CN110187302A - A kind of underwater frogman's auto-navigation method based on single beacon - Google Patents
A kind of underwater frogman's auto-navigation method based on single beacon Download PDFInfo
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- CN110187302A CN110187302A CN201910519687.2A CN201910519687A CN110187302A CN 110187302 A CN110187302 A CN 110187302A CN 201910519687 A CN201910519687 A CN 201910519687A CN 110187302 A CN110187302 A CN 110187302A
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- frogman
- beacon
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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
- 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
- G01S1/763—Systems for determining direction or position line using the Doppler shift introduced by the relative motion between beacon and receiver
Abstract
A kind of underwater frogman's auto-navigation method based on single beacon, provides its own location information for the frogman for underwater operation.This method lays single acoustic marker in seabed in advance, and the list beacon position is obtained by calibration, in conjunction with the movement velocity and attitude data of frogman, it establishes " virtual beacon array ", the relative distance between frogman and virtual beacon is obtained using subaqueous sound ranging principle, range equation group is established, resolves frogman in the location of current sample time.When frogman's setting in motion, autonomous positioning is realized through dead reckoning system according to its initial position first, while measuring the distance between frogman and single beacon using rangefinder, utilize the depth information of depth gauge measurement frogman position；After meeting the condition of building virtual beacon array, the speed and posture information of Doppler anemometer and the attitude transducer output carried using frogman construct virtual beacon array in conjunction with single beacon position；The range equation group met between frogman and virtual beacon is write with rank rear, and equation group is solved by least square method, realizes the underwater auto-navigation of frogman.
Description
Technical field
Underwater frogman's auto-navigation method based on single beacon that the present invention relates to a kind of, utilizes the self-contained single beacon of frogman
Subaqueous sound ranging device, DVL, attitude transducer and depth gauge determine frogman present position.Suitable for the frogman for underwater operation
Auto-navigation service is provided.
Background technique
With science and technology continuous prosperity, Underwater Engineering work this work post develop in recent years more rapidly, underwater construction
The classification of work is also more and more various, and frogman salvages under water, underwater desilting, underwater leak stopping, underwater photography, repair works under water, water
The fields such as lower installation, underwater rescue are widely used.Underwater environment has very big difference: (1) low visibility, visual range with waterborne
Only several meters；(2) sense of direction is poor；(3) difficult communication.When frogman need for a long time, a wide range of underwater operation when, can not search for or
It is accurate to reach predeterminated target, it is easy to lose direction under water.This by direct relation frogman's underwater operation effect or combat duty at
It loses, or even jeopardizes frogman's life security and frogman's submarine system seeks the main problem solved.Therefore, in order to ensure frogman
Life security, improve the completion quality of its underwater operation task, meet national departments concerned for the skill that reaches needed for frogman
Art requirement, needs to study the reliability of frogman's underwater positioning system with accuracy.
Frogman's auto-navigation refers to that frogman by self-contained sensor and measuring device, obtains its position letter
The navigation locating method of breath.Compared with radio wave and light wave, sound wave propagates absorption loss water very little in water, and propagation distance is even
Up to several hundred kilometers, the acoustic positioning system positioned using Principles of Acoustics, be increasingly becoming to submarine navigation device positioning and
The important way of navigation.Currently, the precision navigation positioning field in relatively short distance, under-water acoustic locating technology are extensive under water
The mainstream technology used developed very fast in recent years.Acoustic positioning system is different according to the length of baseline, can be divided into:
Long baselines (Long Baseline, abbreviation LBL), short baseline (Short Baseline, abbreviation SBL) and ultra-short baseline (Ultra
Short Baseline, abbreviation USBL or SSBL) 3 seed types.Long-base-line system positioning accuracy highest, but system complex, need to mention
It is preceding to lay multiple beacons in seabed；Though short baseline and ultra short base line are without arranging subsea beacon, positioning accuracy is lower.It is right
The complexity that positioning accuracy and beacon system are laid carries out comprehensive consideration, and the air navigation aid based on single beacon ranging becomes mesh
The new direction of navigator fix technology under preceding developing water.
On the one hand, this method avoid between subsea beacon and frogman azimuthal measurement (due to the complexity of underwater environment,
It is larger that orientation difficulty is measured by underwater sound means), the reliability of metric data is improved, and measuring principle is simple, is easy to apply
Row；On the other hand, hardware complexity and mounting complexity can be effectively reduced in this method, without laying seabed basic matrix and the water surface in advance
The ancillary equipments such as ship, use cost is lower, and the Underwater Navigation particularly suitable for solving the underwater operations personnel such as diver, frogman is asked
Topic.
Summary of the invention
Technology of the invention solves the problems, such as: the positioning accuracy and system localizer cloth of comprehensive consideration tradition hydrolocation method
The complexity put proposes that a kind of underwater frogman's auto-navigation method based on single beacon, this method are laid individually in seabed in advance
Acoustic marker, and the list beacon position is obtained by calibration, in conjunction with the movement velocity and attitude data of frogman, establish " virtual
Beacon array " obtains the relative distance between frogman and virtual beacon using subaqueous sound ranging principle, establishes range equation group, solves
Frogman is calculated in the location of current sample time.
Technical solution of the invention are as follows: a kind of underwater frogman's auto-navigation method based on single beacon, it is characterized in that
It realizes through the following steps:
(1) single acoustic marker is laid in seabed in advance, and the list beacon position is obtained by calibration；
(2) after meeting the condition of building virtual beacon array, the Doppler anemometer and appearance that are carried using frogman
The speed and posture information of state sensor output construct virtual beacon array in conjunction with single beacon position；
(3) relative distance between frogman and virtual beacon is obtained using subaqueous sound ranging principle, establishes range equation group, solved
Frogman is calculated in the location of current sample time.
Virtual beacon array construction method in the step (2) are as follows: acoustic marker is laid on seabed by anchor architecture, and
Calibration obtains geographical location X of the beacon under earth coordinates in advanceAT=(xt, yt, zt)T, true using the time of acoustic signal propagation
Determine the distance between frogman and seabed acoustic marker r.
For i-th and i+1 ranging period, corresponding acoustic range observational equation are as follows:
In conjunction with the kinematic parameter of underwater frog man-hour, if the movement velocity of underwater frogman is V when i-th of ranging periodbi
=(vxi, vyi, vzi)T, the ranging period is T, then underwater frogman's positional relationship in adjacent ranging period meets:
The arrangement of above-mentioned formula can be obtained:
When constructing acoustic range observational equation, what is utilized is that underwater frogman must measure in different location with seabed acoustic marker
Distance.If x thereint+vxi·T、yt+vyiT and zt+vziAs a whole, this is equivalent to the fortune frogman to T
Dynamic parameter has passed to the acoustic marker X actually laidAT=(xt,yt,zt)T, then the physical significance of range equation becomes underwater frogman
In Xb(i+1)Locate and the acoustic range of different acoustic markers.
Wherein, virtual beacon
VT=(xt+vxi·T,yt+vyi·T,zt+vzi·T)T
Range equation in the step (3) resolves frogman's location method are as follows: when frogman is located at underwater XbnWhen place, according to phase
Underwater frogman's positional relationship in adjacent ranging period, obtains:
So the underwater frogman position X in i-th of ranging periodbiWith XbnRelationship meet:
Then i-th of ranging period corresponding range equation can be write as
Using the position of virtual beacon VT, i-th of ranging period, corresponding range equation can be write as:
‖Xbn-VTi‖=ri
After above-mentioned various arrangement, it can resolve to obtain the current location X of frogman using least squarebn:
Xbn=(ATA)-1ATB
Wherein,
Ai=(VTi-VTi-1)T
The principle of the present invention is: laying single acoustic marker in seabed in advance, and obtains the list beacon institute in place by calibration
Set, in conjunction with the movement velocity and attitude data of frogman, establish " virtual beacon array ", using subaqueous sound ranging principle obtain frogman with
Relative distance between virtual beacon establishes range equation group, resolves frogman in the location of current sample time.Make frogman
By self-contained sensor and measuring device, its position information can be obtained.When frogman's setting in motion, root first
Realize autonomous positioning through dead reckoning system according to its initial position, at the same using rangefinder measure between frogman and single beacon away from
From, utilize depth gauge measurement frogman position depth information；After meeting the condition of building virtual beacon array, utilize
The speed and posture information for Doppler anemometer and the attitude transducer output that frogman carries, in conjunction with single beacon position,
Construct virtual beacon array；The range equation group met between frogman and virtual beacon is write with rank rear, is asked by least square method
Equation group is solved, realizes the underwater auto-navigation of frogman.
The advantages of the present invention over the prior art are that:
(1) Dan Xinbiao subaqueous sound ranging system only needs to lay an acoustic marker in seabed in advance and demarcate its position,
System structure is simple, without laying the ancillary equipments such as seabed basic matrix and water surface ship in advance, can be effectively reduced hardware complexity and
Mounting complexity.Attitude transducer can continuously export the direction of motion and posture information of underwater frogman, and DVL is according to Doppler
Effect carries out the sensor of velocity measuring, can obtain velocity information of the underwater frogman under carrier system, depth gauge can export
The depth information of frogman position, measurement accuracy are higher.
(2) this method avoid the azimuthal measuremenies between subsea beacon and frogman (due to the complexity of underwater environment, to rely on
Underwater sound means are larger to measure orientation difficulty), improve the reliability of metric data.The higher frog of precision is obtained using depth gauge
After people's depth information, the three-dimensional position of underwater frogman can be resolved and be converted into two-dimensional position resolving, reduce the complexity of algorithm
Degree also improves the accuracy of positioning.
Detailed description of the invention
Fig. 1 is that the present invention relates to underwater frogman's auto-navigation method flow diagrams based on single beacon；
Fig. 2 is that the present invention relates to virtual beacon array schematic diagrames.
Specific embodiment
The specific implementation step of the technology of the present invention solution is as shown in Figure 1, virtual beacon array schematic diagram such as Fig. 2 institute
Show, specific implementation step is as follows:
1, single acoustic marker is laid in seabed in advance, and the list beacon position is obtained by calibration.
The method that beacon calibration uses is to be believed using surface mother ship in the different location of water surface planning track and single seabed sound
Mark carries out acoustic range, constitutes reversion Long baselines and carries out beacon calibration, wherein the position of surface mother ship is provided by GPS, commonly
Planning track is the round track that beacon depth is radius.
2, after meeting the condition of building virtual beacon array, the Doppler anemometer and posture that are carried using frogman
The speed and posture information of sensor output construct virtual beacon array in conjunction with single beacon position.
In conjunction with the kinematic parameter of underwater frog man-hour, if DVL output is V when i-th of ranging periodbi=(vxi, vyi,
vzi)T, the ranging period is T, then underwater frogman's positional relationship in adjacent ranging period meets:
It is collated to obtain:
When constructing acoustic range observational equation, what is utilized is that underwater frogman must measure in different location with seabed acoustic marker
Distance.If x thereint+vxi·T、yt+vyiT and zt+vziAs a whole, this is equivalent to the fortune frogman to T
Dynamic parameter has passed to the acoustic marker X actually laidAT=(xt, yt, zt) T, then the physical significance of range equation becomes underwater frogman
In Xb(i+1)Locate and the acoustic range of different acoustic markers.
Wherein, virtual beacon
VT=(xt+vxi·T,yt+vyi·T,zt+vzi·T)T (3)
3, the relative distance between frogman and virtual beacon is obtained using subaqueous sound ranging principle, establishes range equation group, solved
Frogman is calculated in the location of current sample time.
I-th of ranging period, corresponding range equation can be write as
Using the position of virtual beacon VT, i-th of ranging period, corresponding range equation can be write as:
‖Xbn-VTi‖=ri (5)
After above-mentioned various arrangement, it can resolve to obtain the current location X of frogman using least squarebn:
Xbn=(ATA)-1ATB (6)
Wherein,
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (3)
1. a kind of underwater frogman's auto-navigation method based on single beacon, it is characterized in that:
(1) single acoustic marker is laid in seabed in advance, and the list beacon position is obtained by calibration；
(2) after meeting the condition of building virtual beacon array, the Doppler anemometer and posture carried using frogman is passed
The speed and posture information of sensor output construct virtual beacon array in conjunction with single beacon position；
(3) relative distance between frogman and virtual beacon is obtained using subaqueous sound ranging principle, establishes range equation group, resolve the frog
People is in the location of current sample time.
2. a kind of underwater frogman's auto-navigation method based on single beacon according to claim 1, it is characterised in that: combine
Single beacon subaqueous sound ranging, four kinds of attitude transducer, DVL and depth gauge sensors different characteristics, where obtaining underwater frogman
Location information.Single beacon subaqueous sound ranging system only needs to lay an acoustic marker in seabed in advance and demarcate its position, is
Structure of uniting is simple, and without laying the ancillary equipments such as seabed basic matrix and water surface ship in advance, hardware complexity and peace can be effectively reduced
Fill complexity.Attitude transducer can continuously export the direction of motion and posture information of underwater frogman, and DVL is imitated according to Doppler
The sensor that should carry out velocity measuring, can obtain velocity information of the underwater frogman under carrier system, and depth gauge can export the frog
The depth information of people position, measurement accuracy are higher.
3. a kind of underwater frogman's auto-navigation method based on single beacon according to claim 1, it is characterised in that: this method
The azimuthal measurement between subsea beacon and frogman is avoided (due to the complexity of underwater environment, by underwater sound means come the side of measurement
Position difficulty is larger), improve the reliability of metric data.It, can after obtaining the higher frogman's depth information of precision using depth gauge
It is resolved with converting two-dimensional position for the resolving of the three-dimensional position of underwater frogman, reduces the complexity of algorithm, it is fixed to also improve
The accuracy of position.
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Cited By (3)
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| CN110554359A (en) * | 2019-09-11 | 2019-12-10 | 哈尔滨工程大学 | seabed flight node positioning method integrating long baseline positioning and single beacon positioning |
| CN112923920A (en) * | 2021-01-27 | 2021-06-08 | 嘉兴中科声学科技有限公司 | Fault marking and navigation method and device, electronic equipment and storage medium |
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