CN110109046A - A kind of acoustic beacon shows a method and device - Google Patents
A kind of acoustic beacon shows a method and device Download PDFInfo
- Publication number
- CN110109046A CN110109046A CN201910325075.XA CN201910325075A CN110109046A CN 110109046 A CN110109046 A CN 110109046A CN 201910325075 A CN201910325075 A CN 201910325075A CN 110109046 A CN110109046 A CN 110109046A
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- China
- Prior art keywords
- acoustic beacon
- underwater sound
- module
- acoustic
- water
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining 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
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of acoustic beacons to show that a method and device, method include: to obtain acoustic beacon to enter the latitude and longitude information before water；It obtains acoustic beacon and enters the inertial navigation location information after water；Latitude and longitude information and inertial navigation location information are merged, acoustic beacon is obtained and enters the integrated navigation location information after water；Underwater sound signal, T≤1.1s are sent by the period of T；At each 0-t1 of period moment, underwater sound signal form is the simple signal that frequency is 37.5kHz, t1 >=9ms；At t1-T moment in each period, underwater sound signal form is using integrated navigation location information as the digital modulation signals of base band data；Above-mentioned process is repeated, until acoustic beacon battery exhausts.Device includes: satellite positioning module, inertial navigation module, integrated navigation module and underwater sound communication transmitting module.The present invention is compatible with international standard and realizes that the quick of acoustic beacon accurately shows position, solves the problems such as acoustic beacon searching efficiency is low, and positioning time is long, and positioning accuracy is poor.
Description
Technical field
The present invention relates to what submarine target showed a technical field more particularly to a kind of acoustic beacon to show a method and device.
Background technique
With China maintenance maritime rights and interests and develop and use marine resources action accordingly develop, ship, aircraft, personnel with
And at sea movable quantity, density continue to increase seabed operation equipment, occur accident, dangerous situation and emergency salvage probability with
Increase.Underwater sound communication is most effective technological means in current underwater wireless communication, and acoustic beacon is from traditional aircraft, warship
The application fields such as ship black box expand to the every field of operation on the sea, and the extensive use of marine each field of operation is done step-by-step,
Effective guarantee is provided for maritime search search and rescue.
For marine burst accident, rapidly and efficiently realize detection, positioning and the salvaging to acoustic beacon, facilitate and
When analyze cause of accident, to correctly make accident investigation conclusion.At present acoustic beacon show a method be send single-frequency ultrasound
Wave pulse signal, the acoustic beacon working frequency that signal form meets world SAE-AS8045A standard is 37.5kHz, and pulse is wide
Degree is not less than 9ms, and the pulse spacing is not more than 1.1s, and sound source level is generally 160dB, and operating distance is only applicable within the scope of 2-3km
Signal trace is persistently carried out in the operating area Yu little, determines beacon approximate range, can not be accurately positioned；Simultaneously by electricity
Battery-powered condition limitation, acoustic marker bottom time are generally 30 days, it is desirable that acoustic marker is carried out within the scope of larger depth
Fast searching is provided safeguard with guaranteeing to complete in time before acoustic marker powers failure to search target positioning for fishing.
Summary of the invention
The present invention provides a method and device of showing for a kind of acoustic beacon, the present invention can be in compatible present international standards
Under the premise of realize the quick of acoustic beacon accurately show position, fundamentally solution acoustic beacon searching efficiency it is low, positioning time is long,
The problems such as positioning accuracy is poor improves submarine target and searches location efficiency, described below:
A kind of acoustic beacon shows a method, it is described show a method the following steps are included:
1) it obtains acoustic beacon and enters the latitude and longitude information before water；It obtains acoustic beacon and enters the inertial navigation position letter after water
Breath；
2) latitude and longitude information and inertial navigation location information are merged, obtains acoustic beacon and enters the integrated navigation after water
Location information；
3) underwater sound signal, T≤1.1s are sent by the period of T；
4) at each 0-t1 of period moment, underwater sound signal form is the simple signal that frequency is 37.5kHz, t1 >=9ms；
5) at t1-T moment in each period, underwater sound signal form is using integrated navigation location information as base band data
Digital modulation signals；
Repeat the above steps 3) -5), until acoustic beacon battery exhausts.
A kind of acoustic beacon shows a device, described to show that a device includes:
Satellite positioning module, for obtaining the latitude and longitude information before water；
Inertial navigation module, for obtaining the latitude and longitude information after water；
Integrated navigation module, the combination for merging latitude and longitude information and inertial navigation information, after obtaining water
Navigation position information；
Underwater sound communication transmitting module, for sending the underwater sound signal being composed of simple signal and digital modulation signals.
Wherein, the integrated navigation module executes integrated navigation position and generates base band data, specifically:
Digital signal processor, field programmable gate array, micro-control unit, specific integrated circuit or application controller.
Further, the satellite positioning module has one or more of UART, RS232, USB interface, output frame
Format meets NMEA-0183 standard.
Further, the inertial navigation module is made of accelerometer and gyroscope, has UART, RS232, USB etc.
One or more of interface.
Wherein, the underwater sound communication transmitting module by digital modulation circuit, power amplification circuit, tuning and match circuit and
Underwater acoustic transducer composition.
Wherein, described to show a device further include: active module, it is automatic after a device enters water for showing the acoustic beacon
Activation.
The beneficial effect of the technical scheme provided by the present invention is that:
Present invention firstly provides the underwater thinkings for actively showing position, greatly improve the accuracy and search efficiency of positioning,
Maritime search and positioning field have larger value for applications.
Detailed description of the invention
Fig. 1 is a kind of flow chart for showing a method of acoustic beacon；
Fig. 2 is the schematic diagram of underwater sound signal form；
Fig. 3 is a kind of structural schematic diagram for showing a device of acoustic beacon.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
Ground detailed description.
Embodiment 1
A kind of acoustic beacon shows a method, referring to Fig. 1, this show a method the following steps are included:
Step 101: obtaining acoustic beacon and enter the latitude and longitude information before water；
Step 102: obtaining acoustic beacon and enter the inertial navigation location information after water；
Step 103: latitude and longitude information and inertial navigation location information are used into corresponding data anastomosing algorithm, such as expansion card
Kalman Filtering algorithm is merged, and is obtained acoustic beacon and is entered the integrated navigation location information after water；
Step 104: sending underwater sound signal by the period of T, wherein T≤1.1s；
Step 105: at each 0-t1 of period moment, underwater sound signal form is the simple signal that frequency is 37.5kHz,
Middle t1 >=9ms；
Step 106: at t1-T moment in each period, underwater sound signal form is using integrated navigation location information as base band
The digital modulation signals of data；
Referring to fig. 2, underwater sound signal form is the intermittent phase for the simple signal that frequency is 37.5kHz, and inserting step 103 obtains
Navigation position information, form a kind of the novel of compatible 37.5KH current standard underwater sound signal and show a transmission mechanism.
Step 107: repeat the above steps 104-106, until acoustic beacon battery exhausts.
Embodiment 2
A kind of acoustic beacon shows a device, and referring to Fig. 3, this shows that a device includes:
Satellite positioning module, for obtaining the latitude and longitude information before water；
Specifically, satellite positioning module is usually made of satellite receiver and antenna, there is UART, RS232, USB etc. to connect
One or more of mouthful, output frame format meets NMEA-0183 standard.
Inertial navigation module, for obtaining the latitude and longitude information after water；
Specifically, inertial navigation module is usually made of accelerometer and gyroscope, accelerometer measures acceleration magnitude,
Gyroscope measures acceleration direction, has one or more of interfaces such as UART, RS232, USB.
Integrated navigation module is connect with satellite positioning module, inertial navigation module, for leading latitude and longitude information and inertia
Boat information is merged, the integrated navigation location information after obtaining water；
Specifically, integrated navigation module can be based on Digital Signal Processing (DSP), field programmable gate array
(FPGA), micro-control unit (MCU), specific integrated circuit (ASIC), application controller (Application Processor) it
The minimum system of class chip can be performed integrated navigation position and generate calculating, and generates base band data；
Underwater sound communication transmitting module is connect with integrated navigation module, for sending by simple signal and digital modulation signals group
Underwater sound signal made of conjunction.
Specifically, underwater sound communication transmitting module is usually by digital modulation circuit, power amplification circuit, tuning and match circuit
It is formed with underwater acoustic transducer.
Referring to Fig. 3, this shows a device further include: active module swashs after a device enters water automatically for showing acoustic beacon
It is living.
The embodiment of the present invention to the model of each device in addition to doing specified otherwise, the model of other devices with no restrictions,
As long as the device of above-mentioned function can be completed.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of acoustic beacon shows a method, which is characterized in that it is described show a method the following steps are included:
1) it obtains acoustic beacon and enters the latitude and longitude information before water；It obtains acoustic beacon and enters the inertial navigation location information after water；
2) latitude and longitude information and inertial navigation location information are merged, obtains acoustic beacon and enters the integrated navigation position after water
Information；
3) underwater sound signal, T≤1.1s are sent by the period of T；
4) at each 0-t1 of period moment, underwater sound signal form is the simple signal that frequency is 37.5kHz, t1 >=9ms；
5) at t1-T moment in each period, underwater sound signal form is using integrated navigation location information as the number of base band data
Modulated signal；
Repeat the above steps 3) -5), until acoustic beacon battery exhausts.
2. a kind of acoustic beacon shows a device, which is characterized in that described to show that a device includes:
Satellite positioning module, for obtaining the latitude and longitude information before water；
Inertial navigation module, for obtaining the latitude and longitude information after water；
Integrated navigation module, the integrated navigation for merging latitude and longitude information and inertial navigation information, after obtaining water
Location information；
Underwater sound communication transmitting module, for sending the underwater sound signal being composed of simple signal and digital modulation signals.
3. a kind of acoustic beacon according to claim 2 shows a device, which is characterized in that the integrated navigation module executes
Integrated navigation position simultaneously generates base band data, specifically:
Digital signal processor, field programmable gate array, micro-control unit, specific integrated circuit or application controller.
4. a kind of acoustic beacon according to claim 2 shows a device, which is characterized in that the satellite positioning module has
One or more of UART, RS232, USB interface, output frame format meet NMEA-0183 standard.
5. a kind of acoustic beacon according to claim 2 shows a device, which is characterized in that the inertial navigation module is by adding
Speedometer and gyroscope composition, have one or more of interfaces such as UART, RS232, USB.
6. a kind of acoustic beacon according to claim 2 shows a device, which is characterized in that the underwater sound communication transmitting module
It is made of digital modulation circuit, power amplification circuit, tuning and match circuit and underwater acoustic transducer.
7. a kind of acoustic beacon according to claim 2 shows a device, which is characterized in that described to show a device further include:
Active module activates after a device enters water automatically for showing the acoustic beacon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910325075.XA CN110109046A (en) | 2019-04-22 | 2019-04-22 | A kind of acoustic beacon shows a method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910325075.XA CN110109046A (en) | 2019-04-22 | 2019-04-22 | A kind of acoustic beacon shows a method and device |
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| Publication Number | Publication Date |
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| CN110109046A true CN110109046A (en) | 2019-08-09 |
Family
ID=67486104
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| CN201910325075.XA Pending CN110109046A (en) | 2019-04-22 | 2019-04-22 | A kind of acoustic beacon shows a method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093108A (en) * | 2021-03-18 | 2021-07-09 | 天津大学 | Method and device for inverting long/ultrashort baseline for self-positioning and navigation of underwater target |
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| Publication number | Priority date | Publication date | Assignee | Title |
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