the underwater glider1Perpendicular to the sound source2The included angle between them;
simultaneous equations (1) - (9) give the relative position coordinates g (x) of the underwater glider1,y1,z1)。
Preferably, in step s6.3, the calculation process of the three-dimensional absolute position of the underwater glider is as follows:
establishing a global coordinate system, and setting the absolute position of the underwater glider as g (x)g,yg,zg);
Wherein x isgRepresenting a longitudinal coordinate, ygRepresenting the dimensional coordinate, zgRepresenting a depth coordinate;
two points (A (λ A, φ A), B (λ B, φ B)) located on the earth's spherical surface have relative distances obtained by the following equation (10):
d=111.12cos{1/[sinφAsinφB+cosφAcosφBcos(λB-λA)]} (10)
wherein, λ A and φ A respectively represent the longitude and latitude of the point A, and λ B and φ B respectively represent the longitude and latitude of the point B;
incorporating the relative position coordinate x of an underwater glider1,y1Value, sound source coordinate x0,y0The latitude and longitude value x of the underwater glider is calculated by the value and the formula (10)g,ygDepth of underwater glidergObtained by a pressure sensor;
in conclusion, the absolute position g (x) of the underwater glider in the terrestrial coordinate system can be obtainedg,yg,Depthg)。
The invention has the following advantages:
according to the underwater three-dimensional space positioning method, the underwater glider receives sound source information through the vector hydrophone, the underwater glider submergence depth and posture parameters are transmitted to the shore station upper computer through the underwater sound modem in real time, and the upper computer calculates the underwater three-dimensional space position of the glider after obtaining data, so that the underwater three-dimensional space positioning method has the characteristics of high precision and good real-time performance; in addition, the vector hydrophone adopted for underwater sound positioning of the underwater glider has the advantages of low energy consumption, low cost and the like, and the mutual connection and carrying positions of the sensors are reasonably arranged when the internal structure is designed. In addition, because the underwater glider three-dimensional positioning only needs to acquire the diving depth, the attitude angle and the underwater sound transmission time information of the glider, the three parameters can obtain the three-dimensional position information through a calculation formula, the technology is simple, and the feasibility is high.
Drawings
FIG. 1 is a block flow diagram of a method of positioning an underwater glider according to the present invention;
fig. 2 is a schematic diagram of the position of the underwater glider in a three-dimensional coordinate system according to the present invention.
FIG. 3 is a schematic diagram of the relative position calculation of the underwater glider according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and the detailed description below:
referring to fig. 1, a method for positioning an underwater glider includes the following steps:
s1. when an underwater glider glides in the sea, the sound source transducer carried on the carrier emits sound signals at a certain moment.
s2. the vector hydrophone mounted on the underwater glider receives the sound signal emitted from the sound source transducer in step s1, and causes an interruption in the procedure of the sailing of the underwater glider.
Because the interruption time is in the millisecond level, the whole sailing process is not influenced.
And acquiring the diving depth and the attitude angle of the underwater glider and the time for the underwater glider to receive the sound signal.
The submergence depth of the underwater glider in the embodiment is obtained through a pressure sensor on the underwater glider. In addition, the system of the underwater glider records the time the underwater glider receives the sound signal and the attitude parameters of the underwater glider.
s3. records the GPS longitude and latitude information of the carrier when the carrier sends out the sound signal and the time of sending out the sound signal on the shore.
s4., the time of the underwater glider receiving the sound signal in step s2 is differed from the time of the carrier sending the sound signal in step s3, and the propagation time of the sound signal is obtained.
s5. further obtains the relative distance between the carrier and the underwater glider according to the propagation time of the sound signal obtained in step s4 and the propagation speed of the sound signal in the water.
s6., after the relative distance between the underwater glider and the carrier is obtained through the step s5, the three-dimensional data calculation is further carried out according to the GPS longitude and latitude information of the carrier, and the three-dimensional position of the underwater glider is finally determined.
The method for determining the three-dimensional position of the underwater glider is specifically described below with reference to the formula:
the three-dimensional data calculation comprises the following steps:
s6.1, establishing the position relation between a sound source and an underwater glider in a three-dimensional coordinate system, as shown in fig. 2:
defining the absolute position in the sea of the sound source of the sound signal as p (x)0,y0,z0)。
Wherein x is0,y0,z0Respectively longitude coordinates, latitude coordinates and depth coordinates in the sea of the sound source.
The latitude and longitude coordinates x of the sound source in this embodiment0,y0Can be acquired by a handheld GPS or a ship-borne GPS, and the depth coordinate z of the sound source in the sea0Can be obtained by measuring the length of the hanging sound source cable entering water.
The sound source in this embodiment refers to a position where a sound signal is emitted, that is, a sound source transducer mounted on the carrier.
One vertical plane pi of underwater glider in sea1Inner glide with the sound source in another vertical plane pi2And (4) the following steps.
C (t) from formula L2-t1) Calculating the relative distance between the underwater glider and the carrier; wherein:
t1the moment when the sound source emits a sound signal;
t2the moment when the vector hydrophone receives the sound signal;
c is the propagation speed of the sound signal in water.
S6.2, deriving a relative position equation of the underwater glider and the sound source under the three-dimensional coordinate system; according to the relative position equation, the relative position of the underwater glider and the carrier is further obtained, and the relative position is shown in figure 3.
The relative position equation of the underwater glider and the sound source under the three-dimensional coordinate system is as follows:
Figure GDA0002536220800000051
l is the relative distance between the sound source and the underwater glider;
x1,y1,z1three relative position coordinates of the underwater glider, namely longitude, latitude and depth coordinate in the sea;
L=c·△t (2)
wherein △ t represents the travel time of the sound signal;
Figure GDA0002536220800000052
wherein α is the underwater glider attack angle, β is the underwater glider pitch angle,
Figure GDA0002536220800000054
is the glide speed direction angle of the underwater glider;
△Depth=Depthg-Depths(4)
wherein, DepthgDepth of underwater glider, DepthsIs the sound source depth;
Figure GDA0002536220800000053
wherein theta is an included angle between L and △ Depth;
l=Lsinθ (6)
y1=l·cosη (7)
x1=l·sinη (8)
z1=Depthg(9)
wherein η is the vertical plane pi of the underwater glider1Perpendicular to the sound source2The included angle between the two angles is η obtained by the difference between the heading angle of the carrier and the heading angle of the underwater glider.
Simultaneous equations (1) - (9) give the relative position coordinates g (x) of the underwater glider1,y1,z1)。
And S6.3, establishing a terrestrial coordinate system to obtain the three-dimensional absolute position of the underwater glider, wherein the specific calculation process is as follows:
establishing a global coordinate system, and setting the absolute position of the underwater glider as g (x)g,yg,zg);
Wherein x isgRepresenting a longitudinal coordinate, ygRepresenting the dimensional coordinate, zgRepresenting a depth coordinate.
Two points (A (λ A, φ A), B (λ B, φ B)) located on the earth's spherical surface have relative distances obtained by the following equation (10):
d=111.12cos{1/[sinφAsinφB+cosφAcosφBcos(λB-λA)]} (10)
wherein, λ a and φ a respectively represent longitude and latitude of point a, and λ B and φ B respectively represent longitude and latitude of point B.
Incorporating the relative position coordinate x of an underwater glider1,y1Value, sound source coordinate x0,y0The latitude and longitude value x of the underwater glider is calculated by the value and the formula (10)g,ygDepth of underwater glidergObtained by a pressure sensor.
In conclusion, the absolute position g (x) of the underwater glider in the terrestrial coordinate system can be obtainedg,yg,Depthg)。
It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (2)

1. A positioning method of an underwater glider is characterized by comprising the following steps:
s1. when the underwater glider glides in the sea, the sound source transducer carried on the carrier sends out sound signal at a certain time;
s2. the vector hydrophone carried on the underwater glider receives the sound signal emitted by the sound source transducer in the step s1, and causes the interruption of the program for sailing the underwater glider;
acquiring the submergence depth and the attitude angle of the underwater glider and the time for the underwater glider to receive the sound signal;
s3. recording GPS longitude and latitude information of the carrier and the time of sending the sound signal when the carrier sends the sound signal on the shore;
s4., making the difference between the time of the underwater glider receiving the sound signal in the step s2 and the time of the carrier sending the sound signal in the step s3 to obtain the propagation time of the sound signal;
s5., according to the propagation time of the sound signal and the propagation speed of the sound signal in the water obtained in the step s4, further obtaining the relative distance between the carrier and the underwater glider;
s6., after the relative distance between the underwater glider and the carrier is obtained through the step s5, three-dimensional data calculation is further carried out according to GPS longitude and latitude information of the carrier, and finally the three-dimensional position of the underwater glider is determined;
in step s6, the three-dimensional data calculation includes the following steps:
s6.1, establishing a position relation between a sound source and an underwater glider under a three-dimensional coordinate system;
defining the absolute position in the sea of the sound source of the sound signal as p (x)0,y0,z0);
Wherein x is0,y0,z0Respectively a longitude coordinate, a latitude coordinate and a depth coordinate in the sea of the sound source;
one vertical plane pi of underwater glider in sea1Inner glide with the sound source in another vertical plane pi2Internal;
c (t) from formula L2-t1) Calculating the relative distance between the underwater glider and the carrier; wherein:
t1the moment when the sound source emits a sound signal;
t2the moment when the vector hydrophone receives the sound signal;
c is the propagation speed of the sound signal in water;
s6.2, deriving a relative position equation of the underwater glider and the sound source under the three-dimensional coordinate system; according to the relative position equation, further obtaining the relative position of the underwater glider and the carrier;
s6.3, establishing a terrestrial coordinate system to obtain the three-dimensional absolute position of the underwater glider;
in step s6.2, the equation of the relative positions of the underwater glider and the sound source in the three-dimensional coordinate system is as follows:
Figure FDA0002536220790000011
l is the relative distance between the sound source and the underwater glider;
x1,y1,z1three relative position coordinates of the underwater glider, namely longitude, latitude and depth coordinate in the sea;
L=c·△t (2)
wherein △ t represents the travel time of the sound signal;
Figure FDA0002536220790000021
wherein α is the underwater glider attack angle, β is the underwater glider pitch angle,
Figure FDA0002536220790000022
is the glide speed direction angle of the underwater glider;
△Depth=Depthg-Depths(4)
wherein, DepthgDepth of underwater glider, DepthsIs the sound source depth;
Figure FDA0002536220790000023
wherein theta is an included angle between L and △ Depth;
l=L sinθ (6)
y1=l·cosη (7)
x1=l·sinη (8)
z1=Depthg(9)
wherein η is the vertical plane pi of the underwater glider1Perpendicular to the sound source2The included angle between them;
simultaneous equations (1) - (9) give the relative position coordinates g (x) of the underwater glider1,y1,z1)。
2. The method as claimed in claim 1, wherein in step s6.3, the calculation of the three-dimensional absolute position of the underwater glider is as follows:
establishing a global coordinate system, and setting the absolute position of the underwater glider as g (x)g,yg,zg);
Wherein x isgRepresenting a longitudinal coordinate, ygRepresenting the dimensional coordinate, zgRepresenting a depth coordinate;
two points A (λ A, φ A), B (λ B, φ B) on the earth's spherical surface, the relative distance of which is obtained by the following equation (10):
d=111.12cos{1/[sinφAsinφB+cosφAcosφBcos(λB-λA)]} (10)
wherein, λ A and φ A respectively represent the longitude and latitude of the point A, and λ B and φ B respectively represent the longitude and latitude of the point B;
incorporating the relative position coordinate x of an underwater glider1,y1Value, sound source coordinate x0,y0The latitude and longitude value x of the underwater glider is calculated by the value and the formula (10)g,ygDepth of underwater glidergObtained by a pressure sensor;
in conclusion, the absolute position g (x) of the underwater glider in the terrestrial coordinate system can be obtainedg,yg,Depthg)。
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CN109747801A (en) * 2019-01-25 2019-05-14 哈尔滨工程大学 A kind of quaternary cross battle array acoustic testing system for underwater glider
CN109855649B (en) * 2019-04-12 2020-07-31 哈尔滨工程大学 Passive determination method for motion trail of underwater glider platform
CN110686669B (en) * 2019-09-23 2021-03-30 中国海洋大学 ROV sea cucumber distribution statistical method and device based on positioning compensation and visual perception
CN113253205B (en) * 2021-06-29 2023-07-25 中国人民解放军海军潜艇学院 Target observation and detection method for underwater glider formation

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