CN111537946A - Underwater beacon directional positioning system and method - Google Patents
Underwater beacon directional positioning system and method Download PDFInfo
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- CN111537946A CN111537946A CN202010524888.4A CN202010524888A CN111537946A CN 111537946 A CN111537946 A CN 111537946A CN 202010524888 A CN202010524888 A CN 202010524888A CN 111537946 A CN111537946 A CN 111537946A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 57
- 238000003491 array Methods 0.000 claims description 3
- 230000010365 information processing Effects 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
- G01S1/763—Systems for determining direction or position line using the Doppler shift introduced by the relative motion between beacon and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides an underwater beacon directional positioning system and method, wherein the system comprises a forward ultra-short baseline system and a reverse ultra-short baseline system, a positioning system and a first inertial navigation system at an overwater carrier end, and a second inertial navigation system and a hydrophone array at an underwater carrier end. The hydrophone array is arranged on the underwater vehicle for secondary positioning, so that the underwater positioning depth is improved, and the directional positioning of the underwater beacon at the deep sea bottom is realized. The forward and backward direction ultra-short baseline systems and the first and second inertial navigation systems realize the forward and backward direction simultaneous positioning of the relative position of the overwater and underwater vehicles, the obtained data frequency is higher, the positioning efficiency is higher, and the positioning accuracy is improved; and the hydrophone array is arranged on the underwater vehicle, and compared with the hydrophone array arranged on the water vehicle, the noise interference is smaller, so that the signal quality received by the array is better, the subsequent position information processing is facilitated, and more accurate position information is obtained.
Description
Technical Field
The invention relates to the technical field of underwater target searching and positioning, in particular to an underwater beacon directional positioning system and method.
Background
At present, the search and positioning for underwater beacons are usually realized by using a shipborne fixed search and positioning system, and the method can perform search and positioning in a short distance, for example, an electronic flight recorder (commonly called "black box") which falls on the sea bottom can send out a sound wave signal of 37.5Hz, and the signal propagation distance is about 3000 meters. But as the distance under the water increases, the signal also attenuates until it disappears. If the black box is located on the deep sea bottom with the depth of more than 6000 meters, the signal can not be transmitted on the water surface, and the existing ship-borne fixed type searching and positioning system can not receive the signal, so that the black box can not be searched.
Disclosure of Invention
In view of this, the present invention provides an underwater beacon directional positioning system and method, which are intended to achieve the purpose of increasing the underwater positioning depth.
In order to achieve the above object, the following solutions are proposed:
in a first aspect, an underwater beacon directional positioning system is provided, including: a forward ultra-short baseline system and a reverse ultra-short baseline system, a positioning system 11 and a first inertial navigation system 14 which are arranged at the end of the water carrier 21, and a second inertial navigation system 15 and a hydrophone array 16 which are arranged at the end of the underwater carrier 22;
the positioning system 11 for acquiring the absolute position of the water vehicle 21;
the forward ultra-short baseline system is used for forward positioning of the relative positions of the water vehicle 21 and the underwater vehicle 22;
the first inertial navigation system 14 is configured to obtain a heading and a posture of the marine vehicle 21;
the reverse ultra-short baseline system is used for reversely positioning the relative positions of the water vehicle 21 and the underwater vehicle 22;
the second inertial navigation system 15 is used for obtaining the course and the attitude of the underwater vehicle 22;
the hydrophone array 16 comprises n directional hydrophones or vector hydrophones which are arranged according to preset intervals and angles, wherein n is more than or equal to 3, and the hydrophone array 16 is used for obtaining the direction of the underwater beacon 23 to be positioned;
the underwater beacon 23 to be positioned is a device which actively emits an acoustic signal outwards.
Optionally, the underwater vehicle 22 is connected to the water vehicle 21 through a cable 19, the water vehicle 21 drags the underwater vehicle 22 through the cable 19, and meanwhile, 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 first transmitting transducer 12 disposed at the bottom of the water vehicle 21, and a first beacon 13 disposed at the top of the underwater vehicle 22;
the first array comprises hydrophones arranged at four angular positions of a quadrilateral, the height of each hydrophone is different, and the first transmitting transducer is arranged at the center of the quadrilateral.
Optionally, the reverse ultra-short baseline system includes: a second array and second transmitting transducer 17 disposed on top of the underwater vehicle 22, and a second beacon 18 disposed on the bottom of the water vehicle 21;
the second array comprises hydrophones arranged at four angular positions of the quadrangle, the height of each hydrophone is different, and the second transmitting transducer is arranged at the center of the quadrangle.
Optionally, the hydrophone array 16 includes:
directional hydrophones or vector hydrophones arranged at three angular positions of a triangle, with hydrophone arrays 16 arranged at the bottom and/or on both sides of said underwater vehicle 22.
Optionally, the underwater beacon 23 to be positioned is: an electronic flight recorder.
In a second aspect, an underwater beacon directional positioning method is provided, based on the underwater beacon directional positioning system in the first aspect, the underwater beacon directional positioning method includes:
calculating to obtain the relative position of the water vehicle 21 and the underwater vehicle 22 according to the information obtained by the forward ultra-short baseline system and the course and attitude of the water vehicle 21 obtained by the first inertial navigation system 14, obtaining the absolute position of the water vehicle 21 by combining the positioning system 11, and calculating to obtain the absolute position of the underwater vehicle 22, namely a first absolute position;
calculating the relative position of the water vehicle 21 and the underwater vehicle 22 according to the information obtained by the reverse ultra-short baseline system and the course and attitude of the underwater vehicle 22 obtained by the second inertial navigation system 15, acquiring the absolute position of the water vehicle 21 by combining the positioning system 11, and calculating the absolute position of the underwater vehicle 22, namely a second absolute position;
fusing the first absolute position and the second absolute position to obtain a fused absolute position of the underwater vehicle 22, so as to move the water surface measuring platform underwater;
the underwater beacon 23 to be positioned emits an acoustic signal outwards, and the azimuth information of the underwater beacon 23 to be positioned relative to the underwater vehicle 22 is measured according to the strength of the acoustic signal emitted by the underwater beacon 23 to be positioned received by the directional hydrophones or the vector hydrophones at different positions in the hydrophone array 16.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the system comprises a forward ultra-short baseline system, a reverse ultra-short baseline system, a positioning system and a first inertial navigation system which are arranged at the end of an overwater carrier, and a second inertial navigation system and a hydrophone array which are arranged at the end of an underwater carrier.
The forward and backward direction ultra-short baseline systems and the first and second inertial navigation systems are used for realizing the forward and backward direction simultaneous positioning of the relative positions of the above-water and underwater vehicles; the hydrophone array is arranged on the underwater vehicle, and compared with the hydrophone array arranged on the water vehicle, the noise interference is smaller, so that the signal quality received by the array is better, the subsequent position information processing is facilitated, and more accurate position information is obtained. And the forward and backward bidirectional positioning modes are carried out simultaneously, the obtained data frequency is higher, the positioning efficiency is higher, and the positioning accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an underwater beacon directional positioning system provided in an embodiment of the present invention;
fig. 2 is a flowchart of an underwater beacon directional positioning method according to an embodiment of the present invention.
In the figure, 11-positioning system, 12-first base array and first transmitting transducer, 13-first beacon, 14-first inertial navigation system, 15-second inertial navigation system, 16-hydrophone array, 17-second base array and second transmitting transducer, 18-second beacon, 19-cable; 21-water vehicle, 22-underwater vehicle, 23-underwater beacon to be positioned.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of an underwater beacon directional positioning system provided by the present invention includes: a forward ultra-short baseline system and a reverse ultra-short baseline system, a positioning system 11 and a first inertial navigation system 14 which are arranged at the end of the water vehicle 21, and a second inertial navigation system 15 and a hydrophone array 16 which are arranged at the end of the underwater vehicle 22.
The hydrophone array 16 comprises n directional hydrophones arranged at preset intervals and angles. And the hydrophone array 16 is used for obtaining the direction of the underwater beacon 23 to be positioned. The hydrophone arrays 16 are positioned on the bottom and/or sides of the underwater vehicle 22. In one particular embodiment the hydrophone array comprises three directional hydrophones located at three corners of a triangle. The greater n, the greater the chance of obtaining a signal. And measuring the direction information of the underwater beacon 23 to be positioned relative to the underwater vehicle 22 according to the strength and/or time interval of the acoustic signals transmitted by the underwater beacon 23 to be positioned and received by the hydrophones at different positions in the hydrophone array. Illustratively, the hydrophone array is a circular array, and the direction in which the hydrophone receiving the strongest acoustic signal or the hydrophone receiving the shortest acoustic signal points outward is the direction of the underwater beacon 23 to be positioned relative to the underwater vehicle 22.
The water vehicle 21 shown in fig. 1 is a ship, and it should be noted that the water vehicle 21 may be a buoy or the like. The underwater vehicle 22 may be embodied as a towed body or the like. The invention is not limited to the specific form of the water vehicle 21 and the underwater vehicle 22.
A positioning system 11 for positioning the absolute position of the water vehicle 21. The Positioning System 11 may be a GPS (Global Positioning System), a BDS (BeiDou Navigation satellite System, china BeiDou satellite Navigation System), a GLONASS (Global Navigation satellite SATELLITE SYSTEM, GLONASS Global satellite Navigation System), a galileo Positioning System or a combined Navigation System, and the specific form of the Positioning System 11 is not limited in the present invention.
A forward ultra-short baseline system for positively locating the relative positions of the marine vehicle 21 and the underwater vehicle 22. In one particular embodiment, the forward ultra-short baseline system comprises a first array and first transmitting transducer 12 disposed at the bottom of the marine vehicle 21, and a first beacon 13 disposed at the top of the underwater vehicle 22. The first array includes hydrophones disposed at four angular positions of the quadrilateral, the hydrophones being of different heights, and a first transmitting transducer disposed at the center of the quadrilateral. The forward ultra-short baseline system can be realized by adopting an ultra-short baseline positioning method in the prior art, and the positioning process is described in detail again in the invention.
The first inertial navigation system 14 is used for obtaining the heading and the attitude of the water vehicle 21. The first inertial navigation system 14 includes a compass and an attitude indicator, and is an autonomous navigation system that does not depend on external information and radiates energy to the outside.
A reverse ultra-short baseline system for reverse positioning of the relative positions of the marine vehicle 21 and the underwater vehicle 22. The reverse ultra-short baseline system comprises a second array and second transmitting transducer 17 disposed on top of an underwater vehicle 22, and a second beacon 18 disposed on the bottom of a water vehicle 21. The second array includes hydrophones disposed at four angular positions of the quadrilateral, the hydrophones being of different heights, and a second transmitting transducer disposed at the center of the quadrilateral. The reverse ultra-short baseline system is that the beacon, the array and the transmitting transducer of the forward ultra-short baseline system are reversely arranged, the positioning principles of the forward and reverse ultra-short baseline systems are basically the same, the reverse ultra-short baseline system can be realized by adopting an ultra-short baseline positioning method in the prior art, and the positioning process is repeated in the invention.
A second inertial navigation system 15 for obtaining the heading and attitude of the underwater vehicle 22; the second inertial navigation system 15 includes a compass and an attitude indicator, and is an autonomous navigation system that does not depend on external information and radiates energy to the outside.
The underwater beacon 23 to be positioned is a device that actively emits an acoustic signal outwards. The underwater beacon 23 to be positioned may be in particular an electronic flight recorder (commonly known as black box) capable of transmitting ultrasonic signals from underwater at a depth of 3000m, typically emitting at a frequency of 37.5kHz per second, for 30 days.
In a particular embodiment, the connection between the underwater vehicle 22 and the water vehicle 21 is by a cable 19; the water vehicle 21 drags the underwater vehicle 22 through the cable 19, and meanwhile data exchange is carried out between a controller at the end of the underwater vehicle 22 and a controller at the end of the water vehicle 21 through the cable 19.
The above embodiment describes the structure of the underwater beacon directional positioning system, and the method for performing underwater positioning based on the underwater beacon directional positioning system is described in detail below. Referring to fig. 2, a flowchart of a reverse underwater beacon directional positioning method based on the underwater beacon directional positioning system shown in fig. 1 is provided for the present embodiment, and includes the steps of:
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 obtained by calculation, the absolute position of the water vehicle 21 is obtained by combining the positioning system 11, and the absolute position of the underwater vehicle 22, namely the first absolute position, is obtained by calculation.
S22: and calculating to obtain the relative position of the water vehicle 21 and the underwater vehicle 22 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, and obtaining the absolute position of the water vehicle 21 by combining the positioning system 11 to calculate to obtain the absolute position of the underwater vehicle 22, namely a second absolute position.
S23: and fusing the first absolute position and the second absolute position to obtain the absolute position of the fused underwater vehicle 22, so as to realize moving the water surface measuring platform underwater.
S24: the underwater beacon 23 (black box) to be positioned emits an acoustic signal outwards, and the azimuth information of the underwater beacon 23 to be positioned relative to the underwater vehicle 22 is measured according to the strength of the acoustic signal emitted by the underwater beacon 23 to be positioned received by the directional hydrophones at different positions in the hydrophone array 16.
The operating principle of the underwater beacon directional positioning system provided by the embodiment is as follows:
compared with the mode of directly positioning the underwater beacon to be positioned by the traditional water vehicle, the underwater beacon directional positioning system provided by the embodiment has the advantages that on one hand, the measuring platform of the water vehicle 21 is moved to the water vehicle 22, secondary positioning is carried out by combining the hydrophone array 16 additionally arranged on the water vehicle 22 (towed body), further, the 3000-meter underwater positioning depth is increased to 6000 meters, and directional positioning of the underwater beacon-black box (which sends out a 37.5Hz sound wave signal outwards and has a signal propagation distance of about 3000 meters) positioned at the bottom of the deep sea is realized.
On the other hand, the position of the underwater vehicle 22 is obtained through bidirectional positioning of the forward and reverse ultra-short baseline systems, more data are obtained at the same time, and the result is more accurate; and the hydrophone array of the reverse ultra-short baseline system is arranged on the underwater vehicle 22, and compared with the arrangement of the hydrophone array on the water vehicle 21, the noise interference caused by the propeller of the ship body is smaller, so that the signal quality received by the reverse ultra-short baseline system is better, the subsequent position information processing is facilitated, and more accurate position information is obtained.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the present specification, the emphasis points of the embodiments are different from those of the other embodiments, and the same and similar parts among the embodiments may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make 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 applied to 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 directional positioning system, comprising: the system comprises a forward ultra-short baseline system, a reverse ultra-short baseline system, a positioning system (11) and a first inertial navigation system (14) which are arranged at the end of an overwater carrier (21), and a second inertial navigation system (15) and a hydrophone array (16) which are arranged at the end of an underwater carrier (22);
-the positioning system (11) for acquiring an absolute position of the water vehicle (21);
the forward ultra-short baseline system is used for forward positioning of the relative positions of the water vehicle (21) and the underwater vehicle (22);
the first inertial navigation system (14) is used for obtaining the course and the attitude of the water carrier (21);
the reverse ultra-short baseline system is used for reversely positioning the relative positions of the water vehicle (21) and the underwater vehicle (22);
the second inertial navigation system (15) is used for obtaining the course and the attitude of the underwater vehicle (22);
the hydrophone array (16) comprises n directional hydrophones or vector hydrophones which are arranged according to preset intervals and angles, wherein n is more than or equal to 3, and the hydrophone array (16) is used for obtaining the direction of an underwater beacon (23) to be positioned;
the underwater beacon (23) to be positioned is a device which actively emits an acoustic signal outwards.
2. An underwater beacon directional positioning system according to claim 1, characterized in that the underwater vehicle (22) and the water vehicle (21) are connected by a cable (19), the water vehicle (21) drags the underwater vehicle (22) by the cable (19), and simultaneously, data exchange is carried out between the controller at the underwater vehicle (22) end and the controller at the water vehicle (21) end through the cable (19).
3. The underwater beacon directional location system of claim 1, wherein the forward ultra-short baseline system comprises: 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 comprises hydrophones arranged at four angular positions of a quadrilateral, the height of each hydrophone is different, and the first transmitting transducer is arranged at the center of the quadrilateral.
4. The underwater beacon directional location system of claim 1, wherein the reverse ultra-short baseline system comprises: a second array and second transmitting transducer (17) disposed on top of the underwater vehicle (22), and a second beacon (18) disposed on the bottom of the water vehicle (21);
the second array comprises hydrophones arranged at four angular positions of the quadrangle, the height of each hydrophone is different, and the second transmitting transducer is arranged at the center of the quadrangle.
5. The underwater beacon directional locating system of claim 1, wherein the hydrophone array (16) includes:
directional hydrophones or vector hydrophones arranged at three angular positions of a triangle, wherein hydrophone arrays (16) are arranged at the bottom and/or at both sides of the underwater vehicle (22).
6. An underwater beacon directional positioning system as claimed in claim 1, characterized in that the underwater beacon (23) to be positioned is: an electronic flight recorder.
7. An underwater beacon directional positioning method, based on the underwater beacon directional positioning system of claim 1, comprising:
calculating the relative position of the water vehicle (21) and the underwater vehicle (22) according to the information obtained by the forward ultra-short baseline system and the course and the attitude of the water vehicle (21) obtained by the first inertial navigation system (14), acquiring the absolute position of the water vehicle (21) by combining the positioning system (11), and calculating to obtain the first absolute position of the underwater vehicle (22);
calculating the relative position of the water vehicle (21) and the underwater vehicle (22) according to the information obtained by the reverse ultra-short baseline system and the course and the attitude of the underwater vehicle (22) obtained by the second inertial navigation system (15), acquiring the absolute position of the water vehicle (21) by combining the positioning system (11), and calculating the second absolute position of the underwater vehicle (22);
fusing the first absolute position and the second absolute position to obtain the fused absolute position of the underwater vehicle (22), so as to realize moving the water surface measuring platform underwater;
the underwater beacon (23) to be positioned emits an acoustic signal outwards, and the azimuth information of the underwater beacon (23) to be positioned relative to the underwater vehicle (22) is measured according to the strength of the acoustic signal emitted by the underwater beacon (23) to be positioned received by directional hydrophones or vector hydrophones at different positions in the hydrophone array (16).
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| CN202010524888.4A CN111537946A (en) | 2020-06-10 | 2020-06-10 | Underwater beacon directional positioning system and method |
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