CN111427010A - ROV underwater positioning system and positioning method - Google Patents
ROV underwater positioning system and positioning method Download PDFInfo
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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
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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
- 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
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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
- 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
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Abstract
The invention discloses an ROV underwater positioning system and a positioning method, wherein the ROV underwater positioning system comprises: the sound beacon is arranged on the ROV and used for transmitting a positioning signal; the array comprises N vector hydrophones, a plurality of array sensors and a plurality of array sensors, wherein the vector hydrophones are used for receiving and transmitting positioning signals; a computer communicatively coupled to the acoustic beacon and the N vector hydrophones, the computer configured to: controlling the acoustic beacon to emit a positioning signal; receiving N positioning signals forwarded by the N vector hydrophones and determining N relative positions of the ROV based on the N positioning signals, wherein the relative positions comprise the direction and the distance of the ROV relative to the vector hydrophones; based on the N relative positions, calculating N first polar coordinates of the ROV relative to the N vector hydrophones; calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the N relative positions; and calculating the target polar coordinate of the ROV by adopting a weight distribution method based on the first polar coordinate and the second polar coordinate. By adopting the invention, the positioning precision of the short baseline positioning system can be improved.
Description
Technical Field
The invention relates to the field of communication, in particular to an ROV underwater positioning system and a positioning method.
Background
The remote control unmanned underwater vehicle (ROV) can swim underwater and carry specific appliances to execute and complete specific tasks. The great advantage of such underwater robots is that the surface platform (mother ship) can constantly supply energy to it, and thus can work underwater for a long time. The device 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. Before an ROV executes a task, the position of the ROV is determined firstly, the existing general method is to position the underwater ROV by utilizing an ultra-short baseline or a short baseline positioning method, the short baseline positioning precision is theoretically higher than that of the ultra-short baseline positioning, but the positioning precision still has a space for improving.
Disclosure of Invention
The embodiment of the invention provides an ROV underwater positioning system and a positioning method, which are used for solving the problem of low ROV positioning precision in the prior art.
In one aspect, an embodiment of the present invention provides an ROV underwater positioning system, including:
the sound beacon is arranged on the ROV and used for transmitting a positioning signal;
n vector hydrophones of the array, the vector hydrophone is used for receiving the positioning signal and transmitting the positioning signal;
a computer communicatively coupled to the acoustic beacon and the N vector hydrophones, the computer configured to:
controlling the acoustic beacon to emit a positioning signal;
receiving N positioning signals forwarded by N vector hydrophones and determining N relative positions of the ROV based on the N positioning signals, wherein the relative positions comprise the azimuth and the distance of the ROV relative to the vector hydrophones;
calculating N first polar coordinates of the ROV relative to N of the vector hydrophones based on the N relative positions;
calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the N relative positions;
and calculating the target polar coordinate of the ROV by adopting a weight distribution method based on the first polar coordinate and the second polar coordinate.
According to some embodiments of the invention, the system further comprises:
the positioning module is used for determining geodetic coordinates of the centers of the N vector hydrophones;
the computer further configured to:
correcting the attitude of the target polar coordinate, and determining the relative coordinate of the ROV relative to a three-dimensional coordinate system, wherein the three-dimensional coordinate system takes the centers of the N vector hydrophones as a coordinate origin, the upward direction of the vertical water surface as a Z axis, and the direction parallel to the water surface as an XY axis;
determining geodetic coordinates of the ROV based on the relative coordinates and the geodetic coordinates of the center.
According to some embodiments of the invention, the vector hydrophone is adapted to:
sound pressure information and vibration velocity information are acquired to determine the positioning signal.
According to some embodiments of the invention, the computer is configured to:
calculating target polar coordinates of the ROV according to equation 1,
wherein, (L atR,LonR,DepR) Is the target polar coordinate of the ROV, (L at)i,Loni,Depi) Is the first geodetic coordinate of the ROV, (L at)L,LonL,DepL) Is the second geodetic coordinate of the ROV.
According to some embodiments of the invention, the computer and the acoustic beacon are connected by an ROV transmission cable.
According to some embodiments of the invention, the N satisfies: n is more than or equal to 3;
the distance between any two vector hydrophones is more than or equal to 5 meters and less than or equal to 20 meters.
In a second aspect, an embodiment of the present invention provides an ROV underwater positioning method, including:
controlling an acoustic beacon arranged on the ROV to emit a positioning signal;
receiving the positioning signal with N vector hydrophones of the array;
determining N relative positions of the ROV based on the N positioning signals, the relative positions including an orientation and a distance of the ROV relative to the vector hydrophones;
calculating N first polar coordinates of the ROV relative to N of the vector hydrophones based on the N relative positions;
calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the N relative positions;
and calculating the target polar coordinate of the ROV by adopting a weight distribution method based on the first polar coordinate and the second polar coordinate.
According to some embodiments of the invention, the method further comprises:
determining geodetic coordinates of centers of the N vector hydrophones;
correcting the attitude of the target polar coordinate, and determining the relative coordinate of the ROV relative to a three-dimensional coordinate system, wherein the three-dimensional coordinate system takes the centers of the N vector hydrophones as a coordinate origin, the upward direction of the vertical water surface as a Z axis, and the direction parallel to the water surface as an XY axis;
determining geodetic coordinates of the ROV based on the relative coordinates and the geodetic coordinates of the center.
According to some embodiments of the invention, the receiving the locating signal with the N vector hydrophones of the array comprises:
and the vector hydrophone acquires sound pressure information and vibration speed information to determine the positioning signal.
According to some embodiments of the present invention, a target polar coordinate of the ROV is calculated based on the first polar coordinate and the second polar coordinate by using a weight assignment method.
Calculating target polar coordinates of the ROV according to equation 1,
wherein, (L atR,LonR,DepR) Is the target polar coordinate of the ROV, (L at)i,Loni,Depi) Is the first geodetic coordinate of the ROV, (L at)L,LonL,DepL) Is the second geodetic coordinate of the ROV.
By adopting the embodiment of the invention, the short baseline positioning system is built on the water surface platform by utilizing the vector hydrophone, so that the positioning precision of the short baseline positioning system can be further improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an ROV underwater positioning system in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of an ROV underwater positioning system in an embodiment of the invention;
FIG. 3 is a schematic structural diagram of an ROV underwater positioning system in an embodiment of the present invention;
fig. 4 is a flowchart of an ROV underwater location method in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In one aspect, as shown in fig. 1 to 3, an embodiment of the present invention provides an ROV underwater positioning system 1, including:
the acoustic beacon 10 is arranged on the ROV2, and the acoustic beacon 10 is used for transmitting a positioning signal;
the N vector hydrophones 20 of the array, the vector hydrophone 20 is configured to receive the positioning signal and to forward the positioning signal;
a computer 30 communicatively coupled to each of the acoustic beacon 10 and the N vector hydrophones 20, the computer 30 configured to:
controlling the acoustic beacon to emit a positioning signal;
receiving N positioning signals forwarded by N vector hydrophones and determining N relative positions of the ROV based on the N positioning signals, wherein the relative positions comprise the azimuth and the distance of the ROV relative to the measuring point;
calculating N first polar coordinates of the ROV relative to N of the vector hydrophones based on the N relative positions;
calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the N relative positions;
and calculating the target polar coordinate of the ROV by adopting a weight distribution method based on the first polar coordinate and the second polar coordinate.
By adopting the embodiment of the invention, the short baseline positioning system is built on the water surface platform by utilizing the vector hydrophone, so that the positioning precision of the short baseline positioning system can be further improved.
On the basis of the above-described embodiment, various modified embodiments are further proposed, and it is to be noted herein that, in order to make the description brief, only the differences from the above-described embodiment are described in the various modified embodiments.
According to some embodiments of the invention, the computer 30 is configured to:
calculating N first polar coordinates of the ROV relative to the N vector hydrophones according to a lateral method based on the orientation and the distance of the ROV relative to the N vector hydrophones;
and calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the distance of the ROV relative to the N vector hydrophones.
As shown in fig. 1, according to some embodiments of the invention, the system 1 further comprises:
a positioning module 40 for determining geodetic coordinates of the centers of the N vector hydrophones;
the computer 30 is further configured to:
correcting the attitude of the target polar coordinate, and determining the relative coordinate of the ROV relative to a three-dimensional coordinate system, wherein the three-dimensional coordinate system takes the centers of the N vector hydrophones as a coordinate origin, the upward direction of the vertical water surface as a Z axis, and the direction parallel to the water surface as an XY axis;
determining geodetic coordinates of the ROV based on the relative coordinates and the geodetic coordinates of the center.
According to some embodiments of the invention, the vector hydrophone 20 is configured to:
sound pressure information and vibration velocity information are acquired to determine the positioning signal.
According to some embodiments of the invention, the computer 30 is configured to:
calculating target polar coordinates of the ROV according to equation 1,
wherein, (L atR,LonR,DepR) Is the target polar coordinate of the ROV, (L at)i,Loni,Depi) Is the first geodetic coordinate of the ROV, (L at)L,LonL,DepL) Second ground for the ROVAnd (4) marking.
According to some embodiments of the invention, the computer 30 is connected to the acoustic beacon 10 by an ROV transmission cable.
According to some embodiments of the invention, the N satisfies: n is more than or equal to 3;
the distance between any two vector hydrophones 20 is greater than or equal to 5 meters and less than or equal to 20 meters.
In a second aspect, as shown in fig. 4, an embodiment of the present invention provides an ROV underwater positioning method, including:
s1, controlling an acoustic beacon arranged on the ROV to emit a positioning signal;
s2, receiving the positioning signal by using N vector hydrophones of the array;
s3, determining N relative positions of the ROV based on the N positioning signals, wherein the relative positions comprise the orientation and the distance of the ROV relative to the vector hydrophone;
s4, calculating N first polar coordinates of the ROV relative to the N vector hydrophones based on the N relative positions;
s5, calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the N relative positions;
and S6, calculating the target polar coordinate of the ROV by adopting a weight distribution method based on the first polar coordinate and the second polar coordinate.
By adopting the embodiment of the invention, the short baseline positioning system is built on the water surface platform by utilizing the vector hydrophone, so that the positioning precision of the short baseline positioning system can be further improved.
On the basis of the above-described embodiment, various modified embodiments are further proposed, and it is to be noted herein that, in order to make the description brief, only the differences from the above-described embodiment are described in the various modified embodiments.
According to some embodiments of the invention, the method further comprises:
determining geodetic coordinates of centers of the N vector hydrophones;
correcting the attitude of the target polar coordinate, and determining the relative coordinate of the ROV relative to a three-dimensional coordinate system, wherein the three-dimensional coordinate system takes the centers of the N vector hydrophones as a coordinate origin, the upward direction of the vertical water surface as a Z axis, and the direction parallel to the water surface as an XY axis;
determining geodetic coordinates of the ROV based on the relative coordinates and the geodetic coordinates of the center.
According to some embodiments of the invention, the receiving the locating signal with the N vector hydrophones of the array comprises:
and the vector hydrophone acquires sound pressure information and vibration speed information to determine the positioning signal.
According to some embodiments of the present invention, a target polar coordinate of the ROV is calculated based on the first polar coordinate and the second polar coordinate by using a weight assignment method.
Calculating target polar coordinates of the ROV according to equation 1,
wherein, (L atR,LonR,DepR) Is the target polar coordinate of the ROV, (L at)i,Loni,Depi) Is the first geodetic coordinate of the ROV, (L at)L,LonL,DepL) Is the second geodetic coordinate of the ROV.
An ROV underwater positioning system according to an embodiment of the present invention will be described in detail in one specific embodiment with reference to fig. 1 to 3. It is to be understood that the following description is illustrative only and is not intended to be in any way limiting. All similar structures and similar variations thereof adopted by the invention are intended to fall within the scope of the invention.
As shown in fig. 1-3, an ROV underwater positioning system 1 is mainly composed of an above-water part, a water surface part and an underwater part. The water upper part is dry-end equipment and is deployed above a water surface platform; the water surface part is a wet end device, needs to be deployed below the water surface and is in hard connection with a water surface platform; the underwater part is a wet end device and is carried on an ROV 2.
The underwater portion is an acoustic beacon 10. The acoustic beacon 10 is a positioning signal transmitting device that is directly controlled by the computer 30 of the marine part.
The surface portion includes three vector hydrophones 20, with three vector hydrophones 20 distributed in an array (i.e., a short baseline matrix). The vector hydrophone 20 is used for sensing sound pressure and vibration velocity information at the arrangement position and outputting an analog measurement signal.
The overwater portion includes: signal preprocessing module 50, computer 30, attitude sensor 60, and positioning module 40 (e.g., beidou/GPS). The signal preprocessing module 50 is configured to convert the analog signal collected by the vector hydrophone into a digital signal, and perform preprocessing operations such as amplification and filtering. The computer 30 is used for controlling, calculating, displaying, and the like. Attitude sensor 60 is used to measure attitude information of the surface platform. And a positioning module 40 (for acquiring geodetic coordinates of the surface platform.
Specifically, three vector hydrophones 20 are deployed on the water surface platform, the distance is set according to the size of the water surface platform, generally between 5m and 20m, a short baseline positioning system is formed by sound pressure channels of the three vector hydrophones 20, and the ROV2 is positioned through the positioning principle of the short baseline positioning system.
The computer 30 is connected to the acoustic beacon 10 via an ROV transmission cable. The short baseline positioning may employ a synchronous positioning method. The computer 30 controls the acoustic beacon 10 to emit the positioning signal through the ROV transmission cable and records the signal emission time t1(ii) a After the vector hydrophone 20 receives the signal, the data is transmitted to the computer 30 through a series of processing, and the computer 30 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 ROV2 and the water surface platform can be calculated by combining the sound velocity information, namely L ═ c (t) ·2-t1-tf). And then, the position (second polar coordinate) of the acoustic beacon 10 (namely, ROV) is calculated according to the three-point positioning principle, and the system 1 of the embodiment of the invention has good effect in shallow sea because the three-point positioning principle needs to be used under the condition of spherical waves.
In addition, each vector hydrophone 20 can measure the distance between the vector hydrophone and the acoustic beacon 10, and each vector hydrophone 20 can also measure the orientation of the acoustic beacon 10 relative to the vector hydrophones 20, that is, each vector hydrophone 20 can obtain the position information (first polar coordinates) of one acoustic beacon 10, and then the position information and the short-baseline positioning result are subjected to fusion processing.
The fusion treatment can adopt a weighted average method, the weight can be set according to the number of elements, the method is as follows, the measurement result of the number 1-N vector hydrophones to the ROV geodetic coordinate position is set as (L at)1,Lon1,Dep1)、…、(LatN,LonN,DepN) Wherein N is more than or equal to 3, and calculating to obtain ROV geodetic coordinate (L at) by using the short baseline positioning principleL,LonL,DepL)。
And then performing fusion calculation on the short baseline positioning result and the vector hydrophone positioning result by using a weighted average method, wherein the short baseline positioning accuracy is higher than the vector hydrophone positioning accuracy, the positioning accuracy is higher when the array length is longer and the array element number is more, weight distribution is performed based on the factors, and the real positioning result of the submarine asset is (L at)R,LonR,DepR) The specific weighted average calculation method is as follows, where N is the number of the ultra-short baseline primitives,
when N is 3, the weight of the short baseline positioning result is 75%, the sum of the weights of the three measuring point vector hydrophones is 25%, and the weights of the positioning results of each vector hydrophone are the same and are about 8.3%; when the number of measuring points is more, the weight of the short baseline positioning result is higher, and the weight of the single vector hydrophone positioning result is lower.
The positioning method of the ROV underwater positioning system comprises the following specific steps:
the computer sends a control instruction to the acoustic beacon through the ROV transmission cable;
after receiving the control instruction, the acoustic beacon sends a positioning signal to an underwater acoustic channel;
the vector hydrophone array is in a receiving state in the whole process, and transmits received data to the signal preprocessing module in real time;
the signal preprocessing module is used for conditioning signals, comprising amplification, filtering, AD conversion and other operations, and outputting digital signals to a computer;
the computer calculates and obtains the position polar coordinates (L at) of the ROV relative to the vector hydrophone by using methods such as vector hydrophone direction finding, synchronous distance measuring and the like1,Lon1,Dep1)、…、(LatN,LonN,DepN)；
Calculation using short baseline positioning principles (L at)S,LonS,DepS)；
Calculated using a weighted average fusion algorithm (L at)R,LonR,DepR)；
The computer reads the attitude information of the water surface platform acquired by the attitude sensor, performs attitude correction on the polar coordinate position information acquired in the last step, and acquires the relative position of the ROV relative to a three-dimensional coordinate which takes the vector hydrophone array central point as the origin, the vertical direction as the Z axis and the horizontal direction as the XY axis;
the computer reads geodetic coordinate information provided by the Beidou/GPS, and performs coordinate conversion according to the information of the position relative to the ROV in the previous step to obtain coordinates of the ROV in a geodetic coordinate system;
the ROV coordinates are continuously updated.
For example, the ROV underwater pipeline detection by using the ROV underwater positioning system of the embodiment of the present invention includes:
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:
equipment installation and ROV launching;
the computer sends a control instruction to the ROV through an ROV transmission cable;
after receiving the control instruction, the ROV immediately sends a positioning signal to an underwater acoustic channel through an acoustic beacon;
after receiving the positioning signal, the vector hydrophone array arranged below the water surface platform transmits data to the signal preprocessing module for signal conditioning;
after signal conditioning, sending data to a computer, reading attitude information provided by an attitude sensor and geodetic coordinate information provided by the Beidou/GPS by the computer, and analyzing and processing to obtain underwater geodetic coordinates of the ROV;
the computer drives the ROV to move to the position of the target submarine pipeline according to the geodetic coordinate position of the ROV;
the ROV position is continuously updated until the task is finished.
By adopting the embodiment of the invention, the vector hydrophone array is utilized to carry out underwater cooperative target positioning: the traditional ROV underwater positioning mostly adopts a short baseline or ultra-short baseline positioning system, vibration velocity information in a sound field is not fully utilized, a weighted average method is adopted to fuse measurement results of a vector hydrophone method and a short baseline positioning method, positioning accuracy is improved, geodetic coordinates of the ROV can be obtained in the ROV underwater operation process, and compared with other positioning devices, the positioning accuracy of the traditional method can be improved.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and those skilled in the art can make various modifications and changes. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. The particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. For example, in the claims, any of the claimed embodiments may be used in any combination.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An ROV underwater positioning system, comprising:
the sound beacon is arranged on the ROV and used for transmitting a positioning signal;
n vector hydrophones of the array, the vector hydrophone is used for receiving the positioning signal and transmitting the positioning signal;
a computer communicatively coupled to the acoustic beacon and the N vector hydrophones, the computer configured to:
controlling the acoustic beacon to emit a positioning signal;
receiving N positioning signals forwarded by N vector hydrophones and determining N relative positions of the ROV based on the N positioning signals, wherein the relative positions comprise the azimuth and the distance of the ROV relative to the vector hydrophones;
calculating N first polar coordinates of the ROV relative to N of the vector hydrophones based on the N relative positions;
calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the N relative positions;
and calculating the target polar coordinate of the ROV by adopting a weight distribution method based on the first polar coordinate and the second polar coordinate.
2. The system of claim 1, wherein the system further comprises:
the positioning module is used for determining geodetic coordinates of the centers of the N vector hydrophones;
the computer further configured to:
correcting the attitude of the target polar coordinate, and determining the relative coordinate of the ROV relative to a three-dimensional coordinate system, wherein the three-dimensional coordinate system takes the centers of the N vector hydrophones as a coordinate origin, the upward direction of the vertical water surface as a Z axis, and the direction parallel to the water surface as an XY axis;
determining geodetic coordinates of the ROV based on the relative coordinates and the geodetic coordinates of the center.
3. The system of claim 1, wherein the vector hydrophone is configured to:
sound pressure information and vibration velocity information are acquired to determine the positioning signal.
4. The system of claim 1, wherein the computer is to:
calculating target polar coordinates of the ROV according to equation 1,
wherein, (L atR,LonR,DepR) Is the target polar coordinate of the ROV, (L at)i,Loni,Depi) Is the first geodetic coordinate of the ROV, (L at)L,LonL,DepL) Is the second geodetic coordinate of the ROV.
5. The system of claim 1, wherein the computer and the acoustic beacon are connected by an ROV transmission cable.
6. The system of claim 1, wherein N satisfies: n is more than or equal to 3;
the distance between any two vector hydrophones is more than or equal to 5 meters and less than or equal to 20 meters.
7. An ROV underwater positioning method, comprising:
controlling an acoustic beacon arranged on the ROV to emit a positioning signal;
receiving the positioning signal with N vector hydrophones of the array;
determining N relative positions of the ROV based on the N positioning signals, the relative positions including an orientation and a distance of the ROV relative to the vector hydrophones;
calculating N first polar coordinates of the ROV relative to N of the vector hydrophones based on the N relative positions;
calculating a second polar coordinate of the ROV by adopting a short baseline positioning method based on the N relative positions;
and calculating the target polar coordinate of the ROV by adopting a weight distribution method based on the first polar coordinate and the second polar coordinate.
8. The method of claim 7, wherein the method further comprises:
determining geodetic coordinates of centers of the N vector hydrophones;
correcting the attitude of the target polar coordinate, and determining the relative coordinate of the ROV relative to a three-dimensional coordinate system, wherein the three-dimensional coordinate system takes the centers of the N vector hydrophones as a coordinate origin, the upward direction of the vertical water surface as a Z axis, and the direction parallel to the water surface as an XY axis;
determining geodetic coordinates of the ROV based on the relative coordinates and the geodetic coordinates of the center.
9. The method of claim 7 wherein said receiving said locating signal with an array of N vector hydrophones comprises:
and the vector hydrophone acquires sound pressure information and vibration speed information to determine the positioning signal.
10. The method of claim 7, wherein a weight assignment method is used to calculate the target polar coordinates of the ROV based on the first polar coordinates and the second polar coordinates.
Calculating target polar coordinates of the ROV according to equation 1,
wherein, (L atR,LonR,DepR) Is the target polar coordinate of the ROV, (L at)i,Loni,Depi) Is the first geodetic coordinate of the ROV, (L at)L,LonL,DepL) Is the second geodetic coordinate of the ROV.
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