CN111537946A - Underwater beacon directional positioning system and method - Google Patents

Abstract

The invention provides an underwater beacon orientation and positioning system and method. The system includes a forward ultra-short baseline system and a reverse ultra-short baseline system, a positioning system and a first inertial navigation system on the water carrier side, and an underwater carrier side. Second inertial navigation system and hydrophone array. A hydrophone array is set on the underwater vehicle for secondary positioning, which improves the depth of underwater positioning and realizes the directional positioning of the underwater beacon on the deep seabed. Through the forward and reverse ultra-short baseline systems and the first and second inertial navigation systems, the forward and reverse two-way simultaneous positioning of the relative positions of the water-underwater vehicles is realized, the obtained data frequency is higher, the positioning efficiency is higher, and at the same time The accuracy of positioning is improved; and setting the hydrophone array on the underwater vehicle has less noise interference than setting the hydrophone array on the water vehicle, so the signal quality received by the array is better. It is convenient for subsequent location information processing to obtain more accurate location information.

Description

Underwater beacon orientation and positioning system and method

technical field

The invention relates to the technical field of underwater target search and positioning, and more particularly, to an underwater beacon orientation and positioning system and method.

Background technique

At present, the search and positioning of underwater beacons is usually realized by using a ship-borne fixed search and positioning system, which can search and locate in a short distance, such as electronic flight recorders (commonly known as "black boxes") that fall on the seabed, black boxes It can send out a 37.5Hz sound wave signal, and the signal propagation distance is about 3000 meters. But as the underwater distance deepens, the signal also attenuates until it disappears. If the black box is located on the deep seabed with a depth of more than 6000 meters, its signal cannot be transmitted to the water surface, and the existing shipborne fixed search and positioning system cannot receive the signal, so the black box cannot be searched. Therefore, the beacon orientation for the deep seabed is Technical problems that need to be solved urgently now.

SUMMARY OF THE INVENTION

In view of this, the present invention proposes an underwater beacon orientation and positioning system and method to achieve the purpose of increasing the underwater positioning depth.

In order to achieve the above purpose, the proposed scheme is as follows:

In a first aspect, an underwater beacon orientation and positioning system is provided, comprising: a forward ultra-short baseline system and a reverse ultra-short baseline system, a positioning system 11 and a first inertial navigation system 14 arranged at the end of the water vehicle 21, and the second inertial navigation system 15 and the hydrophone array 16 arranged at the end of the underwater vehicle 22;

The positioning system 11 is used to obtain the absolute position of the water vehicle 21;

The forward ultra-short baseline system is used to positively locate the relative positions of the above-water vehicle 21 and the underwater vehicle 22;

The first inertial navigation system 14 is used to obtain the heading and attitude of the water vehicle 21;

The reverse ultra-short baseline system is used to reversely locate the relative positions of the water vehicle 21 and the underwater vehicle 22;

The second inertial navigation system 15 is used to obtain the heading and attitude of the underwater vehicle 22;

The hydrophone array 16 includes n directional hydrophones or vector hydrophones arranged at preset intervals and angles, n≥3, and the hydrophone array 16 is used to obtain the underwater beacon 23 to be located. the orientation;

The underwater beacon 23 to be located is a device that actively transmits acoustic signals to the outside.

Optionally, the underwater vehicle 22 and the water vehicle 21 are connected by a cable 19, and the water vehicle 21 drags the underwater vehicle 22 through the cable 19, while all the Data exchange is performed between the controller at the end of the underwater vehicle 22 and the controller at the end of the water vehicle 21 through the cable 19 .

Optionally, the forward ultra-short baseline system includes: a first array and a first transmitting transducer 12 arranged at the bottom of the water vehicle 21, and a first array arranged at the top of the underwater vehicle 22. a beacon 13;

The first array includes hydrophones arranged at four corners of the quadrilateral, the heights of the hydrophones are different, and the first transmitting transducer is arranged in the center of the quadrilateral.

Optionally, the reverse ultra-short baseline system includes: a second array and a second transmitting transducer 17 arranged at the top of the underwater vehicle 22, and a first array arranged at the bottom of the water vehicle 21. two beacons 18;

The second array includes hydrophones arranged at four corners of the quadrilateral, the heights of each of the hydrophones are different, and the second transmitting transducer is arranged in the center of the quadrilateral.

Optionally, the hydrophone array 16 includes:

Directional hydrophones or vector hydrophones are arranged at the three corners of the triangle, and the hydrophone array 16 is arranged at the bottom and/or on both sides of the underwater vehicle 22 .

Optionally, the underwater beacon 23 to be located is an electronic flight recorder.

In a second aspect, an underwater beacon orientation and positioning method is provided. Based on the underwater beacon orientation and positioning system in the first aspect, the underwater beacon orientation and positioning method includes:

According to the information obtained by the forward ultra-short baseline system and the heading and attitude of the water vehicle 21 obtained by the first inertial navigation system 14, the distance between the water vehicle 21 and the underwater vehicle 22 is calculated. Relative position, obtain the absolute position of the water vehicle 21 in combination with the positioning system 11, and calculate the absolute position of the underwater vehicle 22, that is, the first absolute position;

According to the information obtained by the reverse ultra-short baseline system and the heading and attitude of the underwater vehicle 22 obtained by the second inertial navigation system 15, the above-water vehicle 21 and the underwater vehicle are obtained by calculation. The relative position of the vehicle 22 is obtained by combining the positioning system 11 to obtain the absolute position of the water vehicle 21, and the absolute position of the underwater vehicle 22, that is, the second absolute position, is obtained by calculation;

The first absolute position and the second absolute position are fused to obtain the absolute position of the fused underwater vehicle 22, so that the water surface measurement platform is moved underwater;

The underwater beacon 23 to be located transmits an acoustic signal outward, and the acoustic signals emitted by the underwater beacon 23 to be located are received according to the directional hydrophones or vector hydrophones at different positions in the hydrophone array 16 . The strength of the signal is used to measure the position information of the underwater beacon 23 to be located relative to the underwater vehicle 22 .

Compared with the prior art, the technical solution of the present invention has the following advantages:

An underwater beacon orientation and positioning system and method provided by the above technical solution, the system includes a forward ultra-short baseline system and a reverse ultra-short baseline system, a positioning system and a first inertial navigation system arranged at the end of the water carrier, and a setting system. The second inertial navigation system and hydrophone array on the underwater vehicle end, by transferring the surface measurement platform to the underwater, combined with setting up the hydrophone array on the underwater vehicle for secondary positioning, improving the underwater positioning depth , to realize the directional positioning of the underwater beacon in the deep seabed.

And through the forward and reverse ultra-short baseline systems and the first and second inertial navigation systems, the forward and reverse two-way simultaneous positioning of the relative position of the water-underwater vehicle is achieved; the hydrophone array is set on the underwater vehicle, Compared with setting the hydrophone array on the water vehicle, the noise interference is smaller, so the signal quality received by the array is better, which is convenient for subsequent position information processing and obtains more accurate position information. In addition, the forward and reverse two-way positioning methods are carried out at the same time, the obtained data frequency is higher, the positioning efficiency is higher, and the positioning accuracy is also improved.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

1 is a schematic structural diagram of an underwater beacon orientation and positioning system according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for directional positioning of an underwater beacon according to an embodiment of the present invention.

In the figure, 11-positioning system, 12-first array and first transmitting transducer, 13-first beacon, 14-first inertial navigation system, 15-second inertial navigation system, 16-hydrophone array, 17- the second base array and the second transmitting transducer, 18- the second beacon, 19- the cable; 21- the water carrier, 22- the underwater carrier, 23- the underwater beacon to be located.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1, it is a schematic structural diagram of an underwater beacon orientation and positioning system provided by the present invention, including: a forward ultra-short baseline system and a reverse ultra-short baseline system, the positioning system 11 and the first An inertial navigation system 14, and a second inertial navigation system 15 and a hydrophone array 16 arranged at the end of the underwater vehicle 22.

The hydrophone array 16 includes n directional hydrophones arranged at preset intervals and angles. The hydrophone array 16 is used to obtain the orientation of the underwater beacon 23 to be located. The hydrophone array 16 is disposed on the bottom and/or sides of the underwater vehicle 22 . In a specific embodiment the hydrophone array includes three directional hydrophones located at the three corners of a triangle. The larger the n, the higher the probability of obtaining a signal. According to the strength and/or the time interval of the acoustic signal transmitted by the underwater beacon 23 to be located received by the hydrophones at different positions in the hydrophone array, the relative position of the underwater beacon 23 to be located relative to the underwater vehicle 22 is measured. direction information. Exemplarily, the hydrophone array is a circular array, and the direction of the outward pointing of the hydrophone with the strongest received acoustic signal or the shortest time interval of receiving the acoustic signal is that the underwater beacon 23 to be located is relative to the underwater. Orientation of carrier 22.

The water vehicle 21 shown in FIG. 1 is a ship, and it should be noted that the water vehicle 21 may also be a buoy or the like. Specifically, the underwater vehicle 22 may be a towed body or the like. The present invention does not limit the specific forms of the water vehicle 21 and the underwater vehicle 22 .

The positioning system 11 is used to locate the absolute position of the water vehicle 21 . The positioning system 11 may specifically be GPS (Global Positioning System, global positioning system), BDS (BeiDou Navigation Satellite System, China Beidou satellite navigation system), GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS global satellite navigation system), Galileo positioning system Or an integrated navigation system, etc., the present invention does not limit the specific form of the positioning system 11 .

The forward ultra-short baseline system is used to locate the relative positions of the water vehicle 21 and the underwater vehicle 22 in the forward direction. In a specific embodiment, the forward ultra-short baseline system includes a first array and a first transmitting transducer 12 arranged at the bottom of the water vehicle 21 , and a first beacon 13 arranged at the top of the underwater vehicle 22 . The first array includes hydrophones arranged at four corners of the quadrilateral, the heights of each hydrophone are different, and the first transmitting transducer is arranged in the center of the quadrilateral. The forward ultra-short baseline system can be implemented by using the ultra-short baseline positioning method in the prior art, and the present invention will describe the positioning process again.

The first inertial navigation system 14 is used to obtain the heading and attitude of the water vehicle 21 . The first inertial navigation system 14 includes a compass and an attitude gauge. The inertial navigation system is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside.

The reverse ultra-short baseline system is used to reversely locate the relative positions of the water vehicle 21 and the underwater vehicle 22 . The reverse ultrashort baseline system includes a second array and a second transmitting transducer 17 arranged on the top of the underwater vehicle 22 , and a second beacon 18 arranged at the bottom of the water vehicle 21 . The second array includes hydrophones arranged at four corners of the quadrilateral, the heights of each hydrophone are different, and the second transmitting transducer is arranged in the center of the quadrilateral. The reverse ultra-short baseline system is to set the beacon of the forward ultra-short baseline system in reverse with the array and the transmitting transducer. The positioning principles of the forward and reverse ultra-short baseline systems are basically the same, and the reverse ultra-short baseline system The system can be implemented by using the ultra-short baseline positioning method in the prior art, and the present invention will describe the positioning process again.

The second inertial navigation system 15 is used to obtain the heading and attitude of the underwater vehicle 22; the second inertial navigation system 15 includes a compass and an attitude meter, and the inertial navigation system is a kind of non-reliance on external information and does not radiate energy to the outside. autonomous navigation system.

The underwater beacon 23 to be located is a device that actively emits acoustic signals to the outside. The underwater beacon 23 to be located may specifically be an electronic flight recorder (commonly known as a black box). The black box can transmit ultrasonic signals from underwater at a depth of 3000m, usually at a frequency of 37.5kHz per second, and lasts for 30 days.

In a specific embodiment, the underwater vehicle 22 and the water vehicle 21 are connected through a cable 19; the water vehicle 21 drags the underwater vehicle 22 through the cable 19, while the underwater vehicle 21 Data is exchanged between the controller on the side of the carrier 22 and the controller on the side of the water carrier 21 through the cable 19 .

The above embodiment introduces the structure of the underwater beacon orientation and positioning system, and the method for underwater positioning based on the underwater beacon orientation and positioning system is described in detail below. Referring to FIG. 2 , this embodiment provides a flowchart of a method for directional positioning of a reverse underwater beacon based on the underwater beacon directional positioning system shown in FIG. 1 , including steps:

S21: According to the information obtained by the forward ultra-short baseline system, and the heading and attitude of the water vehicle 21 obtained by the first inertial navigation system 14, the relative positions of the water vehicle 21 and the underwater vehicle 22 are calculated and obtained, combined with the positioning system 11. Acquire the absolute position of the water vehicle 21, and calculate the absolute position of the underwater vehicle 22, that is, the first absolute position.

S22: According to the information obtained by the reverse ultra-short baseline system and the heading and attitude of the underwater vehicle 22 obtained by the second inertial navigation system 15, calculate the relative positions of the water vehicle 21 and the underwater vehicle 22, and combine the positioning The system 11 acquires the absolute position of the water vehicle 21, and calculates the absolute position of the underwater vehicle 22, that is, the second absolute position.

S23: Fusion of the first absolute position and the second absolute position to obtain the absolute position of the fused underwater vehicle 22, so as to move the water surface measurement platform underwater.

S24: The underwater beacon 23 (black box) to be located transmits an acoustic signal outward, and according to the intensity of the acoustic signal transmitted by the underwater beacon 23 to be located received by the directional hydrophones at different positions in the hydrophone array 16, measure the intensity of the acoustic signal. The position information of the underwater beacon 23 to be located relative to the underwater vehicle 22 is obtained.

The working principle of the underwater beacon orientation and positioning system provided by this embodiment is as follows:

Compared with the method of directly positioning the underwater beacon to be located by the traditional water vehicle, the underwater beacon orientation and positioning system provided in this embodiment, on the one hand, moves the measurement platform of the water vehicle 21 to the underwater vehicle 22. , combined with the hydrophone array 16 added in the underwater vehicle 22 (trailed body) for secondary positioning, and then the underwater positioning depth of 3000 meters is increased to 6000 meters, and the underwater beacon-black box (black box) located on the deep seabed is realized. Send out a 37.5Hz sound wave signal, the signal propagation distance is about 3000 meters) directional positioning.

On the other hand, the position of the underwater vehicle 22 is obtained by bidirectional positioning of the forward and reverse ultra-short baseline systems, more data are obtained at the same time, and the results are more accurate; and the hydrophone array of the reverse ultra-short baseline system is set On the underwater vehicle 22, compared with setting the hydrophone array on the water vehicle 21, the noise interference by the propeller of the hull is smaller, so the signal quality received by the reverse ultra-short baseline system is better, It is convenient for subsequent location information processing to obtain more accurate location information.

For the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, Certain steps may be performed in other orders or simultaneously.

In this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such existence between these entities or operations. The actual relationship or sequence. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Each embodiment in this specification focuses on the points that are different from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.

The above description of the disclosed embodiments of the present invention enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. an underwater beacon orientation and positioning system, is characterized in that, comprises: forward ultra-short baseline system and reverse ultra-short baseline system, be arranged on the positioning system (11) of water carrier (21) end and the first inertial system a navigation system (14), and a second inertial navigation system (15) and a hydrophone array (16) arranged at the end of the underwater vehicle (22); the positioning system (11) for acquiring the absolute position of the water vehicle (21); The forward ultra-short baseline system is used to positively locate the relative positions of the water vehicle (21) and the underwater vehicle (22); the first inertial navigation system (14) for obtaining the heading and attitude of the water vehicle (21); The reverse ultra-short baseline system is used to reversely locate the relative positions of the water vehicle (21) and the underwater vehicle (22); the second inertial navigation system (15) for obtaining the heading and attitude of the underwater vehicle (22); The hydrophone array (16) includes n directional hydrophones or vector hydrophones arranged at preset intervals and angles, n≥3, and the hydrophone array (16) is used to obtain the hydrophone to be located. the bearing of the lower beacon (23); The underwater beacon (23) to be located is a device that actively emits acoustic signals to the outside. 2. The underwater beacon orientation and positioning system according to claim 1, wherein the underwater vehicle (22) and the water vehicle (21) are connected by a cable (19), so that the The water vehicle (21) drags the underwater vehicle (22) through the cable (19), and at the same time the controller at the end of the underwater vehicle (22) and the controller at the end of the water vehicle (21) are connected to each other. Data is exchanged between the controllers through the cable (19). 3. The underwater beacon orientation and positioning system according to claim 1, wherein the forward ultra-short baseline system comprises: a first array and a first array arranged at the bottom of the water vehicle (21) a transmitting transducer (12), and a first beacon (13) arranged on top of the underwater vehicle (22); The first array includes hydrophones arranged at four corners of the quadrilateral, the heights of the hydrophones are different, and the first transmitting transducer is arranged in the center of the quadrilateral. 4. The underwater beacon orientation and positioning system according to claim 1, wherein the reverse ultra-short baseline system comprises: a second array and a second array arranged on the top of the underwater vehicle (22). two transmitting transducers (17), and a second beacon (18) arranged at the bottom of the water vehicle (21); The second array includes hydrophones arranged at four corners of the quadrilateral, the heights of each of the hydrophones are different, and the second transmitting transducer is arranged in the center of the quadrilateral. 5. The underwater beacon orientation and positioning system according to claim 1, wherein the hydrophone array (16) comprises: Directional hydrophones or vector hydrophones are arranged at the three corners of the triangle, and the hydrophone array (16) is arranged at the bottom and/or both sides of the underwater vehicle (22). 6. The underwater beacon orientation and positioning system according to claim 1, wherein the underwater beacon (23) to be located is an electronic flight recorder. 7. An underwater beacon orientation and positioning method, characterized in that, based on the underwater beacon orientation and positioning system according to claim 1, the underwater beacon orientation and positioning method comprises: According to the information obtained by the forward ultra-short baseline system, and the heading and attitude of the water vehicle (21) obtained by the first inertial navigation system (14), it is calculated that the water vehicle (21) and The relative position of the underwater vehicle (22), the absolute position of the underwater vehicle (21) is obtained in combination with the positioning system (11), and the first absolute position of the underwater vehicle (22) is obtained by calculation; According to the information obtained by the reverse ultra-short baseline system and the heading and attitude of the underwater vehicle (22) obtained by the second inertial navigation system (15), the water vehicle (21) is obtained by calculation The relative position of the underwater vehicle (22), the absolute position of the underwater vehicle (21) is obtained in combination with the positioning system (11), and the second absolute position of the underwater vehicle (22) is obtained by calculation Location; The first absolute position and the second absolute position are fused to obtain the absolute position of the fused underwater vehicle (22), so that the water surface measurement platform is moved underwater; The underwater beacon (23) to be located transmits an acoustic signal outward, and the underwater beacon to be located is received according to directional hydrophones or vector hydrophones at different positions in the hydrophone array (16). (23) The intensity of the transmitted acoustic signal, and the azimuth information of the underwater beacon (23) to be located relative to the underwater vehicle (22) is measured.

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