CN110116786A - Marine resources quick detection device and its Detection location platform localization method can be positioned - Google Patents
Marine resources quick detection device and its Detection location platform localization method can be positioned Download PDFInfo
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- CN110116786A CN110116786A CN201910365419.XA CN201910365419A CN110116786A CN 110116786 A CN110116786 A CN 110116786A CN 201910365419 A CN201910365419 A CN 201910365419A CN 110116786 A CN110116786 A CN 110116786A
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- 238000001514 detection method Methods 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims description 12
- 230000004807 localization Effects 0.000 title description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000007667 floating Methods 0.000 claims abstract description 41
- 206010013647 Drowning Diseases 0.000 claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 150000001875 compounds Chemical class 0.000 claims abstract description 11
- 239000002131 composite material Substances 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 10
- 230000037452 priming Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000000465 moulding Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000004880 explosion Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
- B63B22/08—Fixations or other anchoring arrangements having means to release or urge to the surface a buoy on submergence thereof, e.g. to mark location of a sunken object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
Abstract
The present invention relates to one kind can position marine resources quick detection device, it drowns oneself mechanism including grabbing bottom anchor, Detection location platform and at least two floating, the bottom anchor of grabbing is arranged in deep water, in described grab acoustic fix ranging beacon is installed on the anchor of bottom, described to grab bottom anchor and be connected by compound rope with Detection location platform, floating mechanism of drowning oneself is connected by conducting wire composite rope with Detection location platform.It is of the present invention to position marine resources quick detection device, by laying several hydrophone units on Detection location platform, the upper and lower part of Detection location platform is separately connected to float and drowns oneself mechanism and grab bottom anchor with acoustic fix ranging beacon, comprehensive accurate positioning is carried out to Detection location position of platform in the way of three kinds, and float drown oneself mechanism being capable of floating upward quickly, transmission data after-explosion is drowned oneself, timely, accurate, the hidden offer deep-sea detecting data of energy.
Description
Technical field
The invention belongs to marine survey technology field, more particularly to one kind can position marine resources quick detection device and
Its Detection location platform localization method.
Background technique
China is an ocean big country, reinforces the monitoring to marine environment and marine resources information, for excavating ocean
Precious resources has great strategic importance.China is not very significant in the research temperature of deep-sea ocean Detection Techniques at present,
To the overall understanding of marine field and marine resources are made full use of this strongly limits China.
Currently, to be concentrated mainly on buoy, underwater robot etc. all kinds of technically for the test platform of marine field, and above-mentioned
Many detecting devices in, buoy is that the current mankind obtain one of important technology equipment of Ocean environment information, especially at deep-sea
It just plays a greater and greater role in oceanographic observation.This kind of buoy feature is: with its unique composed structure, carrying out detection receipts
Collect marine information, then by all kinds of means read out buoy detection information, have concealment, it is anti-human for damageability it is strong, use
Flexibly, the features such as easy to operate, deep ocean buoy provide important technology support for marine resources and Environmental Studies.
From present's view, the main problems faced of marine field has: (1) most of bathymetry buoys are suspended in marine,
It drifts about, a certain region can only schematically be detected with utilizing ocean current, be difficult to realize the detection to specific location marine resources；
(2) most of Ocean Surveying buoys must can obtain detection information or buoy ascent rate until withdrawing buoy very
Slowly, generally in 0.1m/s or so, it is difficult to return deep-sea detecting information in time.Such as: in the detecting deep shoal of fish, cannot return in time
Communication breath will lose fishing opportunity.
Summary of the invention
To solve the above problem in hydrospace detection field, can to position marine resources quick the present invention provides one kind for emphasis
Detection device, the device can be accurately positioned measurement point, and energy floating upward quickly, return to original position after timely back information
It sets, deep-sea detecting data can in time, be accurately provided.
The technical scheme to solve the above technical problems is that
One kind can position marine resources quick detection device, including grab bottom anchor, Detection location platform and at least two
Floating drown oneself mechanism, the bottom anchor of grabbing is arranged in deep water, and acoustic fix ranging beacon is equipped on the anchor of bottom in described grab, described to grab bottom
Anchor is connected by compound rope with Detection location platform, and floating mechanism of drowning oneself passes through conducting wire composite rope and Detection location platform
It is connected.
As the preferred of the embodiment of the present invention, it is fixedly connected with the first buoyancy compartment in the Detection location platform, described
The corresponding relieving mechanism of several mechanisms of drowning oneself with floating is installed, the relieving mechanism and conducting wire are compound in the first buoyancy compartment
Cable is connected, and is equipped with electromagnetic sensor, flow sensor and flow direction sensor on the Detection location platform.
As the preferred of the embodiment of the present invention, anchor cable cabin, institute are equipped in the bottom middle position of the Detection location platform
The bottom for stating anchor cable cabin is fixedly connected with compound rope.
As the preferred of the embodiment of the present invention, several hydrophone units are equipped in the lower part of the Detection location platform,
Several described hydrophone units are uniformly distributed in the two sides in the anchor cable cabin, also are provided with hydrophone in the bottom in the anchor cable cabin
Unit.
As the preferred of the embodiment of the present invention, the floating mechanism of drowning oneself includes shell, and second is equipped in the shell
Buoyancy compartment is respectively arranged with communication antenna and power propeller at the top and bottom of the shell, in second buoyancy compartment
Interior to be equipped with priming device, the priming device is connected with electric cap.
As the preferred of the embodiment of the present invention, control module, data memory module, power supply mould are additionally provided in the shell
Block, second buoyancy compartment are isolated with control module, data memory module, power module.
As the preferred of the embodiment of the present invention, it is equipped with hydraulic pressure sensor on the inner wall of second buoyancy compartment and flow velocity is surveyed
Determine instrument.
As the preferred of the embodiment of the present invention, steadying plate, the stabilization are separately installed in the two sides of the bottom of the shell
Plate is respectively placed in the two sides of power propeller.
The embodiment of the present invention also provides the accurate positioning method of a kind of pair of Detection location platform, specifically includes the following steps:
(1) acoustic fix ranging beacon issues acoustical signal, after receiving acoustical signal by sea survey ship, determines the position for grabbing bottom anchor；
(2) to grab bottom anchor as coordinate origin, coordinate system is established；
(3) the hydrophone unit of acoustic fix ranging beacon sounding, Detection location platform lower receives, and it is flat that Detection location is calculated
Platform is relative to the position (x for grabbing bottom anchor1, y1, z1)；
According to the measurement data of flow sensor and flow direction sensor, Detection location platform is calculated relative to grabbing bottom anchor
Position (x2, y2, z2)；
According to the flow speed data of the float location information after drowning oneself mechanism water outlet and floating-upward process measurement, starting of floating is obtained
Point, i.e. Detection location platform are relative to the position (x for grabbing bottom anchor3, y3, z3)；
(4) above-mentioned three groups of data are obtained into Detection location platform relative to the position coordinates for grabbing bottom anchor using following formula
(x, y, z)
Obtain exact position of the Detection location platform in ocean.
The invention has the following advantages:
1, of the present invention to position marine resources quick detection device, it is several by being laid on Detection location platform
A hydrophone unit (in the present embodiment, selecting 5 hydrophone units that Detection location platform lower is set), it is fixed in detection
The upper and lower part of bit platform, which is separately connected floating, drowns oneself and mechanism and grabs bottom anchor with acoustic fix ranging beacon, in the way of three kinds pair
Detection location position of platform carries out comprehensive accurate positioning, and float drown oneself mechanism can floating upward quickly, transmit data after-explosion
It drowns oneself, timely, accurate, the hidden offer deep-sea detecting data of energy.
2, float mechanism of drowning oneself of the present invention may be implemented quick low noise and float, and enable great deep exploration parameter timely
Passback, improves timeliness, ensure that concealment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the present invention can position marine resources quick detection device.
Fig. 2 is that floating of the present invention is drowned oneself the structural schematic diagram of mechanism.
Fig. 3 is that the present invention can position the schematic diagram that marine resources quick detection device floats up to sea；
Fig. 4 is the schematic diagram that the present invention can position that the traction of marine resources quick detection device returns.
In attached drawing, parts list represented by the reference numerals are as follows:
1- grabs bottom anchor；2- Detection location platform；3- floating is drowned oneself mechanism；4- acoustic fix ranging beacon；The compound rope 6- conducting wire of 5- is multiple
Close cable；The first buoyancy compartment of 7-；8- relieving mechanism；9- electromagnetic sensor；10- flow sensor 11- flow direction sensor；12- anchor cable
Cabin；13- hydrophone unit；14- shell；The second buoyancy compartment of 15-；16- communication antenna；17- power propeller；18- control module；
19- data memory module；20- power module；21- hydraulic pressure sensor；22- flow meters；23- steadying plate, 24, detonation dress
It sets, 25, electric cap.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Referring to shown in Fig. 1 to 4, the embodiment of the present invention, which provides one kind, can position marine resources quick detection device, specific to wrap
It includes and grabs bottom anchor 1, Detection location platform 2 and at least two floating mechanism 3 of drowning oneself and (in the present embodiment, float and drown oneself machine
Structure 3 be three, certainly, can be set according to actual needs during actual detection it is multiple, such as 5,6 etc.),
In, it grabs bottom anchor 1 and is arranged in deep water, in described grab acoustic fix ranging beacon 4 is installed on bottom anchor 1, the bottom anchor 1 of grabbing passes through compound rope
5 are connected with Detection location platform 2.It is tethered in water by grabbing bottom anchor 1 and compound rope 5, compound rope 5 both may be implemented to be tethered at work
With the transmission of signal also may be implemented.In the present embodiment.Installation acoustic fix ranging beacon 4 on bottom anchor 1 will be grabbed, will be placed into deep water
Afterwards, acoustic fix ranging beacon 4 issues acoustical signal, after receiving acoustical signal by sea survey ship, it may be determined that grab the position of bottom anchor 1, later
Acoustic fix ranging beacon 4 stops sounding.Wherein, the mechanism 3 of drowning oneself of floating is connected by conducting wire composite rope 6 with Detection location platform 2.It is logical
Cross floating drown oneself mechanism 3 realize great deep exploration parameter can return in time, improve timeliness, ensure that concealment.It is each
A corresponding relieving mechanism 8 of mechanism 3 of drowning oneself that floats once is floated from sink device 3 for release one by relieving mechanism 8.
Shown in Figure 1, in the present embodiment, Detection location platform 2 drowns oneself mechanism 3 and grabs the mother of bottom anchor 1 as floating
Depressed place stops in water.The first buoyancy compartment 7 is fixedly connected in Detection location platform 2, it is fixed by the adjustment detection of the first buoyancy compartment 7
The position of bit platform 2 in water.Relieving mechanism 8 is installed in first buoyancy compartment 7, the relieving mechanism 8 and conducting wire are multiple
Cable 6 is closed to be connected.Wherein, both may be implemented the to float mechanism 3 of drowning oneself of conducting wire composite rope 6 is tethered at work on Detection location platform 2
With the transmission of signal also may be implemented.The release of mechanism 3 of drowning oneself to floating may be implemented by relieving mechanism 8, each floating
Mechanism of drowning oneself 3 corresponds to a relieving mechanism 8.Referring to shown in Fig. 3 to 4, after Detection location platform 2 measures, starting discharges
Mechanism 8 discharges floating mechanism 3 of drowning oneself, and floating drowns oneself 3 floating upward quickly of mechanism to sea.
It is shown in Figure 1, in the present embodiment, electromagnetic sensor 9, flow-velocity sensing are installed on Detection location platform 2
Device 10 and flow direction sensor 11.Anchor cable cabin 12, the bottom in the anchor cable cabin 12 are equipped in the bottom middle position of Detection location platform 2
Portion is fixedly connected with compound rope 5.Several hydrophone units 13, several described water are equipped in the lower part of Detection location platform 2
It listens device unit 13 to be uniformly distributed in the two sides in the anchor cable cabin 12, also is provided with hydrophone unit in the bottom in the anchor cable cabin 12
13.In the present embodiment, by being respectively mounted hydrophone unit 13 on Detection location platform 2 and anchor cable cabin 12, water can be passed through
It listens device unit 13 to receive the sounding of acoustic fix ranging beacon 4, Detection location platform 2 is calculated relative to the position for grabbing bottom anchor 1.Detection
The first buoyancy compartment 7 is had on locating platform 2, and there is positive buoyancy, pass through the sensing devices such as electromagnetic sensor 9, hydrophone unit 13
It is stored in data memory module 19 for detecting marine resources measurement data, flow sensor 10 and flow direction sensor 11 are used for
Measure 2 position flow velocity of Detection location platform, flow direction.
Referring to shown in Fig. 1 to 4, in the present embodiment, floating mechanism 1 of drowning oneself includes shell 14, is set in shell 14
There is the second buoyancy compartment 15, be respectively arranged with communication antenna 16 in the top and bottom (being interpreted as head and tail portion) of shell 14 and move
Power propeller 17.In the present embodiment, it is described floating drown oneself mechanism 1 14 shape of shell it is streamlined, the power in its tail portion
Under the collective effect of 15 buoyancy of propeller 17 and the second buoyancy compartment, the floating upward quickly of mechanism 1 of drowning oneself that floats is realized, wherein shell
14 are made of noise reduction drag reduction composite, can reduce the resistance and noise of floating-upward process.It is equipped in the second buoyancy compartment 15
Quick-fried device 24, priming device 24 are connected with electric cap 25.Control module 18, data storage mould are additionally provided in the inside of shell 14
Block 19, power module 20, wherein the second buoyancy compartment 15 is separated by with control module 18, data memory module 19, power module 20
From.Power module 20 is that entire floating mechanism 1 of drowning oneself provides power, and data memory module 19 is all kinds of by the measurement in ocean
Shape parameter is stored, and control module 18 is used to carry out the size of the second buoyancy compartment 15 and power propeller 17 and parameter carries out
Real-time monitoring and control.Hydraulic pressure sensor 21 and flow meters 22, hydraulic pressure sensing are equipped on the inner wall of the second buoyancy compartment 15
Device 21 and flow meters 22 are used to measure floating and drown oneself the hydraulic pressure and flow velocity of mechanism 1.In the two sides of the bottom of the shell 14 point
Steadying plate 23 is not installed, the steadying plate 23 is respectively placed in the two sides of power propeller 17.In the present embodiment, it is pushed away in power
Floating stability can be increased by being symmetrically arranged with 2 steadying plates 23 into the two sides of device 17, the ascent rate of mechanism 1 so that floating is drowned oneself
Reach 1 meter per second or more, floating-upward process radiated noise is less than 95 decibels.Referring to shown in Fig. 3 to 4, in the present embodiment, hydraulic pressure is passed
Sensor 21 incudes depth location, reaches and transmits detection information behind sea, and after end of transmission, electric cap 25 is lighted a fire, priming device 24
By float drown oneself mechanism 3 shell 14 it is fried wear, seawater enters the second buoyancy compartment 15 for floating and drowning oneself in mechanism 3, makes its mistake of drowning oneself
Effect, next floating mechanism 3 of drowning oneself enter state on duty, and until floating upward quickly mechanism 3 of drowning oneself is exhausted, whole device is lost
Effect.
Certainly, in the above-described embodiment, the forms such as the shape of above-mentioned Detection location platform 2 are not carried out specific
It limits, is specifically as follows cylinder barrel shape, can also be all kinds of shapes, as long as but having the device implemented according to above-mentioned technical proposal
Part, and specific restriction, the set position installed of various pieces are not done yet to the setting position of wherein all parts
As long as can satisfy above-mentioned function.In specific setting, all there is relevant embodiment in this field, wherein detection is fixed
The sensor type disposed on bit platform can be multiclass, and type can be different in conjunction with the difference of detection parameters type,
Its specific sensor type has the multiple sensors classes such as thermohaline depth sensor, hydraulic pressure sensor, underwater carbon dioxide sensor
The type of type, the sensor is sensor relatively common in existing deep-sea detecting field, and set-up mode can detect
In locating platform cabin, or according to sensor detection requirement by the sensor be arranged in the outside of Detection location platform with
Marine environment comes into full contact with, and the setting of sensor is realized by fixed mode, in short, the above-mentioned type sensor can carry out properly
Arrangement, it is specific that details are not described herein.
Based on the structure described above for positioning marine resources quick detection device, the present invention also provides one kind to spy
The accurate positioning method for measuring bit platform is specific as follows:
It grabs after bottom anchor 1 is placed into water, acoustic fix ranging beacon 4 issues acoustical signal, after receiving acoustical signal by sea survey ship
It can determine the position for grabbing bottom anchor 1, acoustic fix ranging beacon 4 stops sounding later.
To grab bottom anchor 1 as coordinate origin, coordinate system is established.The lower half portion of Detection location platform 2 is equipped with 5 water and listens
Device unit, when needing, under control mechanism effect, 4 sounding of acoustic fix ranging beacon, after receiving acoustical signal by sea survey ship, meter
Calculation obtains Detection location platform relative to the position (x for grabbing bottom anchor1, y1, z1)；According to the measurement data of flow velocity, flow direction sensor,
Detection location platform is calculated relative to the position (x for grabbing bottom anchor2, y2, z2)；According to the positioning after the water outlet of floating upward quickly device
Information and the flow speed data of floating-upward process measurement, obtain floating starting point, i.e., Detection location platform is relative to the position for grabbing bottom anchor
(x3, y3, z3)；Finally, using following formula, obtaining Detection location platform relative to the position for grabbing bottom anchor in conjunction with above-mentioned three groups of data
Set coordinate (x, y, z)
Due to grabbing the position of bottom anchor it has been determined that position of the Detection location platform in ocean can accurately be determined.At this
In embodiment, by laying several hydrophone units 13 in the lower half portion of Detection location platform 2, Detection location platform 2
Upper and lower part is separately connected to float and drowns oneself mechanism 3 and grab bottom anchor 1 with acoustic fix ranging beacon 4, comprehensive pair in the way of three kinds
The position of Detection location platform 2 is accurately positioned, so that measurement point carries out comprehensive accurate positioning, and the mechanism 3 of drowning oneself that floats
Can floating upward quickly, realizes and drowns oneself after transmitting data, the accuracy of raising deep-sea detecting data.
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 (9)
1. one kind can position marine resources quick detection device, it is characterised in that: including grabbing bottom anchor (1), Detection location platform (2)
It drowns oneself mechanism (3) at least two floating, the bottom anchor (1) of grabbing is arranged in deep water, is pacified on bottom anchor (1) in described grab
Equipped with acoustic fix ranging beacon (4), described grab bottom anchor (1) is connected by compound rope (5) with Detection location platform (2), the floating
Mechanism of drowning oneself (3) is connected by conducting wire composite rope (6) with Detection location platform (2).
2. one kind can position marine resources quick detection device according to claim 1, it is characterised in that: the Detection location
The first buoyancy compartment (7) are fixedly connected in platform (2), several are installed in first buoyancy compartment (7) and is drowned oneself with floating
The corresponding relieving mechanism (8) of mechanism (3), the relieving mechanism (8) are connected with conducting wire composite rope (6), fixed in the detection
Electromagnetic sensor (9), flow sensor (10) and flow direction sensor (11) are installed on bit platform (2).
3. one kind can position marine resources quick detection device according to claim 1, it is characterised in that: fixed in the detection
The bottom middle position of bit platform (2) is equipped with anchor cable cabin (12), and the bottom and compound rope (5) of the anchor cable cabin (12) are fixed to be connected
It connects.
4. one kind can position marine resources quick detection device according to claim 3, it is characterised in that: fixed in the detection
The lower part of bit platform (2) is equipped with several hydrophone units (13), several described hydrophone units (13) are in the anchor cable cabin
(12) two sides are uniformly distributed, and also are provided with hydrophone unit (13) in the bottom of the anchor cable cabin (12).
5. one kind can position marine resources quick detection device according to claim 1, it is characterised in that: the floating is drowned oneself
Mechanism (1) includes shell (14), is equipped with the second buoyancy compartment (15) in the shell (14), the shell (14) top and
Bottom is respectively arranged with communication antenna (16) and power propeller (17), and priming device is equipped in second buoyancy compartment (15)
(24), the priming device (24) is connected with electric cap (25).
6. one kind can position marine resources quick detection device according to claim 5, it is characterised in that: in the shell
(14) control module (18), data memory module (19), power module (20), second buoyancy compartment (15) and control are additionally provided in
Molding block (18), data memory module (19), power module (20) are isolated.
7. one kind can position marine resources quick detection device according to claim 1, it is characterised in that: floating described second
The inner wall in power cabin (15) is equipped with hydraulic pressure sensor (21) and flow meters (22).
8. one kind can position marine resources quick detection device according to claim 1, it is characterised in that: in the shell
(14) two sides of the bottom are separately installed with steadying plate (23), and the steadying plate (23) is respectively placed in the two of power propeller (17)
Side.
9. the accurate positioning method of a kind of pair of Detection location platform, which is characterized in that specifically includes the following steps:
(1) acoustic fix ranging beacon issues acoustical signal, after receiving acoustical signal by sea survey ship, determines the position for grabbing bottom anchor；
(2) to grab bottom anchor as coordinate origin, coordinate system is established；
(3) the hydrophone unit of acoustic fix ranging beacon sounding, Detection location platform lower receives, and Detection location platform phase is calculated
For grabbing the position (x of bottom anchor1, y1, z1)；
According to the measurement data of flow sensor and flow direction sensor, Detection location platform is calculated relative to the position for grabbing bottom anchor
Set (x2, y2, z2)；
According to floating drown oneself mechanism (3) water outlet after location information and floating-upward process measurement flow speed data, obtain float starting
Point, i.e. Detection location platform are relative to the position (x for grabbing bottom anchor3, y3, z3)；
(4) by above-mentioned three groups of data, using following formula, obtain Detection location platform relative to grab bottom anchor position coordinates (x,
Y, z)
Obtain exact position of the Detection location platform in ocean.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910365419.XA CN110116786B (en) | 2019-04-30 | 2019-04-30 | Quick detection device capable of positioning ocean resources and detection positioning platform positioning method thereof |
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| CN201910365419.XA CN110116786B (en) | 2019-04-30 | 2019-04-30 | Quick detection device capable of positioning ocean resources and detection positioning platform positioning method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115503880A (en) * | 2022-10-22 | 2022-12-23 | 中国人民解放军陆军工程大学 | Quick anchor throwing and lifting indicating device for pontoon bridge equipment |
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| CN115503880A (en) * | 2022-10-22 | 2022-12-23 | 中国人民解放军陆军工程大学 | Quick anchor throwing and lifting indicating device for pontoon bridge equipment |
| CN115503880B (en) * | 2022-10-22 | 2024-04-23 | 中国人民解放军陆军工程大学 | Quick indicating device for casting and taking off of bridge equipment |
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