CN109975763A - It is a kind of based on the underwater asynchronous tracking method and system received and dispatched on demand - Google Patents
It is a kind of based on the underwater asynchronous tracking method and system received and dispatched on demand Download PDFInfo
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- CN109975763A CN109975763A CN201910274192.8A CN201910274192A CN109975763A CN 109975763 A CN109975763 A CN 109975763A CN 201910274192 A CN201910274192 A CN 201910274192A CN 109975763 A CN109975763 A CN 109975763A
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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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of based on the underwater asynchronous tracking method and system received and dispatched on demand, belongs to the automation control area in unmanned technology.When the invention works by allowing buoy node and destination node to carry out the on-demand transmitting-receiving of signal, to measure data needed for positioning；Underwater sound modem module provides stable and accurate communication capacity for the information exchange of buoy node and buoy node, buoy node and destination node；Data processing module is used to generate the source data of transmission, the data that decoding receives and carries out algorithm process to useful data in each node communication routine.Present system solves the problems, such as that submarine target is accurately positioned at a distance under asynchronous clock.
Description
Technical field
The present invention relates to a kind of based on the underwater asynchronous tracking method and system received and dispatched on demand, belongs to oneself in unmanned technology
Dynamicization control field.
Background technique
In recent years, the mankind increasingly pay attention to the development and utilization of marine resources.Underwater channel safe investigation, marine resources are visited
Look into, submarine cable line be laid with etc. many key activities development all be unable to do without underwater positioning system.However, underwater sound communication has
Typical weak communication characteristic, such as electromagnetic wave exponentially rule decaying in water, so that the positioning systems such as Beidou can not be direct
Applied to underwater, and by the low spread speed of the underwater sound influenced node between clock be difficult to precise synchronization.These factors give Underwater Navigation system
The design of system brings very big difficulty.How to design it is a kind of based on the underwater asynchronous positioning received and dispatched on demand be still one have choose
The problem of war property.
Through the retrieval discovery to existing literature, Publication No. CN107153192A, a kind of title are as follows: underwater robot target
Positioning identifying method and system.The system is obtained target by underwater robot and believed relative to the first position of underwater robot
It ceases, and obtains the second location information of micro-unmanned ship by lash ship, and then collected sonar is reflected and believed by micro-unmanned ship
Number lash ship is fed back to, to determine the location information of target.Above system assumes sending node and is received in distance measurement process
Clock between node is synchronous.But influenced by the weak communication constraint of the underwater sound, clock is difficult precise synchronization between underwater node.
In addition, Publication No. CN107110953A, title are as follows: underwater positioning system.The system disposes a band under water
There are the beaconing nodes of light source, underwater imaging apparatus and rover synchronizing moving, and then from different viewing point light sources with determination
The location information of submarine target.Although the influence that above system can overcome clock asynchronous, optical element is needed to carry out distance
Measurement.Since the underwater medium transparency is low, and penetrability is weak under water for light wave, therefore the above method is not suitable for distant object
Positioning.How under the influence of underwater sound asynchronous clock, submarine target Long-Range Positioning System is designed, it appears particularly important.
Summary of the invention
It is an object of that present invention to provide a kind of based on the underwater asynchronous tracking method and system received and dispatched on demand, underwater to solve
Target can not be accurately positioned problem at a distance.
To achieve the above object, it originally adopts the technical scheme that a kind of based on the underwater asynchronous tracking side received and dispatched on demand
Method, which comprises the steps of:
1) no less than 3 buoy nodes are deployed in monitoring sea area on sea, destination node unknown position under water.Mesh
After mark node is ready, Location Request is sent to each buoy node, after buoy node receives request, then continues at monitoring shape
State；
2) in initial time, the outside broadcast singal of destination node writes down timestamp this moment, then immediately enters monitoring shape
State waits the response of each buoy node；
3) all buoy nodes receive the signal of destination node transmission, write down timestamp this moment respectively, one of them
Buoy node exits listening state, and outside broadcast singal, record the time stamp, subsequently enters standby mode；Remaining buoy node after
Listening state is held in continuation of insurance；
4) buoy node of destination node and listening state receives the signal into the buoy node transmission of standby mode,
Timestamp this moment is write down respectively, and one of the buoy node of listening state exits listening state, and outside broadcast singal records the time
Stamp, into standby mode, remaining buoy node continues to keep listening state；
5) step (4) are repeated, until all buoy nodes enter standby mode；
6) destination node receives the last one signal sent into the buoy node of standby mode, writes down the time this moment
Stamp, exits listening state；
7) in destination node data processing module handle data, know between each buoy node and destination node away from
From obtaining destination node coordinate by multipoint positioning technology, realize self-positioning；
Wherein, the signal includes timestamp information and the identity of itself and location information.
A further technical solution lies in the buoy node obtains own location information by base station, and the base station is 4
It is a.
A further technical solution lies in the buoy node is 3.
A further technical solution lies in the time stab that destination node sends signal is TS,S, receive the timestamp of signal
It is denoted as T1,S、T2,S、T3,S；The time stab that buoy node 1 sends signal is T1,1, the time stab for receiving signal is T1,S；Buoy
The time stab that node 2 sends signal is T2,2, the time stab for receiving signal is TS,2、T1,2；Buoy node 3 sends signal
Time stab is T3,3, the time stab for receiving signal is TS,3、T1,3、T2,3.According to the process that the above signal is received and dispatched on demand, can obtain
Wherein, t1、t2、t3Representation signal is from destination node to the time of 3 buoy nodes, it is hereby achieved that target section
Point is respectively as follows: at a distance from 3 buoy nodes
Wherein, c is the underwater velocity of sound.
The coordinate for enabling destination node node is (x, y, z), and the coordinate of 3 buoy nodes is respectively (x1,y1,z1)、(x1,y1,
z1)、(x1,y1,z1), available following equation:
Further abbreviation deformation is available:
That is:
A ζ=ψ (5)
It can be obtained according to the principle of least square:
ζ=(ATA)-1ATψ (6)
Depth z can be measured by the depth transducer that node carries, and thereby realize the self-positioning of destination node.
A further technical solution lies in technical solutions are as follows: and it is a kind of based on the underwater asynchronous positioning received and dispatched on demand,
It is characterized in that: including base station and buoy node；The base station is built up in land, and the buoy node anchoring is across the sea；Institute
It states buoy node and underwater destination node carries out underwater sound communication；The buoy node is carried out wireless communication with base station, and any two
It is carried out wireless communication between a buoy node, the base station has GPS receiver.
A further technical solution lies in the buoy node is 3, and the base station is 4.
A further technical solution lies in modulated when the buoy node carries out underwater sound communication with destination node using the underwater sound
Demodulator；The underwater sound modem includes data processing unit, single-chip microcontroller, transmitter, battery and receiver；The monolithic
Machine control transmitter emits signal, and the single-chip microcontroller controls and receives device and receives signal, and the single-chip microcontroller is by data to be treated
It is transported to data processing unit to be handled, the battery provides electric energy for underwater sound modem；The transmitter, receiver
It is connect with single-chip microcontroller using RS485 agreement.
A further technical solution lies in the single-chip microcontroller is STM32 single-chip microcontroller.
A further technical solution lies in the transmitter, UWB impulse generator is triggered by clock, input signal warp
Crossing UWB impulse generator becomes nanosecond or picosecond ultra-narrow pulse below, enters back into amplifier and amplifies, subsequently enters filter
Wave device filtering, to remove the undesirable clutter that signal generator and route generate, then into transmission energy converter
It is converted into underwater sound signal sending；In the receiver, underwater sound signal is converted to electric signal by receiving energy converter, into amplifier
It is divided into two-way output after amplification: amplifies again after diode demodulator and filter all the way, using being exported after capacitor；It is another
Road is input to direct current stabilizer and is again split into two-way: exporting after amplifier and capacitor all the way, all the way by defeated after inductance
Out, the electric signal after capacitor carries out synthesis output with the electric signal after inductance.
A further technical solution lies in the buoy node can be connected with base station by 802.11 agreement of IEEE goes forward side by side
Row wireless communication.
A further technical solution lies in, the signal communicated in whole system include timestamp information and the identity of itself and
Location information.
Compared with prior art, the present invention has the advantage that
1, it is avoided using the clock of destination node as clock reference using the time difference between remaining buoy different moments
The underwater clock synchronization issue that many positioning systems and method are difficult to realize, realizes the Underwater Navigation under asynchronous clock.
2, existing technology rests on Location Theory and location algorithm level more, and the present invention does not only give theory side
Method additionally provides corresponding software and hardware and supports, to form a complete underwater asynchronous positioning.
Detailed description of the invention
Fig. 1 is underwater sound modem modular structure schematic diagram.
Fig. 2 is transmitter and receiver schematic illustration.
Fig. 3 is the customized underwater sound Data Transport Protocol schematic diagram of system.
Fig. 4 is system integral deployment schematic diagram of the invention.
Specific embodiment
It as shown in Figure 1, single-chip microcontroller is STM32 single-chip microcontroller, and is the power supply of STM32 processor, number with battery as processor
Connect according to processing unit with STM32 processor carry out transmitted in both directions, transmitter and receiver by RS485 serial port protocol with
The connection of STM32 processor carries out one-way transmission.Underwater sound signal is received by the receiver and is converted into electric signal transmission to processor, place
Reason device transfers data to data processing unit and is handled；Data processing unit generates the data to be sent and is transferred to processing
Device, processor transfer data to transmitter, and transmitter converts the electrical signal to underwater sound signal and launches.
As shown in Fig. 2, in the transmitter, UWB impulse generator is triggered by clock, input signal passes through UWB pulse generation
Device becomes nanosecond or picosecond ultra-narrow pulse below, enters back into amplifier and amplifies, subsequently enter filter filtering, to go
Except the undesirable clutter that signal generator and route generate, underwater sound signal is converted into then into energy converter is sent
It issues；In the receiver, underwater sound signal is converted to electric signal by receiving energy converter, and it is defeated to be divided into two-way after amplifying into amplifier
Out: amplifying again after diode demodulator and filter all the way, using being exported after capacitor；Another way is input to DC voltage-stabilizing
Device is simultaneously again split into two-way: it is exported after amplifier and capacitor all the way, all the way by being exported after inductance, and the electricity after capacitor
Signal carries out synthesis output with the electric signal after inductance.
UWB (ultra-wide band) technology is applied in transmitter.UWB technology is a kind of no-load communication techniques, by send and
Receiving, there is nanosecond or picosecond ultra-narrow pulse below to transmit data, thus the bandwidth with GHz magnitude.UWB technology tool
Have the characteristics that strong antijamming capability, transmission rate are high, low in energy consumption, is conducive to system and copes with underwater strong interference environment and improve continuation of the journey
Ability.
DSSS technology is applied in receiver.DSSS is a kind of spread spectrum technic, with the pseudo noise code sequence of high-speed
The phase of control carrier wave is gone with the compound key sequence after information code sequence mould two plus (waveform is multiplied) and obtains Direct Sequence Spread Spectrum
Original higher power, relatively narrow frequency are become the low-power frequency with wider frequency, in wireless communication field by signal
Obtain satisfactory noise proof feature.
As shown in figure 3, a kind of customized underwater sound Data Transport Protocol of system, to the frame formats of the data communicated into
Regulation is gone.The frame format of data is divided into three parts: check part, idle component, valid data part.Check part is one
Whether three short sequences, can customize setting, sent out by system interior nodes for inspection data, prevent from accidentally receiving unknown signal；It is empty
Not busy part is one section of full 0 sequence, for ensureing that check part does not interfere with valid data part；Valid data part is real
Want the data of transmission.
As shown in figure 4, small base station arrangement is on the coast, buoy node is arranged in monitoring sea area, and destination node is placed on water
Under.After positioning starts, first mode carries out information exchange to determine self-position to buoy node by wireless communication with small base station,
Then the on-demand transmitting-receiving for carrying out signal by underwater sound modem module with submarine target node, the valid data measured are passed
It is defeated by destination node, built-in data processing module handles data on destination node, calculates self-position, realizes destination node
It is self-positioning.
Further, the on-demand transmitting-receiving process of signal is as follows:
1) buoy node 1,2,3 is deployed in monitoring sea area, destination node unknown position under water.Destination node prepares
After ready, send Location Requests to three buoy nodes, after three buoy nodes receive request, can with small base station on the bank into
Row information interaction then continues at listening state to determine self-position；
2) in initial time, the outside broadcast singal of destination node writes down timestamp this moment, then immediately enters monitoring shape
State waits the response of each buoy node；
3) buoy node 1,2,3 receives the signal of destination node transmission, writes down timestamp this moment, buoy node respectively
2,3 continue to keep listening state, and buoy node 1 exits listening state, and outside broadcast singal, record the time stamp, subsequently enters
To mode；
4) destination node and buoy node 2,3 receive the signal of the transmission of buoy node 1, write down timestamp this moment respectively,
Destination node and buoy node 3 continue to keep listening state, and buoy node 2 exits listening state, outside broadcast singal, when writing down
Between stab, subsequently enter standby mode；
5) destination node and buoy node 3 receive the signal of the transmission of buoy node 2, write down timestamp this moment, mesh respectively
Mark node continues to keep listening state, and buoy node 3 exits listening state, and outside broadcast singal, record the time stamp, subsequently enters
Standby mode；
6) destination node receives the signal of the transmission of buoy node 3, writes down timestamp this moment, exits listening state；
7) in destination node data processing module handle data, know between each buoy node and destination node away from
From obtaining destination node coordinate by multipoint positioning technology, realize self-positioning.
It wherein, include the timestamp information write down and the identity of itself and position letter in the signal of buoy node broadcast
Breath.
The time stab that destination node sends signal is TS,S, the time stab for receiving signal is T1,S、T2,S、T3,S；Buoy
The time stab that node 1 sends signal is T1,1, the time stab for receiving signal is T1,S；The time of the transmission signal of buoy node 2
Stamp is T2,2, the time stab for receiving signal is TS,2、T1,2；The time stab that buoy node 3 sends signal is T3,3, receive letter
Number time stab be TS,3、T1,3、T2,3.According to the process that the above signal is received and dispatched on demand, can obtain
Wherein, t1、t2、t3Representation signal is from destination node to the time of 3 buoy nodes, it is hereby achieved that target section
Point is respectively as follows: at a distance from 3 buoy nodes
Wherein, c is the underwater velocity of sound.
The coordinate for enabling destination node node is (x, y, z), and the coordinate of 3 buoy nodes is respectively (x1,y1,z1)、(x1,y1,
z1)、(x1,y1,z1), available following equation:
Further abbreviation deformation is available:
That is:
A ζ=ψ (5)
It can be obtained according to the principle of least square:
ζ=(ATA)-1ATψ (6)
Depth z can be measured by the depth transducer that node carries, and thereby realize the self-positioning of destination node.
It is above-described to implement to be only that preferred embodiments of the present invention will be described, not to the scope of the present invention
It is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical solution of the present invention
The various changes and improvements made should all be fallen into the protection scope that claims of the present invention determines.
Claims (10)
1. a kind of based on the underwater asynchronous tracking method received and dispatched on demand, which comprises the steps of:
1) no less than 3 buoy nodes are deployed in monitoring sea area on sea, destination node unknown position under water；Target section
After point is ready, Location Request is sent to each buoy node, after buoy node receives request, then continues at listening state；
2) in initial time, the outside broadcast singal of destination node writes down timestamp this moment, then immediately enters listening state, etc.
Response to each buoy node；
3) all buoy nodes receive the signal of destination node transmission, write down timestamp this moment, one of buoy respectively
Node exits listening state, and outside broadcast singal, record the time stamp, subsequently enters standby mode；Remaining buoy node is after continuation of insurance
Hold listening state；
4) buoy node of destination node and listening state receives the signal into the buoy node transmission of standby mode, respectively
Timestamp this moment is write down, one in the buoy node of listening state exits listening state, and outside broadcast singal records the time
Stamp, into standby mode, remaining buoy node continues to keep listening state；
5) step (4) are repeated, until all buoy nodes enter standby mode；
6) destination node receives the last one signal sent into the buoy node of standby mode, writes down timestamp this moment, moves back
Listening state out；
7) data processing module handles data in destination node, knows the distance between each buoy node and destination node, leads to
It crosses multipoint positioning technology and obtains destination node coordinate, realize self-positioning；
Wherein, the signal includes timestamp information and the identity of itself and location information.
2. a kind of based on the underwater asynchronous tracking method received and dispatched on demand according to claim 1, it is characterised in that: the buoy
Node obtains own location information by base station, and the base station is 4.
3. a kind of based on the underwater asynchronous tracking method received and dispatched on demand according to claim 1, it is characterised in that: the buoy
Node is 3.
4. a kind of based on the underwater asynchronous tracking method received and dispatched on demand according to claim 3, it is characterised in that: in target section
The process of data processing module processing data is as follows in point:
The time stab that destination node sends signal is TS,S, the time stab for receiving signal is T1,S、T2,S、T3,S；Buoy node 1
The time stab for sending signal is T1,1, the time stab for receiving signal is T1,S；Buoy node 2 send signal time stab be
T2,2, the time stab for receiving signal is TS,2、T1,2；The time stab that buoy node 3 sends signal is T3,3, receive signal when
Between stamp be TS,3、T1,3、T2,3；According to the process that the above signal is received and dispatched on demand, can obtain
Wherein, t1、t2、t3Representation signal is from destination node to the time of 3 buoy nodes, it is hereby achieved that destination node and 3
The distance of a buoy node is respectively as follows:
Wherein, c is the underwater velocity of sound；
The coordinate for enabling destination node node is (x, y, z), and the coordinate of 3 buoy nodes is respectively (x1,y1,z1)、(x1,y1,z1)、
(x1,y1,z1), available following equation:
Further abbreviation deformation is available:
That is:
A ζ=ψ (5)
It can be obtained according to the principle of least square:
ζ=(ATA)-1AT ψ (6)
Depth z can be measured by the depth transducer that node carries, and thereby realize the self-positioning of destination node.
5. a kind of based on the underwater asynchronous positioning received and dispatched on demand, it is characterised in that: including base station and buoy node；The base
Station is built up in land, and the buoy node anchoring is across the sea；The buoy node and underwater destination node carry out the underwater sound
Communication；The buoy node is carried out wireless communication with base station, is carried out wireless communication between any two buoy node, the base station band
There is GPS receiver.
6. a kind of based on the underwater asynchronous positioning received and dispatched on demand according to claim 5, it is characterised in that: the buoy
Node is 3, and the base station is 4.
7. a kind of based on the underwater asynchronous positioning received and dispatched on demand according to claim 5, it is characterised in that: the buoy
Node and destination node carry out using underwater sound modem when underwater sound communication；The underwater sound modem includes data processing
Unit, single-chip microcontroller, transmitter, battery and receiver；The single-chip microcontroller control transmitter emits signal, and the single-chip microcontroller control connects
It receives device and receives signal, data to be treated are transported to data processing unit and are handled and extracted data by the single-chip microcontroller,
The battery provides electric energy for underwater sound modem；The transmitter, receiver and single-chip microcontroller are connected using RS485 agreement.
8. a kind of based on the underwater asynchronous positioning received and dispatched on demand according to claim 7, it is characterised in that: the monolithic
Machine is STM32 single-chip microcontroller.
9. a kind of based on the underwater asynchronous positioning received and dispatched on demand according to claim 7, which is characterized in that the transmitting
In device, UWB impulse generator is triggered by clock, and input signal becomes nanosecond by UWB impulse generator or picosecond is below
Ultra-narrow pulse enters back into amplifier and amplifies, subsequently enters filter filtering, is generated with removing signal generator and route
Undesirable clutter, then into send energy converter be converted into underwater sound signal issue；In the receiver, underwater sound letter
Number by receive energy converter be converted to electric signal, into amplifier amplification after be divided into two-way output: all the way by diode demodulate
Amplify again after device and filter, using being exported after capacitor；Another way is input to direct current stabilizer and is again split into two-way: all the way
It is exported after amplifier and capacitor, all the way by being exported after inductance, the electric signal after capacitor and the electricity after inductance
Signal carries out synthesis output.
10. a kind of based on the underwater asynchronous positioning received and dispatched on demand according to claim 5, it is characterised in that: entire system
The signal communicated in system includes timestamp information and the identity of itself and location information.
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