CN111427009A - Underwater positioning method and system for remote control unmanned underwater vehicle - Google Patents

Underwater positioning method and system for remote control unmanned underwater vehicle Download PDF

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Publication number
CN111427009A
CN111427009A CN202010309059.4A CN202010309059A CN111427009A CN 111427009 A CN111427009 A CN 111427009A CN 202010309059 A CN202010309059 A CN 202010309059A CN 111427009 A CN111427009 A CN 111427009A
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China
Prior art keywords
information
water surface
rov
surface platform
sound pressure
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CN202010309059.4A
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Chinese (zh)
Inventor
商志刚
杨丰茂
安妍妍
楚立鹏
付圣峰
张博
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Electronic Science Research Institute of CTEC
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Electronic Science Research Institute of CTEC
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Priority to CN202010309059.4A priority Critical patent/CN111427009A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • 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
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions

Abstract

The invention discloses a method and a system for positioning a remote-control unmanned underwater vehicle underwater, which are characterized in that a positioning signal is transmitted by an acoustic beacon on the remote-control unmanned underwater vehicle, a vector hydrophone is arranged on a water surface platform to monitor the signal, and finally the positioning signal is processed by a controller to finally determine the position of an ROV, so that the ROV is positioned at low cost.

Description

Underwater positioning method and system for remote control unmanned underwater vehicle
Technical Field
The invention relates to the technical field of communication, in particular to an underwater positioning method and system for a remote control unmanned underwater vehicle.
Background
A Remote Operated Vehicle (ROV) can swim underwater and carry specific appliances to execute and complete specific tasks. The great advantage of this type of underwater robot is that the mother ship can continuously supply energy to it, so that it can work underwater for a long time. The ROV has wide application, can be used for installing operation tools such as a mechanical arm and the like, and has practical application in the aspects of underwater resource development, archaeology, salvage, rescue and the like. The ROV first specifies its location before performing the task. The current general method is to measure the position of an ROV body by using a baseline positioning system and form a combined navigation system by being assisted by other attitude sensors to obtain high-precision underwater position information. However, the cost of the existing remote control unmanned underwater vehicle is higher because the base line positioning system is more expensive.
Disclosure of Invention
The invention provides an underwater positioning method and system for a remote control unmanned underwater vehicle, which aim to solve the problem that the cost of the remote control unmanned underwater vehicle in the prior art is high.
In a first aspect, the invention provides a method for remotely positioning an unmanned underwater vehicle, which comprises the following steps: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;
the acoustic beacon transmits a positioning signal under the trigger of the controller;
after the vector hydrophone monitors the positioning signal, the sound pressure and the vibration speed of the acoustic beacon are obtained according to the positioning signal and are sent to the controller;
and the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.
Optionally, the acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal includes:
acquiring the sound pressure and the vibration speed in the three-dimensional direction of the acoustic beacon according to the positioning signal;
the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform, and the position information comprises the following steps:
the controller converts the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, pre-processes and compensates the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction, and then determines the position information of the ROV based on the compensated sound pressure digital signal, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.
Optionally, obtaining the position information of the ROV based on the compensated sound pressure digital signal, the vibration velocity digital signal in the three-dimensional direction, and the attitude information of the water surface platform, includes:
determining time delay information according to the compensated sound pressure digital signal, and determining distance information between the vector hydrophone and the acoustic beacon based on the time delay information;
according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm;
and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.
Optionally, determining the position information of the ROV according to the distance information, the azimuth information, and the attitude information of the surface platform includes:
calculating the position of the ROV relative to the water surface platform according to the distance information, the azimuth information and the attitude information of the water surface platform;
and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.
In a second aspect, the invention provides a remote control unmanned underwater vehicle positioning system, comprising: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;
the acoustic beacon is used for transmitting a positioning signal under the trigger of the controller;
the vector hydrophone is used for acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal after monitoring the positioning signal and sending the sound pressure and the vibration speed to the controller;
and the controller is used for determining the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.
Optionally, the controller further comprises:
the signal preprocessing module is used for converting the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, and preprocessing and free field compensation are carried out on the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;
and the processing module is used for determining the position information of the ROV based on the sound pressure digital signal compensated by the signal preprocessing module, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.
Optionally, the processing module is further configured to determine time delay information according to the compensated sound pressure digital signal, and determine distance information between the vector hydrophone and the acoustic beacon based on the time delay information; according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm; and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.
Optionally, the processing module is further configured to calculate a position of the ROV relative to the water surface platform according to the distance information, the azimuth information, and the attitude information of the water surface platform; and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.
Optionally, the system further comprises: the attitude sensor is arranged on the water surface platform; the attitude sensor is used for acquiring attitude information of the water surface platform and sending the acquired attitude information to the controller.
In a third aspect, the present invention provides a computer-readable storage medium storing a signal-mapped computer program, which when executed by at least one processor, implements any one of the above-mentioned methods for underwater positioning of a remotely-controlled unmanned underwater vehicle.
The invention has the following beneficial effects:
according to the invention, the vector hydrophone is arranged on the remote control unmanned underwater vehicle, so that the remote control unmanned underwater vehicle can finish underwater positioning according to the vector hydrophone, and the cost of the remote control unmanned underwater vehicle can be greatly reduced due to the low price of the vector hydrophone.
Drawings
Fig. 1 is a schematic flow chart of a method for remotely controlling underwater positioning of an unmanned underwater vehicle according to a first embodiment of the invention;
fig. 2 is a schematic structural diagram of a remote-control unmanned underwater vehicle positioning system provided by a first embodiment of the invention;
FIG. 3 is a schematic diagram of a first embodiment of the underwater positioning method according to the present invention;
FIG. 4 is a schematic view of the attitude correction of a water platform according to a first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a remote-control unmanned underwater vehicle positioning system according to a second embodiment of the invention.
Detailed Description
Aiming at the problem that the cost of the existing remote control unmanned underwater vehicle is high, the embodiment of the invention realizes the underwater positioning of the remote control unmanned underwater vehicle by arranging the vector hydrophone with low price, thereby reducing the cost of the remote control unmanned underwater vehicle and further improving the user experience. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
A first embodiment of the present invention provides an underwater positioning method for a Remote-controlled unmanned underwater Vehicle, where an acoustic beacon is provided on the Remote-controlled unmanned underwater Vehicle (ROV), and a vector hydrophone and a controller are provided on a horizontal stage, as shown in fig. 1, and the method includes:
s101, the acoustic beacon transmits a positioning signal under the trigger of the controller;
that is, the acoustic beacon according to the embodiment of the present invention is a positioning signal generating device, and in practical implementation, the acoustic beacon is controlled by the controller to emit the positioning signal.
S102, after monitoring the positioning signal, the vector hydrophone acquires the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal and sends the sound pressure and the vibration speed to the controller;
specifically, the vector hydrophone in the embodiment of the invention is in a real-time monitoring state, is a device for sensing sound pressure and vibration velocity at the arrangement position, and outputs analog signals of the sound pressure and the vibration velocity;
in specific implementation, the vector hydrophone positioning signal of the embodiment of the invention obtains the sound pressure and the vibration velocity in the three-dimensional direction of the acoustic beacon, namely the vector hydrophone has a sound pressure channel and three vibration velocity channels, and can monitor the sound pressure and the vibration velocity in the three-dimensional direction according to the positioning signal sent by the acoustic beacon;
and S103, the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.
It should be noted that the water surface platform in the embodiment of the present invention is various water carriers, and specifically, may be various ships or other vessels. The present invention is not particularly limited in this regard.
In specific implementation, the controller in the embodiment of the present invention converts the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, performs preprocessing and free field compensation on the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction, and determines the position information of the ROV based on the compensated sound pressure digital signal, the vibration velocity digital signal in the three-dimensional direction, and the attitude information of the water surface platform.
Specifically, the controller of the embodiment of the present invention determines time delay information according to the compensated sound pressure digital signal, and determines distance information between the vector hydrophone and the acoustic beacon based on the time delay information; according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm; and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.
In the embodiment of the present invention, determining the position information of the ROV according to the distance information, the azimuth information, and the attitude information of the water surface platform includes:
calculating the position of the ROV relative to the water surface platform according to the distance information, the azimuth information and the attitude information of the water surface platform;
and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.
That is, in the embodiment of the present invention, the vector hydrophone has one sound pressure channel and three vibration velocity channels. The sound pressure channel is used in combination with the sound beacon carried on the ROV, and the distance between the vector hydrophone and the sound beacon can be measured according to the time delay information; after the sound pressure and the three vibration speeds are compensated by the free field, the direction of the sound beacon relative to the vector hydrophone can be calculated through a direction finding algorithm. The position of the ROV relative to the surface platform can be calculated from the distance and orientation information.
The method of the present invention will be described in detail by a specific example with reference to fig. 2 to 4:
fig. 2 is a schematic structural diagram of a remote-control unmanned underwater vehicle positioning system according to a first embodiment of the present invention, and as shown in fig. 2, the positioning system according to the embodiment of the present invention mainly includes an above-water part, a water surface part, and an underwater part. The overwater portion includes: the system comprises a signal preprocessing module 5, a computer 6 and an attitude sensor; the water surface part is a vector hydrophone 3; the underwater part comprises an acoustic beacon 1. The signal preprocessing module 5 and the computer 6 are both the above-mentioned controllers, and for convenience of understanding and implementation, the controllers are configured as the signal preprocessing module 5 and the computer 6 according to a specific implementation environment in the embodiment of the present invention.
As shown in fig. 3, the above-water part of the embodiment of the invention is a dry-end device, which is deployed above a water deck; the water surface part is a wet end device, needs to be arranged below the water surface and is in hard connection with the water surface platform 4; the acoustic beacon 1 is mounted on an ROV. The system is composed of the following modules:
acoustic beacon 1: the positioning signal transmitting device is controlled by a computer 6 on the water surface.
Vector hydrophone 3: the device is used for sensing sound pressure and vibration speed at the layout position and outputting analog signals of the sound pressure and the vibration speed;
the signal preprocessing module 5: the digital signal processing device is used for converting an analog signal acquired by the vector hydrophone 3 into a digital signal and carrying out preprocessing work such as amplification, filtering and the like;
an attitude sensor: for measuring attitude information of the surface platform 4;
big dipper/GPS: for obtaining geodetic coordinates of the surface platform 4;
the computer 6: the brain of the system is used for controlling, calculating, displaying and other functions.
In the specific working process, the vector hydrophone 3 is provided with a sound pressure channel and three vibration velocity channels, namely an ROV transmission cable 2. The sound pressure channel is combined with the sound beacon 1 carried on the ROV for use, and the distance between the vector hydrophone 3 and the sound beacon 1 can be measured according to the time delay information; after sound pressure and three vibration speeds are preprocessed and compensated by a free field, the direction of the sound beacon 1 relative to the vector hydrophone 3 can be calculated through a direction-finding algorithm. The position of the ROV relative to the surface platform 4 can be calculated from the distance and orientation information.
In the embodiment of the invention, the distance measurement adopts a synchronous distance measurement method, namely, the computer 6 controls the acoustic beacon 1 to emit a positioning signal through the ROV transmission cable and records the signal emission time t1(ii) a After the vector hydrophone 3 receives the signal, the signal preprocessing module 5 transmits the data to the computer 6, and the computer 6 records the data receiving time t2，t2And t1Is subtracted by the inherent time delay t of the systemfThe travel time of the positioning signal in the acoustic channel is obtained, and the linear distance between the ROV and the water surface platform 4, namely L ═ c (t), is calculated by combining the sound velocity information2-t1-tf)。
In specific implementation, the work flow of the embodiment of the invention comprises the following steps:
step 1, a computer 6 sends a control instruction to an acoustic beacon 1 through an ROV transmission cable;
step 2, after receiving the control instruction, the acoustic beacon 1 sends a positioning signal to an underwater acoustic channel;
step 3, the vector hydrophone 3 is in a receiving state in the whole process, and sends received data to the signal preprocessing module 5 in real time;
step 4, the signal preprocessing module 5 carries out signal conditioning, including operations such as amplification, filtering, AD conversion and the like, and outputs a digital signal to the computer 6;
step 5, calculating by the computer 6 by using methods such as direction finding and synchronous distance measurement of the vector hydrophone 3 to obtain a position polar coordinate of the ROV relative to the vector hydrophone 3;
step 6, reading attitude information of the water surface platform 4 acquired by an attitude sensor by a computer 6, specifically as shown in fig. 4, performing attitude correction on the polar coordinate position information obtained in the step 5, and acquiring a polar coordinate position of the ROV relative to an axis which takes the vector hydrophone 3 as an origin, a vertical direction as a Z axis and a horizontal direction as an XY axis;
step 7, the computer 6 reads geodetic coordinate information provided by the Beidou/GPS, performs coordinate conversion according to the position information relative to the ROV obtained in the step 6, and obtains the coordinates of the ROV in a geodetic coordinate system;
and 1, repeating the steps 1 to 7, and continuously updating the ROV coordinates.
And (3) positioning an underwater cooperative target by using the vector hydrophone 3: in the invention, the vector hydrophone 3 is used for replacing ultra-short baseline positioning equipment, the working principle is basically the same, but the cost is greatly reduced.
Take ROV underwater pipeline test as an example: the submarine petroleum pipeline can record route coordinates when deployed, and when some parts have problems, the position can be accurately found through an ROV (remote operated vehicle) for video detection and troubleshooting, and the specific working process is as follows:
step 1, equipment installation and ROV launching;
step 2, the computer 6 sends a control instruction to the ROV through an ROV transmission cable;
step 3, immediately positioning a signal to an underwater acoustic channel through an acoustic beacon 1 after the ROV receives the control instruction;
step 4, after receiving the positioning signal, the vector hydrophone 3 arranged below the water surface platform 4 transmits the data to the signal preprocessing module 5 for signal conditioning;
step 5, after signal conditioning, sending data to the computer 6, reading attitude information provided by an attitude sensor and geodetic coordinate information provided by the Beidou/GPS by the computer 6, and analyzing and processing to obtain underwater geodetic coordinates of the ROV;
step 6, the computer 6 drives the ROV to move to the position of the target submarine pipeline according to the geodetic coordinate position of the ROV;
and 7, repeating the steps 2 to 6, and continuously updating the position of the ROV until the task is finished.
Generally speaking, the method and the device have the conception that the sound beacon 1 on the remote control unmanned underwater vehicle emits a positioning signal, the signal is monitored by the vector hydrophone 3 arranged on the horizontal table, and finally the positioning signal is processed by the controller, so that the position of the ROV is finally determined, and the ROV is positioned at low cost.
A second embodiment of the present invention provides a remote-control underwater positioning system for an unmanned underwater vehicle, which includes, referring to fig. 5: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;
the acoustic beacon is used for transmitting a positioning signal under the trigger of the controller;
that is, the acoustic beacon according to the embodiment of the present invention is a positioning signal generating device, and in practical implementation, the acoustic beacon is controlled by the controller to emit the positioning signal.
The vector hydrophone is used for acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal after monitoring the positioning signal and sending the sound pressure and the vibration speed to the controller;
specifically, the vector hydrophone in the embodiment of the invention is in a real-time monitoring state, is a device for sensing sound pressure and vibration velocity at the arrangement position, and outputs analog signals of the sound pressure and the vibration velocity;
in specific implementation, the vector hydrophone positioning signal of the embodiment of the invention obtains the sound pressure and the vibration velocity in the three-dimensional direction of the acoustic beacon, namely the vector hydrophone has a sound pressure channel and three vibration velocity channels, and can monitor the sound pressure and the vibration velocity in the three-dimensional direction according to the positioning signal sent by the acoustic beacon;
and the controller is used for determining the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.
In specific implementation, in the embodiment of the present invention, the controller further includes:
the signal preprocessing module is used for converting the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, and preprocessing and free field compensation are carried out on the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;
and the processing module is used for determining the position information of the ROV based on the sound pressure digital signal compensated by the signal preprocessing module, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.
Specifically, in the embodiment of the present invention, the processing module is further configured to determine time delay information according to the compensated sound pressure digital signal, and determine distance information between the vector hydrophone and the acoustic beacon based on the time delay information; according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm; and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.
Further, in the embodiment of the present invention, the processing module calculates the position of the ROV relative to the water surface platform according to the distance information, the azimuth information, and the attitude information of the water surface platform; and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.
In specific implementation, in the embodiment of the present invention, the system further includes: the attitude sensor is arranged on the water surface platform;
the attitude sensor is used for acquiring attitude information of the water surface platform and sending the acquired attitude information to the controller.
Generally speaking, the method and the device have the conception that the sound beacon 1 on the remote control unmanned underwater vehicle emits a positioning signal, the signal is monitored by the vector hydrophone 3 arranged on the horizontal table, and finally the positioning signal is processed by the controller, so that the position of the ROV is finally determined, and the ROV is positioned at low cost.
The relevant content of the embodiments of the present invention can be understood by referring to the first embodiment of the present invention, and will not be discussed in detail herein.
A third embodiment of the present invention provides a computer-readable storage medium storing a signal-mapped computer program which, when executed by at least one processor, implements the method for remotely controlling an underwater positioning of an unmanned underwater vehicle according to any one of the first embodiments of the present invention.
The relevant content of the embodiments of the present invention can be understood by referring to the first embodiment of the present invention, and will not be discussed in detail herein.
The invention can obtain the geodetic coordinates of the ROV in the underwater operation process of the ROV, and compared with other positioning devices, the invention at least has the following advantages: compared with a positioning method based on an ultra-short baseline, the method is low in price, and does not need to be accurately installed, so that installation operation and use operation are relatively simplified.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and the scope of the invention should not be limited to the embodiments described above.

Claims (10)

1. An underwater positioning method of a remote control unmanned underwater vehicle is characterized by comprising the following steps: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;
the acoustic beacon transmits a positioning signal under the trigger of the controller;
after the vector hydrophone monitors the positioning signal, the sound pressure and the vibration speed of the acoustic beacon are obtained according to the positioning signal and are sent to the controller;
and the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.
2. The method of claim 1,
the acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal comprises:
acquiring the sound pressure and the vibration speed in the three-dimensional direction of the acoustic beacon according to the positioning signal;
the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform, and the position information comprises the following steps:
the controller converts the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, pre-processes and compensates the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction, and then determines the position information of the ROV based on the compensated sound pressure digital signal, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.
3. The method of claim 2, wherein obtaining the position information of the ROV based on the compensated acoustic pressure digital signal, the vibration velocity digital signal in three-dimensional directions, and the attitude information of the surface platform comprises:
determining time delay information according to the compensated sound pressure digital signal, and determining distance information between the vector hydrophone and the acoustic beacon based on the time delay information;
according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm;
and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.
4. The method of claim 3, wherein determining the position information of the ROV based on the distance information, the orientation information, and the attitude information of the surface platform comprises:
calculating the position of the ROV relative to the water surface platform according to the distance information, the azimuth information and the attitude information of the water surface platform;
and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.
5. The utility model provides a remote control unmanned underwater vehicle positioning system, its characterized in that includes: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;
the acoustic beacon is used for transmitting a positioning signal under the trigger of the controller;
the vector hydrophone is used for acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal after monitoring the positioning signal and sending the sound pressure and the vibration speed to the controller;
and the controller is used for determining the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.
6. The system of claim 5,
the vector hydrophone is also used for acquiring the sound pressure and the vibration speed in the three-dimensional direction of the acoustic beacon according to the positioning signal;
the controller further comprises:
the signal preprocessing module is used for converting the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, and preprocessing and free field compensation are carried out on the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;
and the processing module is used for determining the position information of the ROV based on the sound pressure digital signal compensated by the signal preprocessing module, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.
7. The system of claim 6,
the processing module is further used for determining time delay information according to the compensated sound pressure digital signal and determining distance information between the vector hydrophone and the acoustic beacon based on the time delay information; according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm; and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.
8. The system of claim 7,
the processing module is further configured to calculate a position of the ROV relative to the water surface platform according to the distance information, the azimuth information, and the attitude information of the water surface platform; and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.
9. The system according to any one of claims 5-8, further comprising: the attitude sensor is arranged on the water surface platform;
the attitude sensor is used for acquiring attitude information of the water surface platform and sending the acquired attitude information to the controller.
10. A computer-readable storage medium storing a signal-mapped computer program which, when executed by at least one processor, implements the method of remotely controlling an unmanned underwater vehicle underwater positioning according to any one of claims 1 to 4.
CN202010309059.4A 2020-04-19 2020-04-19 Underwater positioning method and system for remote control unmanned underwater vehicle Pending CN111427009A (en)

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