CN110703197A - Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof - Google Patents
Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof Download PDFInfo
- Publication number
- CN110703197A CN110703197A CN201911088436.XA CN201911088436A CN110703197A CN 110703197 A CN110703197 A CN 110703197A CN 201911088436 A CN201911088436 A CN 201911088436A CN 110703197 A CN110703197 A CN 110703197A
- Authority
- CN
- China
- Prior art keywords
- acoustic
- sound
- head
- transducer
- signal processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention relates to a lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and a working mode thereof, wherein the transducer comprises a sound head, a plurality of groups of sound array are arranged on the side surface of the sound head at intervals, an electronic cabin is arranged at the bottom of the sound head, and an underwater holder is arranged at the bottom of the electronic cabin; according to the strength of the acoustic signals fed back by the acoustic matrixes and the azimuth angle signals of the underwater target, the signal processing module generates a rotation instruction, the controller module controls the underwater holder to work, the rotating shaft is driven to rotate through the driving motor, and therefore the acoustic head rotates, the optimal acting area of the transmitting-receiving transducer is aligned to the underwater target, and tracking and positioning are accurately carried out. According to the invention, the problem of insufficient operation area of the existing ultrashort baseline positioning system is effectively solved by mounting the plurality of groups of acoustic matrixes on the side surface of the sound head at intervals, accurate positioning in a lateral large-opening-angle range is realized, the effective operation area is greatly expanded, the receiving and transmitting transducer can automatically rotate the sound head according to actual conditions so as to more accurately position, and the applicability is good.
Description
Technical Field
The invention relates to the technical field of underwater positioning, in particular to a lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and a working mode thereof.
Background
The 21 st century is the century of oceans, and deep sea space stations have become the leading field of ocean technology research in developed countries due to the study, development and utilization of oceans. The deep sea space station is a kind of deep sea carrying equipment which is not restricted by the severe sea wave environment, can directly control operation tools and devices in the deep sea area for a long period and all weather, and can carry out marine scientific research, resource detection development and seabed engineering operation. For specific underwater operation tasks, deep sea space stations are generally equipped with operation type cable control Submersibles (ROVs) to complete the task mission. When a specific working sea area is reached, the deep sea space station is usually in a hovering or setting state for saving energy, and an ROV is released to complete a working task at a specified position. In the process, the deep sea space station needs to track the position of the ROV in real time so as to facilitate the operators to effectively control and smoothly complete the operation task.
The surface ship mainly uses an ultra-short baseline positioning system to track and position an underwater moving target (such as an ROV). The ultra-short baseline positioning system mainly comprises a transceiver transducer and a transponder, and is respectively arranged on two motion carriers. When the receiving and transmitting transducer adopts a pressure-resistant structure and is loaded on an underwater moving target, the positioning system is called an inverted ultrashort baseline positioning system. For deep sea applications, the deep sea space station mainly uses an inverted ultra-short baseline positioning system to track and position the ROV.
In the prior art, a transmitting-receiving transducer can track a plurality of targets simultaneously, the transmitting-receiving transducer is usually arranged at the bottom of a deep sea space station, and a transponder is arranged on an ROV. According to the ultra-short baseline positioning principle, the transmitting-receiving transducer can measure the relative position vector with the transponder, thereby positioning the ROV. However, when deep sea spaces sit on the bottom, ultra short baseline positioning systems are clearly not available; when the deep sea space station is suspended, because the ultra-short baseline positioning system has a specific effective operation area, generally a conical area taking the transceiver transducer as a vertex, and the closer to the central axis, the better the effect, therefore, when the ROV is positioned under the deep sea space station, the positioning effect of the deep sea space station on the ROV is the best, the positioning is the most accurate, and when the depth difference between the ROV and the deep sea space station is smaller or the ROV and the deep sea space station are positioned at the same depth, the ROV is easy to deviate from the effective action range of the ultra-short baseline positioning system.
Therefore, the existing inverted ultra-short baseline positioning system has use limitation because the ultra-short baseline positioning system has a specific effective operation area. The receiving and transmitting transducer is arranged at the bottom or the top of the deep sea space station and cannot position a moving target at the right side of the deep sea space station; if the receiving and transmitting transducer is arranged right ahead, the deep sea space station cannot position the moving targets on two sides and behind the deep sea space station; if all the devices are installed in all directions, the cost is high.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides a lateral measurement type inverted ultrashort baseline transceiver transducer with a reasonable structure and a working mode thereof, so that the effective operation area of the conventional ultrashort baseline positioning system is greatly improved, accurate positioning in a lateral large-opening-angle range is realized, and the applicability is good.
The technical scheme adopted by the invention is as follows:
a lateral measurement type inverted ultrashort baseline transmitting-receiving transducer comprises a sound head, wherein a plurality of groups of sound matrixes are arranged on the side surface of the sound head at intervals, an electronic cabin is arranged at the bottom of the sound head, and an underwater holder is arranged at the bottom of the electronic cabin; and a controller module is installed in the electronic cabin, and the underwater cradle head works under the control of the controller module so as to drive the sound head to rotate.
As a further improvement of the above technical solution:
the structure of the sound head is as follows: the acoustic matrix support comprises a support body with a cylindrical structure, wherein a plurality of acoustic rubber is uniformly arranged on the circumferential surface of the support body along the circumferential direction, and a group of acoustic matrixes are arranged between a single acoustic rubber and the support body.
The side face of the support body is uniformly provided with a plurality of notches along the circumferential direction, the acoustic array corresponds to the notches one to one, a single group of acoustic array is arranged in the notches, and the single sound-transmitting rubber corresponds to the notches one to one and is matched and clamped.
The single-group acoustic array comprises a sound source and a plurality of hydrophones, and the plurality of hydrophones are uniformly distributed on a supporting body by taking the sound source as the center.
A signal processing module, an inertial navigation module and a controller module are installed in the electronic cabin, and the acoustic array, the inertial navigation module and the controller module are communicated with the signal processing module; the controller module controls the underwater holder to work; the acoustic array, the inertial navigation module, the controller module and the signal processing module are all connected with the power module.
And the signal processing module is connected with the external deep sea space station through an external interface.
The underwater cradle head is characterized in that: the cradle head comprises a cradle head main body connected with an electronic cabin, wherein a rotating shaft is arranged at the bottom of the cradle head main body, and a base is arranged at the bottom end of the rotating shaft; and a motor for driving the rotating shaft to rotate is arranged in the holder main body.
The bottom of the underwater cloud deck is provided with a flange plate which is fixedly arranged at the top end of an external deep sea space station, and the transmitting-receiving transducer is connected with the deep sea space station through a cable; the cable control submersible vehicle further comprises a transponder matched with the transceiving transducer, wherein the transponder is mounted at the top of the cable control submersible vehicle; the cable control submersible vehicle is located on the side of the deep sea space station.
A watertight connector I is arranged at the joint of the sound head and the electronic cabin; a watertight connector II is mounted on the side wall of the electronic cabin; and a watertight connector III is arranged at the joint of the electronic cabin and the underwater cradle head.
The working mode of the lateral measurement type inverted ultrashort baseline transceiver transducer comprises the following steps:
the first step is as follows: a plurality of groups of acoustic arrays arranged on the side surface of the acoustic head simultaneously detect acoustic signals of the transponder, and the plurality of groups of acoustic arrays send the acoustic signals to the signal processing module;
the second step is that: according to the received acoustic signals, the signal processing module analyzes the strength of the acoustic signals and the azimuth angle of the transponder, generates a rotation instruction and sends the rotation instruction to the controller module;
the third step: the controller module controls the motor to work according to the rotating instruction; the rotating shaft is driven by the motor to rotate, so that the underwater holder, the electronic cabin and the sound head are driven to rotate, one of the plurality of sound matrixes is aligned with the transponder, and the sound matrixes detect sound signals of the transponder at the moment and send the sound signals to the signal processing module;
the fourth step: the inertial navigation module measures the current course, attitude angle and position of the receiving and transmitting transducer in a geodetic coordinate system and sends signals to the signal processing module;
the fifth step: and combining the acoustic signal of the acoustic array in the third step and the signal of the inertial navigation module in the fourth step by the signal processing module, resolving the accurate position of the transponder by the signal processing module, and sending the position information to an external deep sea space station.
The invention has the following beneficial effects:
the system has compact and reasonable structure and convenient operation, effectively solves the problem of insufficient operation area of the existing ultrashort baseline positioning system by mounting a plurality of groups of acoustic matrixes on the side surface of the acoustic head at intervals, realizes accurate positioning in a lateral large-opening-angle range, and greatly enlarges the effective operation area; the method is particularly suitable for the deep sea space station and the ROV, and when the depth difference between the deep sea space station and the ROV is small or the deep sea space station and the ROV are in the same depth plane, the ROV can be accurately tracked and positioned by the deep sea space station.
The invention also comprises the following advantages:
according to the strength of the acoustic signals fed back by the acoustic arrays and the angle signals of the underwater target, the signal control module generates a rotation instruction, the controller module controls the underwater pan-tilt to work, the driving motor drives the rotating shaft to rotate, and the acoustic head rotates, so that the optimal action area of the transmitting-receiving transducer is aligned to the underwater target, and the tracking and positioning accuracy is greatly promoted and improved.
The electronic cabin is used for information interaction of the sound head, the underwater cradle head and the outside, signal processing and position calculation are carried out, and the rotation of the transmitting-receiving transducer is controlled.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the support body of the present invention.
Fig. 3 is a sectional view taken along a-a in fig. 2.
FIG. 4 is a schematic diagram of the modules in the electronic cabin and the connection between the modules and the sound head and the underwater pan-tilt head.
Fig. 5 is a schematic view of the present invention installed in a deep sea space station and working with a transponder.
Wherein: 1. a sound head; 11. a support body; 111. a sound source; 112. a hydrophone; 113. a recess; 12. an acoustically transparent rubber; 13. a first watertight connector; 2. an electronic compartment; 21. an inertial navigation module; 22. a signal processing module; 23. a controller module; 24. a power supply module; 25. a watertight connector II; 3. an underwater cradle head; 31. a holder main body; 32. a rotating shaft; 33. a base; 34. a watertight connector III; 4. a flange plate; 5. a cable wire; 6. a deep sea space station; 7. a transponder; 8. provided is a cable controlled submersible vehicle.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the lateral measurement type inverted ultrashort baseline transceiver transducer of the embodiment includes a sound head 1, a plurality of groups of sound matrixes are installed on the side surface of the sound head 1 at intervals, an electronic cabin 2 is installed at the bottom of the sound head 1, an underwater cradle head 3 is installed at the bottom of the electronic cabin 2, a controller module 23 is installed in the electronic cabin 2, and the underwater cradle head 3 works under the control of the controller module 23, so as to drive the sound head 1 to rotate.
The structure of the sound head 1 is as follows: the acoustic matrix support comprises a support body 11 with a cylindrical structure, wherein a plurality of sound-transmitting rubbers 12 are uniformly arranged on the circumferential surface of the support body 11 along the circumferential direction, the sound-transmitting rubbers 12 are mutually independent, and a group of acoustic matrixes are arranged between a single sound-transmitting rubber 12 and the support body 11.
The sound head 1 is used for transmitting and receiving sound wave signals to the side of the receiving and transmitting transducer within an open angle range; each acoustic array acts on a certain area; as shown in fig. 2 and 3, the upper and lower opening angles of the single acoustic array active region are α, and the lateral opening angle of the single acoustic array active region is β, so that most of the lateral area is covered.
The side surface of the support body 11 is uniformly provided with a plurality of notches 113 along the circumferential direction, the acoustic matrix and the notches 113 are in one-to-one correspondence, a single group of acoustic matrix is installed in the notches 113, and the single sound-transmitting rubber 12 and the notches 113 are in one-to-one correspondence and are matched and clamped.
The number of the notches 113 and the number of the acoustic arrays are three, and the three acoustic arrays are mutually independent and respectively cover the operation area; when the lateral opening angle beta of a single acoustic array reaches 120 degrees, positioning of an underwater target can be carried out within 360 degrees on the side of the transceiver transducer; when the up-down opening angle alpha of a single acoustic array reaches 180 degrees, the underwater target in the whole spherical area with the transmitting-receiving transducer as the center can be positioned.
The single-group acoustic array comprises a sound source 111 and a plurality of hydrophones 112, wherein the plurality of hydrophones 112 are uniformly distributed on a support body 11 by taking the sound source 111 as the center; the hydrophones 112 may be arranged in a four-cell array, a five-cell array, or the like.
A signal processing module 22, an inertial navigation module 21 and a controller module 23 are installed in the electronic cabin 2, and the acoustic array, the inertial navigation module 21 and the controller module 23 are all communicated with the signal processing module 22; the controller module 23 controls the underwater cradle head 3 to work; the acoustic array and inertial navigation system further comprises a power supply module 24, wherein the acoustic array and inertial navigation module 21, the controller module 23 and the signal processing module 22 are all connected with the power supply module 24; as shown in fig. 4.
The inertial navigation module 21 is used for measuring the course and the attitude of the transmitting-receiving transducer in real time; the signal processing module 22 is configured to receive signals of the acoustic head 1 and the inertial navigation module 21, solve an azimuth angle and a relative position vector of the transponder 7 in real time according to the signals, and send an instruction to the controller module 23; the controller module 23 controls the underwater pan-tilt 3 to work according to the instruction of the signal processing module 22, so as to realize the rotation of the sound head 1; the controller module 23 controls the rotation angle and the rotation speed of the underwater cradle head 3; the power module 24 supplies power to various components in the transceiver transducer; and the outside supplies power to the power module 24 through the watertight connector II 25.
The signal processing module 22 is connected with an external deep sea space station through an external interface to realize information interaction with the outside.
The underwater cradle head 3 has the following structure: the electronic device comprises a holder main body 31 connected with an electronic cabin 2, wherein a rotating shaft 32 is arranged at the bottom of the holder main body 31, and a base 33 is arranged at the bottom end of the rotating shaft 32; a motor for driving the rotation shaft 32 to rotate is installed in the holder main body 31.
A flange plate 4 is installed on a base 33 at the bottom of the underwater pan-tilt 3, the flange plate 4 is fixedly installed at the top end of an external deep sea space station 6, a transmitting-receiving transducer is connected with the deep sea space station 6 through a cable 5, and the deep sea space station 6 provides electric power support for the transmitting-receiving transducer through the cable 5 and carries out real-time communication; the device also comprises a transponder 7 matched with the transceiving transducer for use, wherein the transponder 7 is arranged on the top of the cable control submersible vehicle 8, and the transponder 7 receives and identifies the acoustic signal from the transceiving transducer and transmits a response sound wave; the cable control submersible vehicle 8 is positioned on the side of the deep sea space station 6; as shown in fig. 5.
A watertight connector I13 is arranged at the joint of the sound head 1 and the electronic cabin 2, and the sound head 1 is in cable connection with the electronic cabin 2 through the watertight connector I13; a watertight connector II 25 is mounted on the side wall of the electronic cabin 2, and the electronic cabin 2 is connected with a cable of an external deep sea space station through the watertight connector II 25; the third watertight connector 34 is installed at the joint of the electronic cabin 2 and the underwater pan-tilt 3, and the underwater pan-tilt 3 is in cable connection with the electronic cabin 2 through the third watertight connector 34.
Cloud platform 3 is the outsourcing standard product under water, and the reference model of cloud platform 3 under water is in this embodiment: model OE10-103 single axis pan head from the company Kongsberg, norway.
The working mode of the lateral measurement type inverted ultrashort baseline transceiver transducer of the embodiment includes the following steps:
the first step is as follows: a plurality of groups of acoustic arrays arranged on the side surface of the acoustic head 1 simultaneously detect acoustic signals of the transponder 7, and the plurality of groups of acoustic arrays send the acoustic signals to the signal processing module 22;
the second step is that: according to the received acoustic signal, the signal processing module 22 analyzes the strength of the acoustic signal and the azimuth angle of the transponder 7, generates a rotation instruction, and sends the rotation instruction to the controller module 23;
the third step: the controller module 23 controls the motor to work according to the rotation instruction; the rotating shaft 32 is driven by the motor to rotate, so as to drive the underwater holder 3, the electronic cabin 2 and the sound head 1 to rotate, so that one of the acoustic arrays is aligned with the transponder 7, the acoustic array detects an acoustic signal of the transponder 7 at the moment and sends the acoustic signal to the signal processing module 22, and the acoustic signal comprises an azimuth angle of the transponder 7 relative to the transceiver transducer;
the fourth step: the inertial navigation module 21 measures the current course, attitude angle and position of the transmitting-receiving transducer in the geodetic coordinate system, and sends the signal to the signal processing module 22;
the fifth step: the signal processing module 22 combines the acoustic signal of the acoustic array in the third step and the signal of the inertial navigation module 21 in the fourth step, and the signal processing module 22 calculates the accurate position of the transponder 7, namely the position of the transponder 7 in the geodetic coordinate system, and sends the position information to the external deep sea space station 6;
thereby realizing the automatic control working mode of the transmitting and receiving transducer.
The transceiver transducer may also operate in a manual control mode: personnel in the deep sea space station 6 directly send a rotation instruction to the signal processing module 22 in the electronic cabin 2, the signal processing module 22 sends the received signal to the controller module 23, the controller module 23 controls the underwater pan-tilt 3 to work, the underwater pan-tilt 3 drives the motor to rotate the rotating shaft 32, and then the sound head 1 rotates.
The underwater target positioning device is simple in structure and ingenious in conception, realizes accurate positioning of underwater targets in a lateral large-opening-angle area and even a whole spherical area, greatly enlarges a positioning operation area, and is good in applicability.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. A lateral measurement type inverted ultrashort baseline transceiver transducer is characterized in that: the underwater acoustic head comprises an acoustic head (1), wherein a plurality of groups of acoustic arrays are arranged on the side surface of the acoustic head (1) at intervals, an electronic cabin (2) is arranged at the bottom of the acoustic head (1), and an underwater pan-tilt (3) is arranged at the bottom of the electronic cabin (2); install controller module (23) in electron cabin (2), cloud platform (3) under water works under the control of controller module (23) to drive sound head (1) and rotate.
2. The laterally measuring inverted ultra-short baseline transceiver transducer of claim 1, wherein: the structure of the sound head (1) is as follows: the acoustic matrix support comprises a support body (11) with a cylindrical structure, wherein a plurality of sound-transmitting rubbers (12) are uniformly arranged on the circumferential surface of the support body (11) along the circumferential direction, and a group of acoustic matrixes are arranged between a single sound-transmitting rubber (12) and the support body (11).
3. The upside down ultrashort baseline transceiver transducer of lateral measurement type as claimed in claim 2, wherein: the side surface of the support body (11) is uniformly provided with a plurality of notches (113) along the circumferential direction, the acoustic matrix and the notches (113) are in one-to-one correspondence, a single group of acoustic matrix is installed in the notches (113), and the single sound-transmitting rubber (12) and the notches (113) are in one-to-one correspondence and are matched and clamped.
4. A lateral measurement type inverted ultrashort baseline transceiver transducer as claimed in claim 2 or 3, wherein: the single-group acoustic array comprises a sound source (111) and a plurality of hydrophones (112), wherein the plurality of hydrophones (112) are uniformly distributed on a supporting body (11) by taking the sound source (111) as the center.
5. The laterally measuring inverted ultra-short baseline transceiver transducer of claim 1, wherein: a signal processing module (22), an inertial navigation module (21) and a controller module (23) are installed in the electronic cabin (2), and the acoustic array, the inertial navigation module (21) and the controller module (23) are communicated with the signal processing module (22); the controller module (23) controls the underwater cradle head (3) to work; the acoustic array, the inertial navigation module (21), the controller module (23) and the signal processing module (22) are all connected with the power module (24).
6. The upside down ultrashort baseline transceiver transducer of lateral measurement type as claimed in claim 5, wherein: the signal processing module (22) is connected with an external deep sea space station through an external interface.
7. The laterally measuring inverted ultra-short baseline transceiver transducer of claim 1, wherein: the underwater cradle head (3) is structurally characterized in that: the electronic device comprises a holder main body (31) connected with an electronic cabin (2), wherein a rotating shaft (32) is installed at the bottom of the holder main body (31), and a base (33) is installed at the bottom end of the rotating shaft (32); and a motor for driving the rotating shaft (32) to rotate is arranged in the holder main body (31).
8. The laterally measuring inverted ultra-short baseline transceiver transducer of claim 1, wherein: the bottom of the underwater pan-tilt (3) is provided with a flange plate (4), the flange plate (4) is fixedly arranged at the top end of an external deep sea space station (6), and the transmitting-receiving transducer is connected with the deep sea space station (6) through a cable (5); the cable control submersible vehicle further comprises a transponder (7) matched with the transceiving transducer, wherein the transponder (7) is mounted on the top of the cable control submersible vehicle (8); the cable control submersible vehicle (8) is located on the side of the deep sea space station (6).
9. The laterally measuring inverted ultra-short baseline transceiver transducer of claim 1, wherein: a watertight connector I (13) is arranged at the joint of the sound head (1) and the electronic cabin (2); a watertight connector II (25) is mounted on the side wall of the electronic cabin (2); and a watertight connector III (34) is arranged at the joint of the electronic cabin (2) and the underwater cradle head (3).
10. A method of operating the lateral measurement inverted ultra-short baseline transceiver transducer of claim 1, wherein: the method comprises the following steps:
the first step is as follows: a plurality of groups of acoustic arrays arranged on the side surface of the acoustic head (1) simultaneously detect acoustic signals of the transponder (7), and the plurality of groups of acoustic arrays send the acoustic signals to the signal processing module (22);
the second step is that: according to the received acoustic signals, the signal processing module (22) analyzes the strength of the acoustic signals and the azimuth angle of the transponder (7), generates a rotation instruction and sends the rotation instruction to the controller module (23);
the third step: the controller module (23) controls the motor to work according to the rotation instruction; the rotating shaft (32) is driven by the motor to rotate, so that the underwater holder (3), the electronic cabin (2) and the sound head (1) are driven to rotate, one of the plurality of sound matrixes is aligned to the transponder (7), and the sound matrixes detect the sound signals of the transponder (7) at the moment and send the sound signals to the signal processing module (22);
the fourth step: the inertial navigation module (21) measures the current course, attitude angle and position of the receiving and transmitting transducer in a geodetic coordinate system and sends signals to the signal processing module (22);
the fifth step: and the signal processing module (22) combines the acoustic signal of the acoustic array in the third step and the signal of the inertial navigation module (21) in the fourth step, and the signal processing module (22) calculates the accurate position of the transponder (7) and sends the position information to the external deep sea space station (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088436.XA CN110703197B (en) | 2019-11-08 | 2019-11-08 | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088436.XA CN110703197B (en) | 2019-11-08 | 2019-11-08 | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110703197A true CN110703197A (en) | 2020-01-17 |
| CN110703197B CN110703197B (en) | 2021-09-07 |
Family
ID=69204758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911088436.XA Active CN110703197B (en) | 2019-11-08 | 2019-11-08 | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110703197B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111273295A (en) * | 2020-02-21 | 2020-06-12 | 北京联合声信海洋技术有限公司 | Underwater height measuring instrument |
| CN111487580A (en) * | 2020-05-09 | 2020-08-04 | 中国船舶科学研究中心 | Multifunctional acoustic beacon and deep sea long baseline array type calibration method |
| CN114234932A (en) * | 2021-12-08 | 2022-03-25 | 天津大学 | Underwater conductor measuring method and device for obtaining data of subsea control point |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3800272A (en) * | 1972-08-08 | 1974-03-26 | Us Navy | Rotating acoustic scanner system for positioning objects on the ocean floor |
| CN101715157A (en) * | 2009-10-30 | 2010-05-26 | 北京信息科技大学 | Cascade and parallel piezoelectric composite material-based cylindrical transducer |
| CN201654234U (en) * | 2010-03-09 | 2010-11-24 | 北京新源永泰光电科技发展有限责任公司 | Mechanical scanning type active sonar frogman detection device |
| CN102509544A (en) * | 2011-10-28 | 2012-06-20 | 中国船舶重工集团公司第七一○研究所 | Integrated deepwater underwater transducer array |
| US20120236689A1 (en) * | 2009-11-11 | 2012-09-20 | Btech Acoustics Llc | Acoustic transducers for underwater navigation and communication |
| US20120243375A1 (en) * | 2011-03-25 | 2012-09-27 | Teledyne Instruments, Inc. | Determining a position of a submersible vehicle within a body of water |
| CN203519842U (en) * | 2013-09-27 | 2014-04-02 | 中国石油集团东方地球物理勘探有限责任公司 | Acoustic positioning ultra-short baseline acoustic array device for offshore oil exploration |
| CN203551770U (en) * | 2013-11-08 | 2014-04-16 | 中海油田服务股份有限公司 | Novel underwater responder with remote measurement function |
| CN103926560A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system |
| CN105319530A (en) * | 2015-11-30 | 2016-02-10 | 江苏中海达海洋信息技术有限公司 | Sound head device based on iTrack-UB series ultrashort baseline underwater sound positioning system |
| CN105988117A (en) * | 2015-02-10 | 2016-10-05 | 中国科学院声学研究所 | Acoustic seabed distance measurement system and method thereof |
| CN106569199A (en) * | 2016-07-29 | 2017-04-19 | 中国人民解放军海军工程大学 | Anti-frogman sonar transducer array |
| CN106644043A (en) * | 2016-12-14 | 2017-05-10 | 中国船舶重工集团公司第七0研究所 | Torpedo modular embedded type cylindrical conformal acoustic base array |
| CN107748352A (en) * | 2017-11-28 | 2018-03-02 | 嘉兴易声电子科技有限公司 | Suitable for the ultra-short baseline device and localization method of shallow water positioning |
| CN108008397A (en) * | 2017-11-30 | 2018-05-08 | 舟山遨拓海洋工程技术有限公司 | For the device and its detection method being detected in muddy water to submerged structure |
| CN108766412A (en) * | 2018-05-25 | 2018-11-06 | 中国科学院声学研究所东海研究站 | A kind of pressure resistant type underwater sound cylindrical transducer basic matrix |
| CN109737956A (en) * | 2018-12-17 | 2019-05-10 | 东南大学 | A kind of SINS/USBL phase difference tight integration navigation locating method based on double response device |
| CN109959915A (en) * | 2017-12-26 | 2019-07-02 | 中国船舶重工集团公司七五〇试验场 | A kind of multi-beam sonar basic matrix |
-
2019
- 2019-11-08 CN CN201911088436.XA patent/CN110703197B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3800272A (en) * | 1972-08-08 | 1974-03-26 | Us Navy | Rotating acoustic scanner system for positioning objects on the ocean floor |
| CN101715157A (en) * | 2009-10-30 | 2010-05-26 | 北京信息科技大学 | Cascade and parallel piezoelectric composite material-based cylindrical transducer |
| US20120236689A1 (en) * | 2009-11-11 | 2012-09-20 | Btech Acoustics Llc | Acoustic transducers for underwater navigation and communication |
| CN201654234U (en) * | 2010-03-09 | 2010-11-24 | 北京新源永泰光电科技发展有限责任公司 | Mechanical scanning type active sonar frogman detection device |
| US20120243375A1 (en) * | 2011-03-25 | 2012-09-27 | Teledyne Instruments, Inc. | Determining a position of a submersible vehicle within a body of water |
| CN102509544A (en) * | 2011-10-28 | 2012-06-20 | 中国船舶重工集团公司第七一○研究所 | Integrated deepwater underwater transducer array |
| CN203519842U (en) * | 2013-09-27 | 2014-04-02 | 中国石油集团东方地球物理勘探有限责任公司 | Acoustic positioning ultra-short baseline acoustic array device for offshore oil exploration |
| CN203551770U (en) * | 2013-11-08 | 2014-04-16 | 中海油田服务股份有限公司 | Novel underwater responder with remote measurement function |
| CN103926560A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system |
| CN105988117A (en) * | 2015-02-10 | 2016-10-05 | 中国科学院声学研究所 | Acoustic seabed distance measurement system and method thereof |
| CN105319530A (en) * | 2015-11-30 | 2016-02-10 | 江苏中海达海洋信息技术有限公司 | Sound head device based on iTrack-UB series ultrashort baseline underwater sound positioning system |
| CN106569199A (en) * | 2016-07-29 | 2017-04-19 | 中国人民解放军海军工程大学 | Anti-frogman sonar transducer array |
| CN106644043A (en) * | 2016-12-14 | 2017-05-10 | 中国船舶重工集团公司第七0研究所 | Torpedo modular embedded type cylindrical conformal acoustic base array |
| CN107748352A (en) * | 2017-11-28 | 2018-03-02 | 嘉兴易声电子科技有限公司 | Suitable for the ultra-short baseline device and localization method of shallow water positioning |
| CN108008397A (en) * | 2017-11-30 | 2018-05-08 | 舟山遨拓海洋工程技术有限公司 | For the device and its detection method being detected in muddy water to submerged structure |
| CN109959915A (en) * | 2017-12-26 | 2019-07-02 | 中国船舶重工集团公司七五〇试验场 | A kind of multi-beam sonar basic matrix |
| CN108766412A (en) * | 2018-05-25 | 2018-11-06 | 中国科学院声学研究所东海研究站 | A kind of pressure resistant type underwater sound cylindrical transducer basic matrix |
| CN109737956A (en) * | 2018-12-17 | 2019-05-10 | 东南大学 | A kind of SINS/USBL phase difference tight integration navigation locating method based on double response device |
Non-Patent Citations (4)
| Title |
|---|
| 张同伟，等: "《深海超短基线定位系统现状及展望》", 《舰船电子工程》 * |
| 杨立文，等: "《基于超短基线的侧扫声呐水下目标定位技术》", 《中国港湾建设》 * |
| 滕舵，等: "《水声换能器基础》", 30 April 2016 * |
| 金博楠，等: "《超短基线定位技术及在海洋工程中的应用》", 《导航定位与授时》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111273295A (en) * | 2020-02-21 | 2020-06-12 | 北京联合声信海洋技术有限公司 | Underwater height measuring instrument |
| CN111487580A (en) * | 2020-05-09 | 2020-08-04 | 中国船舶科学研究中心 | Multifunctional acoustic beacon and deep sea long baseline array type calibration method |
| CN114234932A (en) * | 2021-12-08 | 2022-03-25 | 天津大学 | Underwater conductor measuring method and device for obtaining data of subsea control point |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110703197B (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110703197B (en) | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof | |
| KR101307454B1 (en) | Location tracking system and method for pan-tilt controlled underwater vehicle with ultrasonic transceiver | |
| CN203786566U (en) | Submarine cable maintenance underwater robot system | |
| CN110294080B (en) | Method for realizing underwater accurate operation by using ultra-short baseline | |
| RU2724156C1 (en) | Device for external flaw detection of underwater vertical hydraulic structures | |
| CN211107934U (en) | Collaborative exploration system based on unmanned cableless submersible | |
| US10669000B2 (en) | Mobile underwater docking system for an underwater vehicle | |
| RU173254U1 (en) | Robotic swimming facility for research and underwater operations | |
| CN110525616A (en) | Submarine earthquake detection flight node aircraft and working method based on buoyancy adjustment | |
| WO2014175745A1 (en) | System and method for accurate positioning of control devices for instrumented cables | |
| CN111142144B (en) | Underwater acoustic positioning and timing buoy and underwater positioning method | |
| CN111521972A (en) | Wave glider-based depth-fixed marine acoustic information acquisition system | |
| CN208985011U (en) | A kind of hull bottom intelligence underwater cleaning robot | |
| CN114313165A (en) | Dam face detection underwater robot system based on multi-acoustic-device cooperative operation | |
| WO2017170136A1 (en) | System for approach of autonomous underwater vehicle to underwater equipment | |
| WO2018141157A1 (en) | Experimentation system and method for frequency target detection of underwater moving submersible body | |
| CN109188484B (en) | Cabled underwater robot positioning device and positioning method thereof | |
| CN216734715U (en) | Dam face detection underwater robot system based on multi-acoustic-device cooperative operation | |
| CN115871867A (en) | Detection and auxiliary operation robot device suitable for underwater complex working environment | |
| CN215981440U (en) | Underwater pipeline inspection robot | |
| JP2022145659A (en) | Coupling system between water surface relay machine and underwater vehicle, and operation method for the same | |
| CN209972749U (en) | Annular single-drive underwater robot | |
| Watanabe et al. | Development of a floating LBL system and a lightweight ROV for sky to water system | |
| CN113883333A (en) | Underwater pipeline inspection robot | |
| JP2018017502A (en) | Underwater sound positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |