CN111272176B - Submarine navigation method and system combining multi-beam sounding - Google Patents
Submarine navigation method and system combining multi-beam sounding Download PDFInfo
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- CN111272176B CN111272176B CN202010169297.XA CN202010169297A CN111272176B CN 111272176 B CN111272176 B CN 111272176B CN 202010169297 A CN202010169297 A CN 202010169297A CN 111272176 B CN111272176 B CN 111272176B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
The invention relates to a submarine navigation method and system combining multi-beam sounding, wherein a submarine navigates by motor under the guidance of an inertial navigation system, and when navigation errors are accumulated greatly, a nearby gravity lighthouse is searched in an ocean gravity lighthouse database, and the gravity characteristic information of a target lighthouse is extracted. The submarine floats right above the target lighthouse, releases an underwater unmanned Autonomous Underwater Vehicle (AUV) carrying the multi-beam depth sounder, and uses multi-beam equipment to scan the terrain of the target lighthouse and extract terrain characteristic information. Since the gravity abnormal amplitude distribution of the earth free space and the topographic relief form are in positive correlation, the topographic features which are actually collected are subjected to surface matching with the lighthouse features in the marine gravity lighthouse database, so that the coordinate information of the submarine is obtained, and the error of the inertial navigation system is corrected according to the coordinate. The invention improves the navigation accuracy by correcting the inertial navigation system.
Description
Technical Field
The invention relates to the field of submarine navigation, in particular to a submarine navigation method and system combining multi-beam sounding.
Background
Inertial navigation is the mainstream navigation mode at present, and the current position coordinate can be obtained by utilizing a gyroscope to measure the course, utilizing an accelerometer to measure the speed change, adding the initial position of a submarine and utilizing secondary integral operation. The inertial navigation is passive navigation, does not need any external information, has strong concealment and high actual combat value, but increases errors along with time.
Aiming at the defects of the inertial navigation, the invention provides a concept of a gravity beacon, which comprises the following steps: a large number of volcanic eruptions and extremely steep seahills formed by plate motion exist in the ocean, and a very prominent local gravity high value can be generated at the top of the extremely steep seahills to form an obvious gravity characteristic point group. Under the influence of the distribution condition of local submarine topography protrusion and underground mass aggregation, an ocean gravity field can form a distribution texture characteristic similar to that of a land topography, and has gravity abnormal high-value areas, low-value areas and gentle areas with gravity phenomena of 'peaks', 'valleys', 'ridges' and the like. We regard these natural and discretely distributed gravity high-value feature point groups existing on the sea bottom as "lighthouses" for navigation, namely "gravity lighthouses". The invention provides a novel submarine navigation method by combining inertial navigation and a gravity beacon.
Disclosure of Invention
The invention aims to provide a submarine navigation method and system combining multi-beam sounding, which combines inertial navigation and a gravity lighthouse and improves the precision of submarine navigation.
In order to achieve the purpose, the invention provides the following scheme:
a submarine navigation method combining multi-beam sounding, the method comprising:
acquiring gravity characteristic information of all lighthouses in an ocean gravity lighthouse database, effective time of an inertial navigation system and submarine guiding time of the inertial navigation system; the gravity characteristic information includes: the outline characteristic of the lighthouse and the fluctuation form characteristic of the lighthouse;
when the time for guiding the submarine by the inertial navigation system is equal to the effective time of the inertial navigation system, determining the current position coordinate of the submarine;
searching from the marine gravity beacon database by taking the current position coordinate as a center to determine a target beacon; the target lighthouse is the lighthouse closest to the current position coordinate;
controlling the submarine to run right above the target lighthouse and releasing the cableless underwater robot;
acquiring topographic feature information of the target lighthouse by using the cableless underwater robot; the topographic feature information includes: the topographic profile of the target lighthouse and the corresponding height and undulation form of the target lighthouse;
matching the topographic characteristic information with the gravity characteristic information of the lighthouse to obtain the position coordinate of the target lighthouse;
and resetting the inertial navigation system, and guiding the submarine to run by taking the position coordinate of the target lighthouse as a starting point.
Optionally, the obtaining the gravity feature information of each lighthouse in the marine gravity lighthouse database specifically includes:
acquiring N maximum value points of the gravity amplitude maximum value of the lighthouse, the gravity amplitude minimum value of the lighthouse and the gravity amplitude of the lighthouse; n is a positive integer greater than or equal to 3;
extracting an equal gravity line of the gravity amplitude of the lighthouse at a first preset interval according to the gravity amplitude maximum value of the lighthouse and the gravity amplitude minimum value of the lighthouse to obtain the profile characteristic of the lighthouse;
and connecting N maximum points of the gravity amplitude of the lighthouse as vertexes to form a first closed polygon, so as to form the fluctuation form characteristic of the lighthouse.
Optionally, the specific method for obtaining the topographic feature information of the target lighthouse includes:
acquiring the maximum fluctuation value of the target lighthouse terrain, the minimum fluctuation value of the target lighthouse terrain and N maximum value points of the target lighthouse terrain; n is a positive integer greater than or equal to 3;
extracting contour lines of the target lighthouse topographic relief at a second preset interval according to the maximum value of the target lighthouse topographic relief and the minimum value of the target lighthouse topographic relief to obtain a topographic profile of the target lighthouse;
and connecting N maximum value points of the target lighthouse terrain as vertexes to form a second closed polygon, so as to form the corresponding high-low fluctuation form of the target lighthouse.
Optionally, the matching the topographic feature information with the marine gravity beacon database to obtain the position coordinate of the target beacon specifically includes:
scaling the second closed polygon by taking the first closed polygon as a standard to obtain a second closed polygon with equal size;
vertically scaling the second closed polygon with the same size as the first closed polygon by taking the height of the gravity maximum point in the first closed polygon as a standard to obtain a second closed polygon with the same degree as the first closed polygon;
calculating the rotation amount of the second closed polygon with the same degree as the first closed polygon in the three directions of the X axis, the Y axis and the Z axis;
and rotating the second closed polygon with the same degree as the first closed polygon according to the rotation amount and calculating the displacement of the cableless underwater robot to obtain the position coordinate of the target lighthouse.
Optionally, the cableless underwater robot carries a multi-beam depth sounding device for measuring topographic feature information.
A submarine navigation system incorporating multi-beam sounding, the system comprising:
the data acquisition unit is used for acquiring the gravity characteristic information of all lighthouses in the marine gravity lighthouse database, the effective time of the inertial navigation system and the time for guiding the submarine by the inertial navigation system; the gravity characteristic information includes: the outline characteristic of the lighthouse and the fluctuation form characteristic of the lighthouse;
the current position coordinate determining unit of the submarine is used for recording the current position coordinate of the submarine when the time for guiding the submarine by the inertial navigation system is equal to the effective time of the inertial navigation system;
the target lighthouse determining unit is used for searching from the marine gravity lighthouse database by taking the current position coordinate as a center to determine a target lighthouse; the target lighthouse is the lighthouse closest to the current position coordinate;
the control unit is used for controlling the submarine to run right above the target lighthouse and releasing the cableless underwater robot;
the topographic feature information acquisition unit of the target lighthouse is used for acquiring the topographic feature information of the target lighthouse by using the cableless underwater robot; the topographic feature information includes: the topographic profile of the target lighthouse and the corresponding height and undulation form of the target lighthouse;
the matching unit is used for matching the topographic feature information with the gravity feature information of the lighthouse to obtain the position coordinate of the target lighthouse;
and the resetting unit is connected with the current position coordinate determining unit of the submarine and used for resetting the inertial navigation system and guiding the submarine to run by taking the position coordinate of the target lighthouse as a starting point.
Optionally, the data obtaining unit includes a gravity characteristic information obtaining module of a lighthouse, the gravity characteristic information obtaining module of the lighthouse is configured to obtain gravity characteristic information of each lighthouse in the marine gravity lighthouse database, and the gravity characteristic information obtaining module of the lighthouse specifically includes:
the gravity amplitude acquisition submodule is used for acquiring the gravity amplitude maximum value of the lighthouse, the gravity amplitude minimum value of the lighthouse and N maximum value points of the gravity amplitude of the lighthouse; n is a positive integer greater than or equal to 3;
the contour feature determination submodule of the lighthouse is used for extracting an equal gravity line of the gravity amplitude of the lighthouse at a first preset interval according to the gravity amplitude maximum value of the lighthouse and the gravity amplitude minimum value of the lighthouse, and determining the contour feature of the lighthouse;
and the undulation form characteristic forming unit of the lighthouse is used for connecting N maximum points of the gravity amplitude of the lighthouse as vertexes to form a first closed polygon so as to form the undulation form characteristic of the lighthouse.
Optionally, the topographic feature information acquiring unit of the target lighthouse specifically includes:
the device comprises a fluctuation value acquisition module of a target lighthouse terrain, a storage module and a display module, wherein the fluctuation value acquisition module is used for acquiring a fluctuation maximum value of the target lighthouse terrain, a fluctuation minimum value of the target lighthouse terrain and N maximum value points of the target lighthouse terrain; n is a positive integer greater than or equal to 3;
the topographic contour determining module of the target lighthouse is used for extracting contour lines of the topographic relief of the target lighthouse at a second preset interval according to the maximum value of the topographic relief of the target lighthouse and the minimum value of the topographic relief of the target lighthouse, and determining the topographic contour of the target lighthouse;
and the height fluctuation form forming module of the target lighthouse is used for connecting N maximum value points of the target lighthouse topography into a second closed polygon by taking the N maximum value points as vertexes to form the height fluctuation form of the corresponding target lighthouse.
Optionally, the matching unit specifically includes:
the first scaling module is used for scaling the second closed polygon by taking the first closed polygon as a standard to obtain a second closed polygon with the same size;
the second scaling module is used for vertically scaling the second closed polygon with the same size as the first closed polygon by taking the height of the gravity maximum point in the first closed polygon as a standard to obtain a second closed polygon with the same degree as the first closed polygon;
the rotation amount calculating module is used for calculating the rotation amount of the second closed polygon with the same degree as the first closed polygon in the three directions of the X axis, the Y axis and the Z axis;
and the displacement calculation module is used for rotating the second closed polygon with the same degree as the first closed polygon according to the rotation amount and calculating the displacement of the cableless underwater robot to obtain the position coordinate of the target lighthouse.
Optionally, the cableless underwater robot carries a multi-beam depth sounding device for measuring topographic feature information.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the inertial navigation is combined with the gravity beacon, so that the problem that the error is larger when the inertial navigation is independently used for guiding navigation to run along with the longer time is effectively solved, and the navigation precision of the submarine is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a submarine navigation method combining multi-beam sounding provided by the invention;
FIG. 2 is a block diagram of the submarine navigation system with combined multi-beam sounding provided by the present invention;
FIG. 3 is a schematic diagram illustrating the definition of a presence triangle;
FIG. 4 is a schematic view of D1 rotation;
FIG. 5 is a schematic y-axis rotation;
FIG. 6 is a schematic diagram of the calculation of the x coordinate of Pd 3';
FIG. 7 is a schematic view of rotation along Z3;
fig. 8 is a schematic view of Zpd 2' coordinate calculation.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a submarine navigation method and system combining multi-beam sounding, which combines inertial navigation and a gravity lighthouse and improves the precision of submarine navigation.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
A submarine navigation method combining multi-beam sounding specifically comprises the following steps:
step 101: acquiring gravity characteristic information of all lighthouses in an ocean gravity lighthouse database, effective time of an inertial navigation system and submarine guiding time of the inertial navigation system; the gravity characteristic information includes: the outline characteristic of the lighthouse and the fluctuation form characteristic of the lighthouse;
step 102: when the time for guiding the submarine by the inertial navigation system is equal to the effective time of the inertial navigation system, determining the current position coordinate of the submarine;
step 103: searching from the marine gravity beacon database by taking the current position coordinate as a center to determine a target beacon; the target lighthouse is the lighthouse closest to the current position coordinate;
step 104: controlling the submarine to run right above the target lighthouse and releasing the cableless underwater robot;
step 105: acquiring topographic feature information of the target lighthouse by using the cableless underwater robot; the topographic feature information includes: the topographic profile of the target lighthouse and the corresponding height and undulation form of the target lighthouse;
step 106: matching the topographic characteristic information with the gravity characteristic information of the lighthouse to obtain the position coordinate of the target lighthouse;
step 107: and resetting the inertial navigation system, and guiding the submarine to run by taking the position coordinate of the target lighthouse as a starting point.
The invention combines the inertial navigation with the gravity beacon, effectively avoids the problem that the error is larger when the inertial navigation is independently used for guiding the navigation to run along with the longer time, and improves the navigation precision of the submarine.
The invention discloses a cableless underwater robot, which is called AUV for short, and the AUV is carried with a multi-beam sounding device and is used for measuring topographic feature information. By using the AUV to observe the lighthouse characteristics, the maneuvering of the submarine during matching is reduced, the exposure risk of the submarine is reduced, and the safety of the submarine is improved.
The acquiring of the gravity characteristic information of each lighthouse in the marine gravity lighthouse database specifically comprises:
acquiring N maximum value points of the gravity amplitude maximum value of the lighthouse, the gravity amplitude minimum value of the lighthouse and the gravity amplitude of the lighthouse; n is a positive integer greater than or equal to 3;
extracting an equal gravity line of the gravity amplitude of the lighthouse at a first preset interval according to the gravity amplitude maximum value of the lighthouse and the gravity amplitude minimum value of the lighthouse to obtain the profile characteristic of the lighthouse;
and connecting N maximum points of the gravity amplitude of the lighthouse as vertexes to form a first closed polygon, so as to form the fluctuation form characteristic of the lighthouse.
The specific method for acquiring the topographic feature information of the target lighthouse comprises the following steps:
acquiring the maximum fluctuation value of the target lighthouse terrain, the minimum fluctuation value of the target lighthouse terrain and N maximum value points of the target lighthouse terrain; n is a positive integer greater than or equal to 3;
extracting contour lines of the target lighthouse topographic relief at a second preset interval according to the maximum value of the target lighthouse topographic relief and the minimum value of the target lighthouse topographic relief to obtain a topographic profile of the target lighthouse;
and connecting N maximum value points of the target lighthouse terrain as vertexes to form a second closed polygon, so as to form the corresponding high-low fluctuation form of the target lighthouse.
Step 106 specifically includes:
scaling the second closed polygon by taking the first closed polygon as a standard to obtain a second closed polygon with equal size;
vertically scaling the second closed polygon with the same size as the first closed polygon by taking the height of the gravity maximum point in the first closed polygon as a standard to obtain a second closed polygon with the same degree as the first closed polygon;
calculating the rotation amount of the second closed polygon with the same degree as the first closed polygon in the three directions of the X axis, the Y axis and the Z axis;
and rotating the second closed polygon with the same degree as the first closed polygon according to the rotation amount and calculating the displacement of the cableless underwater robot to obtain the position coordinate of the target lighthouse.
The present invention describes a specific positioning method by taking N equal to 3 as an example.
And (3) counting the maximum value and the minimum value of the topographic relief of the lighthouse aiming at the target lighthouse, wherein the submarine topographic elevation is less than 0, the relief interval is set to be 30-68m for convenient description, and contour lines are extracted at proper intervals to be used as the profile characteristics of the selected lighthouse. In the specific implementation process, the first preset interval of the invention is 2 m.
3 maximum points in the lighthouse terrain are extracted, and the 3 points are connected into a first triangle which represents the occurrence angle of the target lighthouse terrain data in space.
And (3) counting the maximum value and the minimum value of the gravity amplitude of the lighthouse aiming at the lighthouses in the marine gravity lighthouse database, and extracting an equal gravity line at proper intervals to be used as the profile characteristic of the selected lighthouse. In the specific implementation process, the fluctuation interval is-40-200 mGal, and the first preset interval is 20 mGal.
3 maximum points in the lighthouse gravity are extracted, and the 3 points are connected into a second triangle which represents the occurrence angle of the lighthouse gravity data in the space.
The ocean gravity lighthouse database is stored in the north-south direction, and the direction and the angle of actually acquired data are determined according to the specific conditions of the AUV, so that the problems of scaling, rotation, displacement and the like are involved in the matching process. Because the relative position of the AUV and the acquired data is rigid, the AUV position is transformed in the zooming, rotating and displacing processes.
Zooming: 1) first, the sizes of the first triangle and the second triangle are compared, and the second triangle is scaled to be equal to the first triangle.
2) And thirdly, selecting a maximum point in the lighthouse, and scaling the second triangle from the vertical angle to the same degree by taking the height of the maximum point in the ocean gravity lighthouse database as a standard.
Rotation: comparing the two triangles (at the moment, the two triangles are zoomed to be equal in size), and calculating the rotation amount of the second triangle in the X-axis direction, the Y-axis direction and the Z-axis direction.
1) Defining the three side lengths of the lighthouse terrain-forming triangle from large to small as D1, D2 and D3, wherein the intersection point of D1 and D3 is Pd1, the intersection point of D1 and D2 is Pd2, and the intersection point of D3 and D2 is Pd 3. Similarly, three sides Z1, Z2 and Z3 of the lighthouse gravity-induced triangle are defined, and three intersection points are Pz1, Pz2 and Pz 3.
D1＝Z1，D2＝Z2，D3＝Z3。
Coordinates of three intersection points of the beacon gravity-endowing triangle are known, and the length of three sides is known; three sides of the lighthouse terrain occurrence triangle are known, three intersection points are relative coordinates, namely, the coordinate of one intersection point is determined as an original point, and the coordinates of the other two intersection points are known relative to the original point.
Pz1 coordinate (Xpz1, Ypz1, Zpz 1);
pz2 coordinate (Xpz2, Ypz2, Zpz 2);
pz3 has the coordinate (Xpz3, Ypz3, Zpz 3).
Selecting a corner point, and overlapping the beacon terrain rendering triangle with a corresponding corner point of the beacon gravity rendering triangle (the Pd1 and the Pz1 are overlapped in the invention). The schematic diagram of the definition of the existence triangle is shown in fig. 3.
Pd1 has coordinates of (Xpd1, Ypd1, Zpd1), wherein Xpd1 is Xpz1, Ypd1 is Ypz1, Zpd1 is Zpz 1;
pd2 has coordinates of (Xpd2, Ypd2, Zpd 2);
the Pd3 has the coordinate of (Xpd3, Ypd3, Zpd 3).
The rotation process is described by way of example along D1, then along the y-axis, and finally along Z3. And the AUV position and the lighthouse terrain occurrence triangle rotate simultaneously, and the AUV position after the rotation is the submarine matching position.
2) Rotation angle alpha calculation along D1
Mainly along the side of D1, so that the y coordinate of Pd3 is the same as Pz 3. The schematic view of the rotation at D1 is shown in fig. 4.
A perpendicular line a is drawn from Pd3 to D1, and a perpendicular line b is drawn from Pd 3' to D1, so that the included angle alpha between a and b is obtained.
c＝Ypz3-Ypd3
α＝arccosα
c＝Ypz3-Ypd3
3) Rotation angle beta along y-axis calculation
Primarily along the y-axis, such that D3 overlaps with Z3. The y-axis rotation is schematically shown in FIG. 5
Firstly, calculating the x coordinate of Pd3 'after step 2), and the x coordinate calculation diagram of Pd 3' is shown in FIG. 6 and is projected to an xy coordinate system:
d＝|X'pd3-Xpz3|
β＝arccosβ
4) rotation angle gamma calculation along Z3
Mainly along the Z3 side so that the two triangles are completely overlapped. FIG. 7 is a schematic view of rotation along Z3
First, calculating the Pd2 'coordinate after step 3), wherein a Zpd 2' coordinate calculation diagram is shown in FIG. 7:
Zpd2’＝D1*sinθ
Ypd2’＝Ypd2
and (3) drawing a vertical line g from Pd 2' to Z3 and a vertical line f from Pz2 to Z3, wherein the included angle gamma between g and f is obtained.
γ＝arccosγ
During rotation, the AUV position needs to move along with the synchronous rotation of the triangle.
③ displacement: and secondly, acquiring the rotation amount of the topographic data of the lighthouse, calculating the displacement amount of the corner point of the corresponding triangle after rotation, and performing the same displacement on the position of the AUV to obtain the real coordinate information of the AUV.
The gravity matching navigation in the prior art is line matching, the invention designs a surface data matching method, and the data contour is adopted for matching, so that the characteristics are richer, and the matching result is more accurate. The invention uses AUV to observe the lighthouse characteristics, reduces the maneuvering of the submarine during matching and reduces the exposure risk of the submarine.
A submarine navigation system incorporating multi-beam sounding, the system comprising: a data acquisition unit 201, a current position coordinate determination unit 202 of the submarine, a target lighthouse determination unit 203, a control unit 204, a topographic feature information acquisition unit 205 of the target lighthouse, a matching unit 206, and a reset unit 207.
The data acquisition unit 201 is configured to acquire gravity characteristic information of all lighthouses in the marine gravity lighthouse database, effective time of the inertial navigation system, and time for the inertial navigation system to guide the submarine; the gravity characteristic information includes: the contour features of the lighthouse and the relief form features of the lighthouse.
The submarine current position coordinate determination unit 202 is configured to record the submarine current position coordinate when the time for guiding the submarine by the inertial navigation system is equal to the effective time of the inertial navigation system.
The target lighthouse determining unit 203 is used for searching from the marine gravity lighthouse database by taking the current position coordinate as a center to determine a target lighthouse; the target lighthouse is the lighthouse closest to the current position coordinate.
The control unit 204 is used for controlling the submarine to run right above the target lighthouse and releasing the cableless underwater robot; the cableless underwater robot carries a multi-beam sounding device and is used for measuring topographic feature information.
The topographic feature information acquiring unit 205 of the target lighthouse is configured to acquire topographic feature information of the target lighthouse by using the cableless underwater robot; the topographic feature information includes: the topographic profile of the target lighthouse and the corresponding relief form of the target lighthouse.
The matching unit 206 is configured to match the topographic feature information with the gravitational feature information of the lighthouse to obtain a position coordinate of the target lighthouse.
The resetting unit 207 is connected to the current position coordinate determination unit 202 of the submarine, and is configured to reset the inertial navigation system, and guide the submarine to travel using the position coordinate of the target lighthouse as a starting point.
The data acquisition unit comprises a lighthouse gravity characteristic information acquisition module, the lighthouse gravity characteristic information acquisition module is used for acquiring the gravity characteristic information of each lighthouse in the ocean gravity lighthouse database, and the lighthouse gravity characteristic information acquisition module specifically comprises:
the gravity amplitude acquisition submodule is used for acquiring the gravity amplitude maximum value of the lighthouse, the gravity amplitude minimum value of the lighthouse and N maximum value points of the gravity amplitude of the lighthouse; n is a positive integer greater than or equal to 3;
the contour feature determination submodule of the lighthouse is used for extracting an equal gravity line of the gravity amplitude of the lighthouse at a first preset interval according to the gravity amplitude maximum value of the lighthouse and the gravity amplitude minimum value of the lighthouse, and determining the contour feature of the lighthouse;
and the undulation form characteristic forming unit of the lighthouse is used for connecting N maximum points of the gravity amplitude of the lighthouse as vertexes to form a first closed polygon so as to form the undulation form characteristic of the lighthouse.
The topographic feature information acquiring unit of the target lighthouse specifically comprises:
the device comprises a fluctuation value acquisition module of a target lighthouse terrain, a storage module and a display module, wherein the fluctuation value acquisition module is used for acquiring a fluctuation maximum value of the target lighthouse terrain, a fluctuation minimum value of the target lighthouse terrain and N maximum value points of the target lighthouse terrain; n is a positive integer greater than or equal to 3;
the topographic contour determining module of the target lighthouse is used for extracting contour lines of the topographic relief of the target lighthouse at a second preset interval according to the maximum value of the topographic relief of the target lighthouse and the minimum value of the topographic relief of the target lighthouse, and determining the topographic contour of the target lighthouse;
and the height fluctuation form forming module of the target lighthouse is used for connecting N maximum value points of the target lighthouse topography into a second closed polygon by taking the N maximum value points as vertexes to form the height fluctuation form of the corresponding target lighthouse.
The matching unit 206 specifically includes:
the first scaling module is used for scaling the second closed polygon by taking the first closed polygon as a standard to obtain a second closed polygon with the same size;
the second scaling module is used for vertically scaling the second closed polygon with the same size as the first closed polygon by taking the height of the gravity maximum point in the first closed polygon as a standard to obtain a second closed polygon with the same degree as the first closed polygon;
the rotation amount calculating module is used for calculating the rotation amount of the second closed polygon with the same degree as the first closed polygon in the three directions of the X axis, the Y axis and the Z axis;
and the displacement calculation module is used for rotating the second closed polygon with the same degree as the first closed polygon according to the rotation amount and calculating the displacement of the cableless underwater robot to obtain the position coordinate of the target lighthouse.
For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (4)
1. A submarine navigation method combining multi-beam sounding, the method comprising:
acquiring gravity characteristic information of all lighthouses in an ocean gravity lighthouse database, effective time of an inertial navigation system and submarine guiding time of the inertial navigation system; the gravity characteristic information includes: the outline characteristic of the lighthouse and the fluctuation form characteristic of the lighthouse;
the acquiring of the gravity characteristic information of each lighthouse in the marine gravity lighthouse database specifically comprises:
acquiring N maximum value points of the gravity amplitude maximum value of the lighthouse, the gravity amplitude minimum value of the lighthouse and the gravity amplitude of the lighthouse; n is a positive integer greater than or equal to 3;
extracting an equal gravity line of the gravity amplitude of the lighthouse at a first preset interval according to the gravity amplitude maximum value of the lighthouse and the gravity amplitude minimum value of the lighthouse to obtain the profile characteristic of the lighthouse;
connecting N maximum points of the gravity amplitude of the lighthouse as vertexes to form a first closed polygon to form the fluctuation form characteristic of the lighthouse;
when the time for guiding the submarine by the inertial navigation system is equal to the effective time of the inertial navigation system, determining the current position coordinate of the submarine;
searching from the marine gravity beacon database by taking the current position coordinate as a center to determine a target beacon; the target lighthouse is the lighthouse closest to the current position coordinate;
controlling the submarine to run right above the target lighthouse and releasing the cableless underwater robot;
acquiring topographic feature information of the target lighthouse by using the cableless underwater robot; the topographic feature information includes: the topographic profile of the target lighthouse and the corresponding height and undulation form of the target lighthouse;
the obtaining of the topographic feature information of the target lighthouse specifically includes:
acquiring the maximum fluctuation value of the target lighthouse terrain, the minimum fluctuation value of the target lighthouse terrain and N maximum value points of the target lighthouse terrain;
extracting contour lines of the target lighthouse topographic relief at a second preset interval according to the maximum value of the target lighthouse topographic relief and the minimum value of the target lighthouse topographic relief to obtain a topographic profile of the target lighthouse;
connecting N maximum value points of the target lighthouse terrain as vertexes to form a second closed polygon to form a corresponding high-low fluctuation form of the target lighthouse;
matching the topographic characteristic information with the gravity characteristic information of the lighthouse to obtain the position coordinate of the target lighthouse, and specifically comprising the following steps:
scaling the second closed polygon by taking the first closed polygon as a standard to obtain a second closed polygon with equal size;
vertically scaling the second closed polygon with the same size as the first closed polygon by taking the height of the gravity maximum point in the first closed polygon as a standard to obtain a second closed polygon with the same degree as the first closed polygon;
calculating the rotation amount of the second closed polygon with the same degree as the first closed polygon in the three directions of the X axis, the Y axis and the Z axis;
rotating the second closed polygon with the same degree as the first closed polygon according to the rotation amount and calculating the displacement of the cable-free underwater robot to obtain the position coordinate of the target lighthouse;
and resetting the inertial navigation system, and guiding the submarine to run by taking the position coordinate of the target lighthouse as a starting point.
2. The submarine navigation method according to claim 1, wherein the cableless underwater robot carries a multi-beam depth finder for measuring topographical feature information.
3. A submarine navigation system with combined multi-beam sounding, the system comprising:
the data acquisition unit is used for acquiring the gravity characteristic information of all lighthouses in the marine gravity lighthouse database, the effective time of the inertial navigation system and the time for guiding the submarine by the inertial navigation system; the gravity characteristic information includes: the outline characteristic of the lighthouse and the fluctuation form characteristic of the lighthouse;
the data acquisition unit comprises a lighthouse gravity characteristic information acquisition module, the lighthouse gravity characteristic information acquisition module is used for acquiring the gravity characteristic information of each lighthouse in the ocean gravity lighthouse database, and the lighthouse gravity characteristic information acquisition module specifically comprises:
the gravity amplitude acquisition submodule is used for acquiring the gravity amplitude maximum value of the lighthouse, the gravity amplitude minimum value of the lighthouse and N maximum value points of the gravity amplitude of the lighthouse; n is a positive integer greater than or equal to 3;
the contour feature determination submodule of the lighthouse is used for extracting an equal gravity line of the gravity amplitude of the lighthouse at a first preset interval according to the gravity amplitude maximum value of the lighthouse and the gravity amplitude minimum value of the lighthouse, and determining the contour feature of the lighthouse;
the device comprises a lighthouse fluctuation form characteristic forming unit, a lighthouse fluctuation form characteristic forming unit and a control unit, wherein the lighthouse fluctuation form characteristic forming unit is connected into a first closed polygon by taking N maximum value points of the lighthouse gravity amplitude as vertexes to form the lighthouse fluctuation form characteristic;
the current position coordinate determining unit of the submarine is used for recording the current position coordinate of the submarine when the time for guiding the submarine by the inertial navigation system is equal to the effective time of the inertial navigation system;
the target lighthouse determining unit is used for searching from the marine gravity lighthouse database by taking the current position coordinate as a center to determine a target lighthouse; the target lighthouse is the lighthouse closest to the current position coordinate;
the control unit is used for controlling the submarine to run right above the target lighthouse and releasing the cableless underwater robot;
the topographic feature information acquisition unit of the target lighthouse is used for acquiring the topographic feature information of the target lighthouse by using the cableless underwater robot; the topographic feature information includes: the topographic profile of the target lighthouse and the corresponding height and undulation form of the target lighthouse;
the topographic feature information acquiring unit of the target lighthouse comprises:
the device comprises a fluctuation value acquisition module of a target lighthouse terrain, a storage module and a display module, wherein the fluctuation value acquisition module is used for acquiring a fluctuation maximum value of the target lighthouse terrain, a fluctuation minimum value of the target lighthouse terrain and N maximum value points of the target lighthouse terrain;
the topographic contour determining module of the target lighthouse is used for extracting contour lines of the topographic relief of the target lighthouse at a second preset interval according to the maximum value of the topographic relief of the target lighthouse and the minimum value of the topographic relief of the target lighthouse, and determining the topographic contour of the target lighthouse;
the device comprises a height fluctuation form forming module of a target lighthouse, a first closed polygon and a second closed polygon, wherein the height fluctuation form forming module is used for connecting N maximum value points of the target lighthouse topography into a vertex to form the height fluctuation form of the corresponding target lighthouse;
the matching unit is used for matching the topographic feature information with the gravity feature information of the lighthouse to obtain the position coordinate of the target lighthouse;
the matching unit includes:
the first scaling module is used for scaling the second closed polygon by taking the first closed polygon as a standard to obtain a second closed polygon with the same size;
the second scaling module is used for vertically scaling the second closed polygon with the same size as the first closed polygon by taking the height of the gravity maximum point in the first closed polygon as a standard to obtain a second closed polygon with the same degree as the first closed polygon;
the rotation amount calculating module is used for calculating the rotation amount of the second closed polygon with the same degree as the first closed polygon in the three directions of the X axis, the Y axis and the Z axis;
the displacement calculation module is used for rotating the second closed polygon with the same degree as the first closed polygon according to the rotation amount and calculating the displacement of the cable-free underwater robot to obtain the position coordinate of the target lighthouse;
and the resetting unit is connected with the current position coordinate determining unit of the submarine and used for resetting the inertial navigation system and guiding the submarine to run by taking the position coordinate of the target lighthouse as a starting point.
4. The submarine navigation system according to claim 3, wherein the untethered underwater robot carries a multi-beam depth finder for measuring topographical feature information.
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