CN109489668A - Individual soldier's underwater navigation method and device - Google Patents
Individual soldier's underwater navigation method and device Download PDFInfo
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- CN109489668A CN109489668A CN201811372282.2A CN201811372282A CN109489668A CN 109489668 A CN109489668 A CN 109489668A CN 201811372282 A CN201811372282 A CN 201811372282A CN 109489668 A CN109489668 A CN 109489668A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 119
- 238000013507 mapping Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000015654 memory Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present invention relates to technical field of navigation and positioning.The embodiment of the present invention provides a kind of individual soldier's underwater navigation method and device, wherein this method comprises: before individual soldier is lauched, the initial positioning information and initial orientation information of the individual soldier are obtained, and is based on the initial positioning information and the initial orientation information initializing water surface reference coordinate；After the individual soldier is lauched, job status information of the individual soldier under water during operation is obtained, wherein the job status information includes Water Depth Information, process azimuth information and horizontal travel speed information；Based on the water surface reference coordinate and the job status information, the hydrospace coordinate of the individual soldier is determined.Hereby it is achieved that effectively determining the underwater space coordinate of individual soldier in real time, can be convenient for instructing underwater navigation for underwater operation individual soldier.
Description
Technical field
The present invention relates to technical field of navigation and positioning, more particularly to a kind of individual soldier's underwater navigation method and device.
Background technique
Underwater environment and aquatic environment difference are huge, are mainly shown as that underwater visibility is poor, and visual range only has several meters, this
The sense of direction for directly resulting in underwater frogman individual soldier is poor, realizes that autonomous positioning is difficult, this directly results in the frogman face of underwater operation
Face all multi-risk Systems and inconvenience, especially in muddy underwater operation, discovery target and accurate arrival predetermined position can not be searched for,
The efficiency and effect of underwater operation are seriously affected, in some instances it may even be possible to jeopardize the life security of frogman.
For this reason, it is necessary to which studying a kind of method and apparatus is that underwater frogman provides position navigation information in real time.Currently, being based on
Monotechnics method is difficult to realize the effective space orientation of underwater frogman, seriously restricts the technology hair of frogman individual soldier's underwater operation
Exhibition.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of individual soldier's underwater navigation method and device is provided, at least to solve existing skill
The technical issues of being difficult for underwater frogman individual soldier in art and navigation information be provided, can not being its space orientation.
To achieve the goals above, on the one hand the embodiment of the present invention provides individual soldier's underwater navigation method, is applied to by individual soldier
Individual soldier's underwater navigation device of carrying, wherein this method comprises: obtaining the initial positioning information of the individual soldier before individual soldier is lauched
With initial orientation information, and be based on the initial positioning information and the initial orientation information initializing water surface reference coordinate；?
After the individual soldier is lauched, job status information of the individual soldier under water during operation is obtained, wherein the job state
Information includes Water Depth Information, process azimuth information and horizontal travel speed information；Based on the water surface reference coordinate and the work
Industry status information determines the hydrospace coordinate of the individual soldier.
Optionally, the initial positioning information for obtaining the individual soldier and initial orientation information include: based on configuration in institute
State GNSS (the Global Navigation Satellite that the satellite locator in individual soldier's underwater navigation device obtains individual soldier
System, Global Navigation Satellite System) geodetic coordinates, and the initial positioning information is determined based on the GNSS geodetic coordinates；
Orthogonal magnetoresistive sensor based on configuration in individual soldier's underwater navigation device obtains absolute force component, and according to acquired
Absolute force component computer azimuth information.
Optionally, azimuth information θ is by including that following manner calculates:
θ=atan (By/Bx)
Wherein, BxAnd ByIt is the absolute force component on x, y orthogonal direction respectively.
Optionally, the job status information for obtaining the individual soldier under water during operation includes: based on described
Pressure sensor in individual soldier's underwater navigation device acquires real-time hydraulic pressure information of the individual soldier under water in operation process；Base
The Water Depth Information is determined in the pressure water depth meter and the real-time hydraulic pressure information demarcated in advance, wherein matching in the pressure water depth meter
The mapping relations being equipped between hydraulic pressure and the corresponding depth of water.
Optionally, the job status information for obtaining the individual soldier under water during operation includes: based on described
Split beam acoustic sensor in individual soldier's underwater navigation device detects multi beam split beam that it is issued in water how general
Strangle frequency displacement；Based on the Doppler frequency shift detected, the horizontal travel speed information is determined.
Optionally, the horizontal travel speed information v of individual soldier in the horizontal plane is by including that following manner calculates:
V=cfd/(4f0cosα)
Wherein, fdFor the Doppler frequency shift detected, c is the velocity of sound in water, f0To detect acoustical signal frequency, α is division wave
Angle between beam and the water surface.
Optionally, it is based on the water surface reference coordinate and the job status information, determines the hydrospace of the individual soldier
Coordinate includes: to calculate the three-dimensional coordinate (x of the individual soldier in water in the following wayi, yi, zi):
xi=xi-1+Δr·cosθ
yi=yi-1+Δr·sinθ
zi=f (Pi)
Wherein, (xi-1, yi-1, zi-1) be upper synchronizing cycle T before position coordinate value, f (Pi) be hydraulic pressure with it is corresponding
Mapping relations between the depth of water, Δ r=vT are the distance and Δ that individual soldier advances along traveling horizontal direction in T synchronizing cycle
Rcos θ and Δ rsin θ is the shift offset on horizontal quadrature direction.
On the other hand the embodiment of the present invention provides a kind of individual soldier's underwater navigation device, carried by individual soldier and made under water
Industry, wherein the device includes: water surface benchmark determination unit, and the initial alignment for before individual soldier is lauched, obtaining the individual soldier is believed
Breath and initial orientation information, and it is based on the initial positioning information and initial orientation information initializing water surface reference coordinate；Operation
State acquiring unit, for after the individual soldier is lauched, obtaining job state letter of the individual soldier under water during operation
Breath, wherein the job status information includes Water Depth Information, process azimuth information and horizontal travel speed information；Hydrospace is sat
Determination unit is marked, for being based on the water surface reference coordinate and the job status information, determines the hydrospace of the individual soldier
Coordinate.
Optionally, the water surface benchmark determination unit includes: satellite locator, and the GNSS the earth for obtaining individual soldier is sat
Mark；Orthogonal magnetoresistive sensor, for obtaining absolute force component；Water surface benchmark determining module, for based on the GNSS the earth
Coordinate determines the initial positioning information, and calculates the azimuth information according to acquired absolute force component.
Optionally, the job state acquiring unit includes: pressure sensor, for acquiring individual soldier operation under water
Real-time hydraulic pressure information in the process；Split beam acoustic sensor, for detecting multi beam split beam that it is issued in water
Wave beam Doppler frequency shift；Job state determining module, for based on the pressure water depth meter and the real-time hydraulic pressure demarcated in advance
Information determines the Water Depth Information, and/or based on the Doppler frequency shift detected, determines the horizontal travel speed information,
Described in pressure water depth meter configured with the mapping relations between hydraulic pressure and the corresponding depth of water.
Through the above technical solutions, proposing through the horizontal reference coordinate before acquisition water, and obtained under individual soldier later
Job status information corresponding to water operation allows to that Water Depth Information is combined to obtain longitudinal coordinate information, believes in conjunction with orientation
Breath and horizontal travel speed information can obtain the level coordinates information relative to each time point for entering the water moment, realize
Individual soldier underwater space coordinate is effectively determined in real time, it can be convenient for instructing underwater navigation for underwater operation individual soldier.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the flow chart of one embodiment of the invention individual soldier's underwater navigation method；
Fig. 2A is that one embodiment of the invention GNSS joint acoustics/pressure/earth magnetism multiple information perception individual soldier combines under water
Flow of navigation schematic illustration；
Fig. 2 B is the flow chart of underwater real-time navigation human body track in individual soldier's underwater navigation method of one embodiment of the invention；
Fig. 3 is the structural block diagram of individual soldier's underwater navigation device of one embodiment of the invention.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
As shown in Figure 1, individual soldier's underwater navigation method of one embodiment of the invention, comprising:
S11, before individual soldier is lauched, obtain the initial positioning information and initial orientation information of individual soldier, and be based on initial alignment
Information and initial orientation information initializing water surface reference coordinate.
During underwater navigation, signal can not carry out good information exchange between top service device, so that
The mode of conventional server selection navigation is to cannot achieve the effect of good Underwater Navigation navigation.In consideration of it, of the invention
Embodiment provides a kind of underwater navigation process locally implemented by terminal or device, and wherein the device or terminal can be
Arbitrary portable equipment.And the executing subject of present invention method is such portable equipment, is closed
It should be not limited herein in the concrete type of the equipment, such as it can be the locator for being exclusively used in underwater navigation positioning, separately
Outer its can also be that general terminal device (such as mobile phone, computer etc.) passes through the specific hardware being configured with mentioned by this
(such as sensor) and it is equipped with implementing later for software or processor, and embodiment of above belongs to protection of the invention
In range.
In some embodiments, it can be the satellite locator based on configuration in individual soldier's underwater navigation device
The GNSS geodetic coordinates of individual soldier is obtained, and initial positioning information is determined based on GNSS geodetic coordinates, it is underwater in individual soldier based on configuring
Orthogonal magnetoresistive sensor in navigation device obtains absolute force component, and according to acquired absolute force component computer azimuth
Information.
S12, after individual soldier is lauched, obtain job status information of the individual soldier under water during operation, the wherein operation
Status information includes Water Depth Information, process azimuth information and horizontal travel speed information.
Wherein, acquisition modes of the job status information can be and directly measure, such as can be and directly pass through
Detection to Water Depth Information, to the sensing detection of travel speed etc. in the visual inspection or horizontal direction in orientation；Another party
Face can also be by detecting some information relevant to job status information, and pass through what derivation was realized.On the one hand,
It can derive Water Depth Information in the following way: based on the pressure sensor in individual soldier's underwater navigation device, acquire individual soldier
Real-time hydraulic pressure information in operation process under water；Determine that the depth of water is believed based on the pressure water depth meter and real-time hydraulic pressure information demarcated in advance
Breath, wherein configured with the mapping relations between hydraulic pressure and the corresponding depth of water in pressure water depth meter.It on the other hand, can be by such as
Under type derives horizontal travel speed information: based on the split beam acoustic sensor in individual soldier's underwater navigation device detecting it
The Doppler frequency shift of the multi beam split beam issued in water, and based on the Doppler frequency shift detected, determine horizontal line
Into velocity information.
S13, it is based on water surface reference coordinate and job status information, determines the hydrospace coordinate of individual soldier.
Specifically, after the initial positioning information for having known individual soldier and the depth information being lauched, it is only necessary to know its water
Flat displacement information can obtain the hydrospace coordinate of individual soldier, correspondingly, can be through acquired horizontal speed of advancing
It spends information, activity duration and the azimuth information in operation process can know the displacement letter of individual soldier in the horizontal plane under water
Breath, and then pass through the space coordinate that in summary information can learn the underwater 3 D of individual soldier.As an example, the activity duration can
To be lauched self-clocking after operation, for example it can be and just implement at interval of a synchronizing cycle (or in real time) really
The space coordinate of individual soldier in water is determined, to realize to the underwater trajectory track of individual soldier and navigation.
As shown in Figure 2 A, GNSS joint acoustics/pressure/earth magnetism multiple information perception individual soldier's water of one embodiment of the invention
Lower combination flow of navigation, specifically includes:
The first step, individual soldier obtain GNSS geodetic coordinates before entering water and obtain resolving orientation letter by orthogonal magnetoresistive sensor
Breath carries out the initialization of water surface reference coordinate.
Orthogonal magnetoresistive sensor obtains resolving azimuth and determines according to the following formula:
θ=atan (By/Bx)
Wherein, BxAnd ByIt is the absolute force component on x, y orthogonal direction respectively.
Second step, individual soldier enter water, and orthogonal magnetoresistive sensor, pressure sensor, acoustic sensor synchronize to be obtained under water in real time
Pressure information, azimuth information and sound wave.
Pressure value is mapped to the water surface frame of reference and generates longitudinal Water Depth Information, while split beam acoustics by third step
Sensor detection obtains travel speed information.Longitudinal depth of water is mapping through pressure and the one-to-one relationship of the depth of water is realized, advances
Velocity information is the Doppler frequency shift for measuring two wave beams respectively based on split beam acoustic sensor, obtains horizontal line as the following formula
Into speed:
V=cfd/(4f0cosα)
Wherein, fdFor the Doppler frequency shift detected, c is the velocity of sound in water, f0To detect acoustical signal frequency, α is split beam
Angle between the water surface.
4th step is based on water surface reference coordinate location information, combines and obtains the depth of water, orientation and travel speed in real time, calculates
Three-dimensional position in individual soldier's water.Based on water surface reference coordinate location information, combines and obtain the depth of water, orientation and travel speed in real time, push away
Calculate three-dimensional position (x in individual soldier's wateri, yi, zi):
xi=xi-1+Δr·cosθ
yi=yi-1+Δr·sinθ
zi=f (Pi)
Wherein, multivariate information fusion be related to Δ r=vT be T synchronizing cycle in individual soldier along horizontal direction of travel advance away from
From, the shift offset of Δ rcos θ and Δ rsin θ for horizontal quadrature direction, (xi-1, yi-1, zi-1) it was a upper synchronizing cycle
Position coordinate value before T.f(Pi) it is mapping relations of the pressure mapping to the depth of water.
5th step, successively iteration realizes continuous underwater navigation.
In the present embodiment, device overall work is using synchronization signal as time reference, acquisition of information, data calculation and positioning
Track output control is realized by processor, finally solves the effective position navigation problem of underwater individual soldier.
The initialization for establishing water surface reference coordinate is to provide frogman individual soldier's travel track during entire location navigation
Starting point and reference coordinate origin, by earth magnetism direction finding can with real-time reference to fixed earth coordinates, combine benchmark sit
Mark and fixed earth coordinates realize the accurate positionin navigation of underwater frogman.As shown in Figure 2 B, it illustrates underwater real-time navigations
The process of human body track, while realizing that underwater frogman's three-dimensional spatial position information calculates, wherein preferably can also be by aobvious
Show device to provide intuitive travel track image in real time, for being lauched personnel's real-time reference of operation, apparent position locating for oneself
It sets.Through the embodiment of the present invention, the effective position navigation of underwater individual soldier is realized.
As shown in figure 3, individual soldier's underwater navigation device 30 of one embodiment of the invention, is carried by individual soldier and is made under water
Industry, wherein the device 30 includes: water surface benchmark determination unit 301, for before individual soldier is lauched, obtaining the initial fixed of the individual soldier
Position information and initial orientation information, and it is based on the initial positioning information and initial orientation information initializing water surface reference coordinate；
Job state acquiring unit 302, for after the individual soldier is lauched, obtaining operation of the individual soldier under water during operation
Status information, wherein the job status information includes Water Depth Information, process azimuth information and horizontal travel speed information；Under water
Space coordinate determination unit 303 determines the individual soldier's for being based on the water surface reference coordinate and the job status information
Hydrospace coordinate.
In some embodiments, the water surface benchmark determination unit 301 includes: satellite locator, for obtaining individual soldier
GNSS geodetic coordinates；Orthogonal magnetoresistive sensor, for obtaining absolute force component；Water surface benchmark determining module, for being based on
The GNSS geodetic coordinates determines the initial positioning information, and calculates the orientation according to acquired absolute force component and believe
Breath.
In some embodiments, the job state acquiring unit 302 includes: pressure sensor, described for acquiring
Individual soldier's real-time hydraulic pressure information in operation process under water；Split beam acoustic sensor, for detecting its multi beam issued
The Doppler frequency shift of the wave beam of split beam in water；Job state determining module, for based on the pressure water depth meter demarcated in advance
The Water Depth Information is determined with the real-time hydraulic pressure information, and/or based on the Doppler frequency shift detected, determines the horizontal line
Into velocity information, wherein configured with the mapping relations between hydraulic pressure and the corresponding depth of water in the pressure water depth meter.
More details of individual soldier's underwater navigation Installation practice about the embodiment of the present invention be referred to above for
The description of individual soldier's underwater navigation embodiment of the method, and can obtain identical or corresponding as above-mentioned single underwater navigation embodiment of the method
Technical effect, therefore just do not repeat herein.
Through the above description of the embodiments, those skilled in the art can be understood that the application can lead to
Hardware realization is crossed, the mode of necessary general hardware platform can also be added to realize by software.Based on this understanding, this Shen
Technical solution please can be embodied in the form of software products, which can store in a non-volatile memories
In medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions are used so that a computer equipment (can be
Personal computer, server or network equipment etc.) execute method described in each implement scene of the application.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Process is not necessarily implemented necessary to the application.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also be carried out corresponding change and is located at the one or more dresses for being different from this implement scene
In setting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
Above-mentioned the application serial number is for illustration only, does not represent the superiority and inferiority of implement scene.
Disclosed above is only several specific implementation scenes of the application, and still, the application is not limited to this, Ren Heben
What the technical staff in field can think variation should all fall into the protection scope of the application.
Claims (10)
1. a kind of individual soldier's underwater navigation method, applied to the individual soldier's underwater navigation device carried by individual soldier, wherein this method comprises:
Before individual soldier is lauched, the initial positioning information and initial orientation information of the individual soldier are obtained, and be based on the initial alignment
Information and the initial orientation information initializing water surface reference coordinate；
After the individual soldier is lauched, job status information of the individual soldier under water during operation is obtained, wherein the work
Industry status information includes Water Depth Information, process azimuth information and horizontal travel speed information；
Based on the water surface reference coordinate and the job status information, the hydrospace coordinate of the individual soldier is determined.
2. according to the method described in claim 1, wherein, the initial positioning information for obtaining the individual soldier and initial orientation are believed
Breath includes:
Satellite locator based on configuration in individual soldier's underwater navigation device obtains the GNSS geodetic coordinates of individual soldier, and is based on
The GNSS geodetic coordinates determines the initial positioning information；
Orthogonal magnetoresistive sensor based on configuration in individual soldier's underwater navigation device obtains absolute force component, and according to institute
The absolute force component computer azimuth information of acquisition.
3. according to the method described in claim 2, wherein, azimuth information θ is by including that following manner calculates:
θ=atan (By/Bx)
Wherein, BxAnd ByIt is x, the absolute force component on few orthogonal direction respectively.
4. according to the method described in claim 1, wherein, the operation shape for obtaining the individual soldier under water during operation
State information includes:
Based on the pressure sensor in individual soldier's underwater navigation device, it is real-time in operation process under water to acquire the individual soldier
Hydraulic pressure information；
The Water Depth Information is determined based on the pressure water depth meter and the real-time hydraulic pressure information demarcated in advance, wherein the pressure depth of water
Configured with the mapping relations between hydraulic pressure and the corresponding depth of water in table.
5. according to the method described in claim 1, wherein, the operation shape for obtaining the individual soldier under water during operation
State information includes:
Its multi beam split beam issued is detected based on the split beam acoustic sensor in individual soldier's underwater navigation device
Doppler frequency shift in water；
Based on the Doppler frequency shift detected, the horizontal travel speed information is determined.
6. according to the method described in claim 5, wherein, the horizontal travel speed information v of individual soldier in the horizontal plane passes through
It calculates and obtains including following manner:
V=cfd/(4f0cosα)
Wherein, fdFor the Doppler frequency shift detected, c is the velocity of sound in water, f0For detect acoustical signal frequency, α be split beam with
Angle between the water surface.
7. according to the method described in claim 1, wherein, being based on the water surface reference coordinate and the job status information, really
The hydrospace coordinate of the individual soldier includes: calmly
Calculate the three-dimensional coordinate (x of the individual soldier in water in the following wayi, yi, zi):
xi=xi-1+△r·cosθ
yi=yi-l+△r·sinθ
zi=f (Pi)
Wherein, (xi-1, yi-1, zi-1) be upper synchronizing cycle T before position coordinate value, f (Pi) it is hydraulic pressure and the corresponding depth of water
Between mapping relations, Δ r=vT is the distance and Δ r that individual soldier advances along traveling horizontal direction in T synchronizing cycle
Cos θ and Δ rsin θ is the shift offset on horizontal quadrature direction.
8. a kind of individual soldier's underwater navigation device is carried by individual soldier and carries out underwater operation, wherein the device includes:
Water surface benchmark determination unit, for before individual soldier is lauched, obtaining the initial positioning information and initial orientation letter of the individual soldier
Breath, and it is based on the initial positioning information and initial orientation information initializing water surface reference coordinate；
Job state acquiring unit, for after the individual soldier is lauched, obtaining work of the individual soldier under water during operation
Industry status information, wherein the job status information includes Water Depth Information, process azimuth information and horizontal travel speed information；
Hydrospace coordinate determination unit, described in determining based on the water surface reference coordinate and the job status information
The hydrospace coordinate of individual soldier.
9. device according to claim 8, wherein the water surface benchmark determination unit includes:
Satellite locator, for obtaining the GNSS geodetic coordinates of individual soldier；
Orthogonal magnetoresistive sensor, for obtaining absolute force component；
Water surface benchmark determining module, for determining the initial positioning information based on the GNSS geodetic coordinates, and according to being obtained
The absolute force component taken calculates the azimuth information.
10. device according to claim 8, wherein the job state acquiring unit includes:
Pressure sensor, for acquiring real-time hydraulic pressure information of the individual soldier under water in operation process；
Split beam acoustic sensor, for detecting Doppler's frequency of the wave beam of multi beam split beam that it is issued in water
It moves；
Job state determining module, for determining the depth of water based on the pressure water depth meter and the real-time hydraulic pressure information demarcated in advance
Information, and/or based on the Doppler frequency shift detected, determine the horizontal travel speed information, wherein the pressure water depth meter
In configured with mapping relations between hydraulic pressure and the corresponding depth of water.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI780932B (en) * | 2021-09-27 | 2022-10-11 | 高得科技有限公司 | Dive site guidance system and its implementation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI780932B (en) * | 2021-09-27 | 2022-10-11 | 高得科技有限公司 | Dive site guidance system and its implementation method |
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