CN110568463A - Buoy underwater positioning and position reporting method and device based on Beidou - Google Patents

Buoy underwater positioning and position reporting method and device based on Beidou Download PDF

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Publication number
CN110568463A
CN110568463A CN201910756549.6A CN201910756549A CN110568463A CN 110568463 A CN110568463 A CN 110568463A CN 201910756549 A CN201910756549 A CN 201910756549A CN 110568463 A CN110568463 A CN 110568463A
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CN
China
Prior art keywords
underwater
buoy
positioning
underwater target
beidou
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CN201910756549.6A
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Chinese (zh)
Inventor
高为广
刘成
杨诚
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63921 Troops of PLA
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63921 Troops of PLA
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Priority to CN201910756549.6A priority Critical patent/CN110568463A/en
Publication of CN110568463A publication Critical patent/CN110568463A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • 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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
    • 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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

the invention provides a buoy underwater positioning and position reporting method, device and system based on Beidou. The method comprises the following steps: receiving a buoy ranging signal from a navigation satellite; positioning the buoy based on the buoy ranging signal; transmitting an underwater target ranging signal to an underwater target, receiving a positioning signal of the underwater target from the underwater target, and positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target; and transmitting the position information of the underwater target back to the navigation satellite through a Beidou short message communication function. According to the buoy underwater positioning and position reporting method and device based on the Beidou, monitoring and positioning means for underwater equipment such as unmanned underwater vehicles and scientific investigation cabins can be further enriched, positioning accuracy for underwater target positions is high, errors are small, real-time return of observation data can be achieved, and underwater detection and scientific investigation work can be better carried out.

Description

Buoy underwater positioning and position reporting method and device based on Beidou
Technical Field
The invention relates to underwater target positioning and position reporting. More particularly, the invention relates to a buoy underwater positioning and position reporting method and device based on Beidou.
Background
In the 21 st century, mankind has entered an era of large-scale development and utilization of oceans, and few developed countries in the world are not ocean-forcing countries. China has 300 ten thousand square kilometers of ocean land, provides rich food, energy and mineral resources, and has important strategic significance on ocean research and development.
In recent years, various unmanned underwater vehicles and underwater scientific investigation cabins are widely released worldwide for further realizing detection, collection and research of hydrological and marine information. The underwater equipment can more closely and accurately detect and collect hydrological information such as waves, detention, temperature and salinity depth and the like, water quality information such as chlorophyll, algae and various dissolved substance concentrations and the like, and information such as submarine/seabed terrain, landform, geomagnetic distribution and the like, and has important significance and value for ocean development.
After completing a period of investigation, researchers need to salvage and recover the underwater equipment, and extract and analyze the observation data stored in the underwater equipment. However, accurate positioning of these subsea equipment is not easy. At present, various underwater devices mostly rely on self-carried inertial navigation devices (INS) or underwater/seabed geomagnetic matching to realize autonomous navigation. However, inertial navigation has the problem of error accumulation, and the navigation error can increase along with the increase of time; the geomagnetic matching method is limited by the underwater/seabed geomagnetic distribution information precision and the sensitivity of geomagnetic detection equipment, and the positioning precision is low. On one hand, the method has influence on accurate positioning monitoring and quick salvage and recovery of underwater targets such as unmanned underwater vehicles, scientific research cabins and the like; on the other hand, the accuracy of modeling the hydrology, water quality and water bottom/seabed geomorphologic information is also affected due to the inaccuracy of the observation position information.
Therefore, the existing equipment needs to be modified, positioning is carried out by receiving satellite signals of a navigation satellite system such as the Beidou, and information is returned in real time through a Beidou message communication function, so that positioning and position reporting of underwater targets such as unmanned underwater vehicles and scientific investigation cabins are realized.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a buoy underwater positioning and position reporting method and device based on Beidou, which are used for accurately positioning and reporting underwater targets such as unmanned underwater vehicles, scientific research cabins and the like.
The invention provides a buoy underwater positioning and position reporting method based on Beidou, which comprises the following steps: the buoy receives a navigation satellite ranging signal; positioning the buoy based on the buoy ranging signal; the buoy transmits a ranging signal to an underwater target, and the underwater target is positioned according to the position information of the buoy and the ranging signal of the buoy and the underwater target; and transmitting the position information of the underwater target back to the navigation satellite and the destination through the buoy Beidou short message communication function.
Preferably, the buoy ranging signal is a carrier modulation signal including orbital position coordinates of the navigation satellite and position information of the buoy.
Preferably, obtaining the positioning signal of the buoy based on the buoy ranging signal comprises: demodulating the buoy ranging signal to obtain the orbit position coordinate of the navigation satellite and the position coordinate of the buoy.
preferably, the obtaining the positioning signal of the buoy based on the buoy ranging signal further comprises: and demodulating the buoy ranging signal, resolving and obtaining time reference information of the buoys, thereby realizing time synchronization among a plurality of buoys.
Preferably, the transmitting a ranging signal to an underwater target, receiving a positioning signal of the underwater target from the underwater target, and positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target includes: when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target is a reflection signal of the underwater target ranging signal, and a ranging value from the buoy to the underwater target is calculated based on a two-way ranging method, so that the underwater target is positioned according to the position coordinate of the buoy and the ranging value; when the underwater target has the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target comprises the position coordinate of the underwater target calculated by the underwater target according to the received underwater target ranging signal, so that the underwater target is positioned according to the position coordinate of the buoy and the position coordinate of the underwater target.
Preferably, the two-way ranging method includes the steps of: according to the formulaCalculating to obtain the distance measurement value from the buoy to the underwater target, diThe range value of the buoy i to the underwater object or equipment,For the moment when the buoy emits the underwater target ranging signal,And v is the propagation speed of sound waves or blue-green laser underwater, wherein the time for receiving the echo signals is the moment for receiving the reflected signals of the underwater target ranging signals.
preferably, the position information of the underwater target includes a ranging value from the buoy to the underwater target and/or position coordinates of the underwater target.
Preferably, the position information of the underwater target further comprises one or more of a number, a type, an attribute, and hydrologic information of the underwater target.
The invention also provides a buoy underwater positioning and position reporting device based on the Beidou, which comprises: the Beidou/GNSS receiving and transmitting antenna is used for receiving downlink navigation signals from the navigation satellite and transmitting positioning information of the underwater target back to the navigation satellite and the destination through a Beidou short message communication function; the underwater ranging device is used for transmitting an underwater target ranging signal to an underwater target and receiving a positioning signal of the underwater target from the underwater target; and the processor is used for receiving the buoy ranging signal from the Beidou/GNSS receiving and transmitting antenna, receiving the positioning signal of the underwater target from the underwater ranging equipment, acquiring the positioning signal of the buoy based on the buoy ranging signal, positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target, and transmitting the positioning information of the underwater target to the Beidou/GNSS receiving and transmitting antenna.
Preferably, the Beidou/GNSS receiving and transmitting antenna comprises an L-band navigation satellite receiving antenna and an L-band/S-band Beidou short message communication antenna, the L-band navigation satellite receiving antenna is used for receiving buoy ranging signals from a navigation satellite, and the L-band/S-band Beidou short message communication antenna is used for receiving positioning information of an underwater target from a processor and transmitting the positioning information of the underwater target back to the navigation satellite. The L wave band/S wave band Beidou short message communication antenna is used for receiving positioning information of an underwater target from the processor and transmitting the positioning information of the underwater target back to the navigation satellite.
preferably, the underwater ranging equipment is a sonar or blue-green laser.
Preferably, the processor comprises a Beidou/GNSS receiving and processing terminal and a sonar/blue-green laser receiving and processing terminal, the Beidou/GNSS receiving and processing terminal is used for receiving the buoy ranging signal from a Beidou/GNSS receiving and transmitting antenna and positioning the buoy based on the buoy ranging signal, the sonar/blue-green laser receiving and processing terminal is used for receiving the positioning signal of the underwater target from the underwater ranging equipment, receiving the positioning signal of the buoy from the Beidou/GNSS receiving and processing terminal and positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target.
preferably, the Beidou/GNSS receiving and processing terminal is further configured to demodulate the buoy ranging signal to obtain a positioning signal of the buoy, and the positioning information of the buoy includes an orbit position coordinate of the navigation satellite and a position coordinate of the buoy.
Preferably, the sonar/blue-green laser receiving and processing terminal is further configured to: when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target is a reflection signal of the underwater target ranging signal, and a ranging value from the buoy to the underwater target is calculated based on a two-way ranging method, so that the underwater target is positioned according to the position coordinate of the buoy and the ranging value; when the underwater target has the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target comprises the position coordinate of the underwater target calculated by the underwater target according to the received underwater target ranging signal, so that the underwater target is positioned according to the position coordinate of the buoy and the position coordinate of the underwater target.
preferably, the sonar/blue-green laser receiving and processing terminal is further configured to: according to the formulaCalculating to obtain the distance measurement value from the buoy to the underwater target, diThe range value of the buoy i to the underwater object or equipment,For the moment when the buoy emits the underwater target ranging signal,And v is the propagation speed of sound waves or blue-green laser underwater, wherein the time for receiving the echo signals is the moment for receiving the reflected signals of the underwater target ranging signals.
The invention also provides a buoy underwater positioning and position reporting system based on the Beidou, which comprises the buoy underwater positioning device based on the Beidou, a buoy, a navigation satellite and an underwater target, wherein the buoy underwater positioning device based on the Beidou is installed on the buoy and is communicated with the navigation satellite, and the underwater target is positioned underwater and separated from the buoy underwater positioning device based on the Beidou, the buoy and the navigation satellite.
preferably, the navigation satellite is one or a combination of a Beidou satellite navigation system, a U.S. global satellite navigation system, a Russian glonass system or a European Galileo system.
Preferably, the underwater target comprises an underwater unmanned underwater vehicle, a scientific investigation cabin and other carriers or equipment.
By utilizing the buoy underwater positioning and position reporting method and device based on the Beidou, the water surface/sea surface buoy can obtain accurate coordinate position accuracy to become a pseudo satellite on the water surface/sea surface by receiving satellite signals of navigation satellite systems such as the Beidou and the like and positioning; on the basis, the underwater target is subjected to ranging or positioning by using the underwater ranging equipment arranged on the buoy, and ranging information, positioning information or other required detection data are transmitted back to the ground through the Beidou satellite by using the Beidou short message communication function, so that the underwater target is accurately positioned and monitored. According to the method for underwater positioning and position reporting of the buoy, monitoring and positioning means for underwater equipment such as unmanned underwater vehicles and scientific investigation cabins can be further enriched, the positioning accuracy for underwater target positions is high, errors are small, real-time return of observation data can be achieved, and underwater detection and scientific investigation work can be better carried out.
Drawings
FIG. 1 shows a flow chart of a Beidou based buoy underwater positioning and position reporting method in accordance with the present invention;
FIG. 2 shows a schematic diagram of a Beidou based buoy based underwater positioning and position reporting device in accordance with the present invention;
Fig. 3 shows a schematic diagram of the working principle of the Beidou based buoy underwater positioning and position reporting system according to the invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Fig. 1 shows a flow chart of a Beidou based buoy underwater positioning and position reporting method according to the invention. Referring to fig. 1, the invention provides a Beidou-based buoy underwater positioning and position reporting method, which comprises the following steps:
Step 101, receiving a buoy ranging signal from a navigation satellite;
102, positioning the buoy based on the buoy ranging signal;
103, transmitting an underwater target ranging signal to an underwater target, receiving a positioning signal of the underwater target from the underwater target, and positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target;
and 104, transmitting the position information of the underwater target back to the navigation satellite.
As shown in fig. 2, in step 101, a buoy ranging signal may be received from a navigation satellite through a beidou/GNSS receiving and transmitting antenna, which may be installed on the buoy. Then, in step 102, the processor receives the buoy ranging signal from the Beidou/GNSS transceiver antenna, and obtains a positioning signal of the buoy based on the buoy ranging signal, so as to position the buoy on the water surface/the sea surface. After the positioning is finished, the buoy can be used as a pseudo satellite with accurate space-time reference information.
in step 103, an underwater target ranging signal may be transmitted to an underwater target and a positioning signal of the underwater target may be received from the underwater target by an underwater ranging apparatus installed on a buoy. The positioning signal of the underwater target is then sent to a processor mounted on the buoy for processing. The processor locates the underwater target based on the location of the buoy and the location signal of the underwater target.
In step 104, the position information of the underwater target may be transmitted back to the navigation satellite through the beidou/GNSS receiving and transmitting antenna.
When the method is implemented, the Beidou/GNSS receiving and transmitting antenna can be one antenna and can also be divided into an L-band navigation satellite receiving antenna and an L-band/S-band Beidou short message communication antenna, wherein the L-band navigation satellite receiving antenna is used for receiving buoy ranging signals from a navigation satellite, and the L-band/S-band Beidou short message communication antenna is used for receiving positioning information of an underwater target from a processor and transmitting the positioning information of the underwater target back to the navigation satellite. When the Beidou/GNSS receiving and transmitting antenna is specifically realized, the L-band navigation satellite receiving antenna and the L-band/S-band Beidou short message communication antenna can be integrated into a whole, and can also be two antennas.
In a preferred embodiment, the buoy ranging signal sent by the navigation satellite to the Beidou/GNSS receiving and transmitting antenna may be a carrier modulation signal, and further preferably, may be a carrier modulation spread spectrum ranging signal. The carrier modulation spread spectrum ranging signal contains orbit position information of a navigation satellite. After the Beidou/GNSS receiving and transmitting antenna receives the carrier modulation signal and transmits the carrier modulation signal to the processor, the processor demodulates the carrier modulation signal, and the orbit coordinate of the navigation satellite can be obtained and positioning resolving processing is carried out, so that accurate positioning of the buoy is realized.
When the processor carries out positioning calculation processing on the buoys, the coordinate positions of the buoys can be obtained, and buoy time information can also be obtained, so that time consistency and synchronization among a plurality of buoys are realized. The time consistency and synchronization among all buoys are realized, so that a water buoy pseudo satellite constellation similar to a navigation satellite constellation can be formed, and the method is an important basis for launching underwater ranging signals and accurately positioning underwater targets by the buoys.
Considering that the underwater target may not have the functions of receiving measurement and underwater acoustic communication, in step 103, when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target may be a reflection signal of a ranging signal of the underwater target, and a ranging value from the buoy to the underwater target may be calculated based on a two-way ranging method, so as to position the underwater target according to the position coordinates of the buoy and the ranging value; when the underwater target has the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target comprises the position coordinate of the underwater target calculated by the underwater target according to the received underwater target ranging signal, so that the underwater target is positioned according to the position coordinate of the buoy and the position coordinate of the underwater target.
That is, when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, the underwater ranging device may transmit an underwater target ranging signal to the underwater target and receive a transmission signal of the underwater target, and the processor may calculate a ranging value from the buoy to the underwater target based on a two-way ranging method, thereby locating the underwater target. For example, the range value from the buoy to the underwater target may be calculated according to formula (1):
wherein d isithe range value of the buoy i to the underwater object or equipment,For the moment when the buoy emits the underwater target ranging signal,And v is the propagation speed of sound waves or blue-green laser underwater, wherein the time for receiving the echo signals is the moment for receiving the reflected signals of the underwater target ranging signals.
when the underwater target has the functions of receiving, measuring and underwater acoustic communication, after the underwater ranging device transmits the underwater target ranging signal to the underwater target, the underwater target can directly perform ranging and positioning according to the underwater target ranging signal, and information (for example, detection data such as hydrology and water quality) such as the position coordinate of the underwater target is sent back to the underwater ranging device on the buoy. Preferably, when the underwater target is positioned, a ball intersection positioning model similar to Beidou/GNSS positioning can be adopted for positioning.
In step 104, the position information of the underwater target returned to the navigation satellite may include a ranging value from the buoy to the underwater target or a position coordinate of the underwater target, and preferably, may further include one or more of a number, a type, an attribute, and hydrologic information of the underwater target, so that on the basis of accurately positioning the underwater target, real-time return of other observation data may be further implemented, which is beneficial to better performing underwater exploration work.
when the method is specifically implemented, the ranging value or the position coordinate of the underwater target and other related information can be coded, and the coded information is returned by using an L-band Beidou short message communication antenna arranged on a buoy and a Beidou short message communication function.
according to the requirement, two data types of Beidou short message communication can be selected, one is an ASCII code adopted by common Chinese character communication, and the other is a BCD code mode. The general Beidou short message communication user machine terminal can transmit 36 Chinese characters at one time, and the user machine terminal applying for approval can transmit 120 Chinese characters or 240 codes. According to different authorization level limits, the Beidou short message sending frequency is 1 minute or 30 seconds.
By utilizing the buoy underwater positioning and position reporting method based on the Beidou, the water surface/sea surface buoy can obtain accurate coordinate position accuracy to become a pseudo satellite on the water surface/sea surface by receiving satellite signals of navigation satellite systems such as the Beidou and the like and positioning; on the basis, underwater distance measuring equipment arranged on the buoy is used for measuring or positioning underwater targets such as unmanned underwater vehicles, scientific research cabins and the like, so that the underwater targets are accurately positioned and monitored. According to the method for underwater positioning and position reporting of the buoy, monitoring and positioning means for underwater equipment such as unmanned underwater vehicles and scientific investigation cabins can be further enriched, the positioning accuracy for underwater target positions is high, errors are small, real-time return of observation data can be achieved, and underwater detection and scientific investigation work can be better carried out.
The invention also provides a buoy underwater positioning and position reporting device based on the Beidou. As shown in fig. 2, the Beidou based buoy underwater positioning and position reporting device comprises:
The Beidou/GNSS receiving and transmitting antenna is used for receiving the buoy ranging signal from the navigation satellite and transmitting the positioning information of the underwater target back to the navigation satellite;
the underwater ranging device is used for transmitting an underwater target ranging signal to an underwater target and receiving a positioning signal of the underwater target from the underwater target;
And the processor is used for receiving the buoy ranging signal from the Beidou/GNSS receiving and transmitting antenna, receiving the positioning signal of the underwater target from the underwater ranging equipment, acquiring the positioning signal of the buoy based on the buoy ranging signal, positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target, and transmitting the positioning information of the underwater target to the Beidou/GNSS receiving and transmitting antenna.
specifically, a Beidou/GNSS transceiver antenna, a processor and underwater ranging equipment are all mounted on the buoy, and the Beidou/GNSS transceiver antenna receives buoy ranging signals from navigation satellites. And the processor receives the buoy ranging signal from the Beidou/GNSS receiving and transmitting antenna and obtains a positioning signal of the buoy based on the buoy ranging signal, so that the buoy on the water surface/sea surface is positioned. After the positioning is finished, the buoy can be used as a pseudo satellite with accurate space-time reference information. The underwater ranging device is used for transmitting an underwater target ranging signal to an underwater target and receiving a positioning signal of the underwater target from the underwater target. The positioning signal of the underwater target is then sent to a processor mounted on the buoy for processing. The processor locates the underwater target based on the location of the buoy and the location signal of the underwater target. And then, the Beidou/GNSS receiving and transmitting antenna transmits the position information of the underwater target back to the navigation satellite. Generally, the Beidou/GNSS receiving and transmitting antenna is installed on the part of the buoy platform above the water level, and the underwater ranging device is installed on the part of the buoy platform below the water level, as shown in FIG. 2.
In a preferred embodiment, the Beidou/GNSS receiving and transmitting antenna comprises an L-band navigation satellite receiving antenna and an L-band/S-band Beidou short message communication antenna, wherein the L-band navigation satellite receiving antenna is used for receiving the buoy ranging signal from the navigation satellite, and the L-band Beidou short message communication antenna is used for transmitting the positioning information of the underwater target back to the navigation satellite. When the Beidou/GNSS receiving and transmitting antenna is specifically realized, the L-band navigation satellite receiving antenna and the L-band/S-band Beidou short message communication antenna can be integrated into a whole, and can also be two antennas.
the underwater ranging device can be a sonar or a blue-green laser.
the processor can comprise a Beidou/GNSS receiving and processing terminal and a sonar/blue-green laser receiving and processing terminal. The Beidou/GNSS receiving and processing terminal is used for receiving the buoy ranging signal from the Beidou/GNSS receiving and transmitting antenna and positioning the buoy based on the buoy ranging signal, and the sonar/blue-green laser receiving and processing terminal is used for receiving the positioning signal of the underwater target from the underwater ranging equipment, receiving the positioning signal of the buoy from the Beidou/GNSS receiving and processing terminal and positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target.
In a preferred embodiment, the Beidou/GNSS receiving and processing terminal may demodulate the buoy ranging signal to obtain a positioning signal of the buoy, where the positioning information of the buoy includes the orbital position coordinates of the navigation satellite and the position coordinates of the buoy.
Considering that an underwater target may not have the functions of receiving measurement and underwater acoustic communication, the sonar/blue-green laser receiving and processing terminal can also be used for calculating a ranging value from the buoy to the underwater target based on a two-way ranging method to obtain a reflected signal of a ranging signal of the underwater target when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, so as to position the underwater target according to the position coordinates of the buoy and the ranging value; when the underwater target has the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target comprises the position coordinate of the underwater target calculated by the underwater target according to the received underwater target ranging signal, so that the underwater target is positioned according to the position coordinate of the buoy and the position coordinate of the underwater target.
That is to say, when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, the sonar or blue-green laser can be used for transmitting the underwater target ranging signal to the underwater target, receiving the transmitting signal of the signal from the underwater target, and then calculating the ranging value from the buoy to the underwater target based on the two-way ranging method, so as to position the underwater target. For example, the range value from the buoy to the underwater target may be calculated according to formula (1):
Wherein d isiThe range value of the buoy i to the underwater object or equipment,For the moment when the buoy emits the underwater target ranging signal,And v is the propagation speed of sound waves or blue-green laser underwater, wherein the time for receiving the echo signals is the moment for receiving the reflected signals of the underwater target ranging signals.
When the underwater target has the functions of receiving measurement and underwater acoustic communication, the sonar or blue-green laser emits an underwater target ranging signal to the underwater target, and then the underwater target can directly perform ranging and positioning according to the underwater target ranging signal and send information (such as detection data including hydrology, water quality and the like) such as position coordinates of the underwater target back to the underwater ranging equipment on the buoy. Preferably, when the underwater target is positioned, a ball intersection positioning model similar to Beidou/GNSS positioning can be adopted for positioning.
the position information of the underwater target returned to the navigation satellite may include a ranging value from the buoy to the underwater target or a position coordinate of the underwater target, and preferably, may further include one or more of a number, a type, an attribute, and hydrologic information of the underwater target, so that on the basis of accurately positioning the underwater target, real-time return of other observation data may be realized, which is beneficial to better performing underwater detection work.
in specific implementation, the ranging value or position coordinates of the underwater target and other related information can be coded, and the coded information is returned by using an L-band/S-band Beidou short message communication antenna arranged on the buoy and a Beidou short message communication function.
according to the requirement, two data types of Beidou short message communication can be selected, one is an ASCII code adopted by common Chinese character communication, and the other is a BCD code mode. The general Beidou short message communication user machine terminal can transmit 36 Chinese characters at one time, and the user machine terminal applying for approval can transmit 120 Chinese characters or 240 codes. According to different authorization level limits, the Beidou short message sending frequency is 1 minute or 30 seconds.
By utilizing the buoy pseudolite underwater positioning and position reporting device based on the Beidou, disclosed by the invention, the water surface/sea surface buoy can obtain accurate coordinate position accuracy by receiving satellite signals of navigation satellite systems such as the Beidou and the like and positioning, so as to become a pseudolite on the water surface/sea surface; on the basis, underwater distance measuring equipment arranged on the buoy is used for measuring or positioning underwater targets such as unmanned underwater vehicles, scientific research cabins and the like, so that the underwater targets are accurately positioned and monitored. According to the buoy pseudolite underwater positioning and position reporting device, monitoring and positioning means for underwater equipment such as unmanned underwater vehicles and scientific investigation cabins can be further enriched, positioning accuracy for underwater target positions is high, errors are small, real-time return of observation data can be achieved, and underwater detection and scientific investigation work can be better carried out.
meanwhile, as shown in fig. 3, the invention also provides a buoy pseudolite underwater positioning and position reporting system based on the Beidou, which comprises the buoy pseudolite underwater positioning device based on the Beidou, a buoy, a navigation satellite and an underwater target, wherein the buoy pseudolite underwater positioning device based on the Beidou is installed on the buoy and is communicated with the navigation satellite, and the underwater target is positioned underwater and is separated from the buoy pseudolite underwater positioning device based on the Beidou, the buoy and the navigation satellite. Generally, a Beidou/GNSS receiving and transmitting antenna in the Beidou-based buoy pseudolite underwater positioning device is arranged on a part, above a water surface, of a buoy platform, and an underwater distance measuring device is arranged on a part, below the water surface, of the buoy platform.
Preferably, the positioning may be implemented by using navigation satellites of the beidou satellite navigation system (BDS), the united states global navigation satellite system (GPS), the russian GLONASS system (GLONASS), or the european Galileo system (Galileo), or by using a combination of the above Global Navigation Satellite Systems (GNSS).
The underwater target can be an underwater vehicle or equipment such as an underwater unmanned cabin, a scientific submarine vehicle and the like. When the underwater target is positioned, a ball intersection positioning model similar to the Beidou/GNSS positioning can be adopted for positioning.
it should be noted that the above description is only a preferred embodiment of the present invention, and it should be understood that various changes and modifications can be made by those skilled in the art without departing from the technical idea of the present invention, and these changes and modifications are included in the protection scope of the present invention.

Claims (18)

1. a buoy underwater positioning and position reporting method based on Beidou comprises the following steps:
receiving a buoy ranging signal from a navigation satellite;
Positioning the buoy based on the buoy ranging signal;
transmitting an underwater target ranging signal to an underwater target, receiving a positioning signal of the underwater target from the underwater target, and positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target;
and transmitting the position information of the underwater target back to the navigation satellite through the Beidou short message communication function of the buoy.
2. The Beidou-based buoy underwater positioning and position reporting method of claim 1,
The buoy ranging signal is a carrier modulation signal containing the orbital position coordinates of the navigation satellite and the position information of the buoy.
3. the Beidou-based buoy underwater positioning and position reporting method of claim 2, wherein obtaining the buoy's positioning signal based on the buoy ranging signal comprises:
and demodulating the buoy ranging signal, resolving and obtaining the position coordinate of the buoy.
4. The Beidou-based buoy underwater positioning and position reporting method of claim 3, wherein obtaining the buoy's positioning signal based on the buoy ranging signal further comprises:
and demodulating the buoy ranging signal, resolving and obtaining time reference information of the buoys, thereby realizing time synchronization among a plurality of buoys.
5. the Beidou-based buoy underwater positioning and position reporting method of claim 1, wherein transmitting underwater target ranging signals to an underwater target and receiving positioning signals of the underwater target from an underwater target, positioning the underwater target according to the positioning signals of the buoy and the underwater target comprises:
when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target is a reflection signal of the underwater target ranging signal, and a ranging value from the buoy to the underwater target is calculated based on a two-way ranging method, so that the underwater target is positioned according to the position coordinate of the buoy and the ranging value;
When the underwater target has the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target comprises the position coordinate of the underwater target calculated by the underwater target according to the received underwater target ranging signal, so that the underwater target is positioned according to the position coordinate of the buoy and the position coordinate of the underwater target.
6. The Beidou based buoy underwater positioning and position reporting method of claim 5 wherein said two way ranging method comprises the steps of:
according to the formulacalculating to obtain the distance measurement value from the buoy to the underwater target, diThe range value of the buoy i to the underwater object or equipment,For the moment when the buoy emits the underwater target ranging signal,And v is the propagation speed of sound waves or blue-green laser underwater, wherein the time for receiving the echo signals is the moment for receiving the reflected signals of the underwater target ranging signals.
7. the Beidou-based buoy underwater positioning and position reporting method of claim 1,
The position information of the underwater target comprises a ranging value from the buoy to the underwater target and/or position coordinates of the underwater target.
8. The Beidou-based buoy underwater positioning and position reporting method of claim 7,
The location information of the underwater target also includes one or more of a number, a type, an attribute, and hydrologic information of the underwater target.
9. the utility model provides a buoy is location and position report device under water based on big dipper, includes:
The Beidou/GNSS receiving and transmitting antenna is used for receiving downlink navigation signals from a navigation satellite and transmitting positioning information of an underwater target back to the navigation satellite;
The underwater ranging device is used for transmitting an underwater target ranging signal to an underwater target and receiving a positioning signal of the underwater target from the underwater target;
And the processor is used for receiving the downlink navigation signal from the Beidou/GNSS receiving and transmitting antenna, receiving the positioning signal of the underwater target from the underwater ranging equipment, acquiring the positioning signal of the buoy based on the buoy ranging signal, positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target, and transmitting the positioning information of the underwater target to the Beidou/GNSS receiving and transmitting antenna.
10. The Beidou satellite based buoy underwater positioning and position reporting device of claim 9, wherein the Beidou/GNSS transceiver antenna includes an L band navigation satellite receiving antenna for receiving buoy ranging signals from navigation satellites and an L band/S band Beidou short message communication antenna for receiving positioning information of underwater targets from the processor and transmitting the positioning information of underwater targets back to the navigation satellites.
11. the Beidou based buoy underwater positioning and position reporting device of claim 10, wherein the underwater ranging equipment is a sonar or blue green laser.
12. the Beidou based buoy underwater positioning and position reporting device of claim 11, wherein said processor comprises Beidou/GNSS reception processing terminals and sonar/blue-green laser reception processing terminals,
the Beidou/GNSS receiving and processing terminal is used for receiving the buoy ranging signal from the Beidou/GNSS receiving and transmitting antenna and positioning the buoy based on the buoy ranging signal,
The sonar/blue-green laser receiving and processing terminal is used for receiving the positioning signal of the underwater target from the underwater ranging equipment, receiving the positioning signal of the buoy from the Beidou/GNSS receiving and processing terminal, and positioning the underwater target according to the positioning signal of the buoy and the positioning signal of the underwater target.
13. The Beidou satellite based buoy underwater positioning and position reporting device of claim 12, wherein the Beidou/GNSS receiving and processing terminal is further configured to demodulate the buoy ranging signal to obtain a positioning signal of the buoy, and the positioning information of the buoy comprises orbital position coordinates of the navigation satellite and position coordinates of the buoy.
14. the Beidou based buoy underwater positioning and position reporting device as set forth in claim 13, wherein said sonar/blue-green laser receiving processing terminal is further for:
when the underwater target does not have the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target is a reflection signal of the underwater target ranging signal, and a ranging value from the buoy to the underwater target is calculated based on a two-way ranging method, so that the underwater target is positioned according to the position coordinate of the buoy and the ranging value;
When the underwater target has the functions of receiving measurement and underwater acoustic communication, the positioning signal of the underwater target comprises the position coordinate of the underwater target calculated by the underwater target according to the received underwater target ranging signal, so that the underwater target is positioned according to the position coordinate of the buoy and the position coordinate of the underwater target.
15. The Beidou based buoy underwater positioning and position reporting device as set forth in claim 14, wherein said sonar/blue-green laser receiving processing terminal is further for:
According to the formulacalculating to obtain the distance measurement value from the buoy to the underwater target, diThe range value of the buoy i to the underwater object or equipment,For the moment when the buoy emits the underwater target ranging signal,And v is the propagation speed of sound waves or blue-green laser underwater, wherein the time for receiving the echo signals is the moment for receiving the reflected signals of the underwater target ranging signals.
16. A beidou-based buoy underwater positioning and position reporting system comprising a beidou-based buoy underwater positioning and position reporting device as claimed in any one of claims 9 to 15, a buoy, a navigation satellite, and an underwater target, the beidou-based buoy underwater positioning and position reporting device being mounted on the buoy and in communication with the navigation satellite, the underwater target being underwater and separate from the beidou-based buoy underwater positioning and position reporting device, the buoy, and the navigation satellite.
17. The Beidou based buoy underwater positioning and position reporting system of claim 16 wherein the navigation satellite is one or a combination of the Beidou satellite navigation system, the United states Global positioning System, the Russian Glonass system or the European Galileo system.
18. The Beidou based buoy underwater positioning and position reporting system of claim 16 wherein the underwater object is a vehicle or device such as an underwater unmanned cabin, a scientific submarine vehicle, or the like.
CN201910756549.6A 2019-08-16 2019-08-16 Buoy underwater positioning and position reporting method and device based on Beidou Pending CN110568463A (en)

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CN112612046A (en) * 2020-11-06 2021-04-06 中国船舶重工集团公司第七0七研究所 Beidou-based water/underwater integrated high-precision navigation and positioning system
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Application publication date: 20191213