CN111736195A - Underwater intelligent umbilical cable positioning system and method for positioning diver - Google Patents

Underwater intelligent umbilical cable positioning system and method for positioning diver Download PDF

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CN111736195A
CN111736195A CN202010645553.8A CN202010645553A CN111736195A CN 111736195 A CN111736195 A CN 111736195A CN 202010645553 A CN202010645553 A CN 202010645553A CN 111736195 A CN111736195 A CN 111736195A
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underwater
coordinate
diver
acceleration
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CN111736195B (en
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朱小俊
薛延华
王帅
申云磊
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PLA Navy Submarine College
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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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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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Abstract

The invention relates to an underwater intelligent umbilical cable positioning system and a method for positioning a diver, wherein the positioning system mainly comprises a water surface terminal, a cable, an umbilical cable and a plurality of underwater nodes arranged on the umbilical cable, each underwater node comprises an inertial measurement unit for detecting and processing the three-axis attitude angle and the acceleration of the underwater node, a depth meter for detecting the water depth of the current position of the underwater node, and a data calculation and transmission module for processing the data of the inertial measurement unit and the depth meter and transmitting the data to a water surface part; the water surface terminal comprises a computing unit, a coordinate receiver and a power module, wherein the coordinate receiver is used for obtaining GPS or Beidou coordinates of each underwater node, and the power module is used for supplying power to the underwater nodes, the computing unit and the coordinate receiver.

Description

Underwater intelligent umbilical cable positioning system and method for positioning diver
Technical Field
The invention relates to an underwater intelligent umbilical cable positioning system and a method for positioning a diver.
Background
As shown in figure 1, when the diver uses the pipe-supply diving harness underwater for underwater operation, the diver uses the umbilical cord to connect to the water surface, and the umbilical cord has the functions of providing breathing gas, communication and the like from the water surface. As is known, the diver has high risk in underwater operation, and the most important point is that the accurate position of the diver under water cannot be accurately mastered.
Currently, positioning under water for divers is mainly performed by acoustic means, such as ultra-short baseline. However, since general acoustic equipment is fixedly arranged on a ship, the use is not flexible enough, the requirement on water depth is high, and meanwhile, acoustic positioning is also easily interfered by environmental noise (such as multi-path effect of aquatic channels), reflection, obstacles and the like, so that the application range and flexibility are greatly limited.
Disclosure of Invention
The invention aims to solve the problems and provides an underwater intelligent umbilical cable positioning system and a method for positioning a diver, which can realize accurate underwater positioning of the diver, do not depend on acoustic positioning, display the position and simultaneously display the shape of an umbilical cable, and further improve the underwater safety; the inertial measurement unit and the secondary Bezier curve are combined, and numerical solution is carried out through a trust domain optimization algorithm, so that the technical scheme adopted for realizing accurate positioning is as follows:
the utility model provides an intelligence umbilical cable positioning system under water which characterized in that: the system mainly comprises a water surface terminal, cables, an umbilical cord and a plurality of underwater nodes arranged on the umbilical cord, wherein the underwater nodes are distributed along the umbilical cord, are connected through the cables, and are used for providing power and data transmission;
each underwater node comprises an inertia measurement unit for detecting the three-axis attitude angle and acceleration of the underwater node, a depth meter for detecting the current position and water depth of the underwater node, and a data calculation and transmission module for processing the data of the inertia measurement unit and the depth meter and transmitting the data to a water surface part;
the water surface terminal comprises a computing unit, a coordinate receiver and a power module, wherein the coordinate receiver is used for obtaining GPS or Beidou coordinates of each underwater node, and the power module is used for supplying power to the underwater nodes, the computing unit and the coordinate receiver.
A method for positioning a diver by using the underwater intelligent umbilical cable positioning system is characterized in that:
step S1, the coordinate receiver obtains the accurate GPS or Beidou coordinates of each underwater node, and the water surface terminal is set to be U0From which the downward underwater nodes are sequentially U1，U2，···，UM；
Step S2, first pass U0Calculating U from the accurate coordinates of1To then U1Calculating U based on coordinates2And sequentially calculating downwards until the final head node of the diver.
On the basis of the above technical solution, the step S2 specifically includes:
a) the coordinate system is set as the world coordinate system, U0Coordinate P of0(t) accurately obtained, estimated U by coordinate receiver1，U2，···，UMAll relative to U0(ii) a Measure U0Coordinate P of0(t) and orientation H0(t), setting the length of an umbilical cord between adjacent underwater nodes as L, wherein the length L can be determined in advance and cannot be extended;
b) through U1Depth meter measure U1At depth Z1(t) by U1The inertia measurement unit measures U1Acceleration and orientation H1(t)；
c)U1Corrected coordinates P of1' (t) in two steps:
①U1inertial navigation coordinate P1(t) obtaining
Measurement model of gyroscope:
Figure BDA0002572964300000031
wherein the content of the first and second substances,
Figure BDA0002572964300000032
is the angular velocity actually measured by the gyroscope, omega represents the angular velocity to be solved, bgRepresenting a slowly varying deviation bias over time ηgIs white noise, upperSaid parameters are all functions of time;
the accelerometer measurement model is as follows:
Figure BDA0002572964300000033
wherein, baRepresenting an offset bias of acceleration slowly varying over time, ηaIs a white noise, and is,
Figure BDA0002572964300000037
representing the actually measured acceleration, a representing the acceleration to be solved, R being a rotation angle, wherein the parameters are all functions of time; g is the acceleration of gravity;
from the equation of motion of the inertial measurement unit and the discretization process, U1At [ t + Δ t]The rotation angle R (t + Δ t), the speed V (t + Δ t), and the coordinate P (t + Δ t) at the time can be obtained by the following equations:
Figure BDA0002572964300000034
Figure BDA0002572964300000035
Figure BDA0002572964300000036
wherein the continuous noise term ηg、ηaAfter being dispersed, η can be respectively obtainedgd、ηadThe relationship between them is as follows
Cov(ηg(t))＝Δt×Cov(ηgd(t))
Cov(ηa(t))＝Δt×Cov(ηad(t))
Based on the above steps, P can be obtained1(t) and initial coordinates P1(0)；
② realizing P by curve fitting1(t) optimization to obtain P1′(t)；
Firstly, the methodBy virtue of P having been obtained0(t)、H0(t)、P1(t)、H1(t) parameters, calculating P01(t)；
Then according to P0(t)、P01(t)、P1(t) generating U0To U1The formula of the quadratic Bezier curve in between is as follows:
B(k)＝(1-k)2P0(t)+2k(1-k)P01(t)+k2P1(t),k∈[0,1]
at this time, the generated curve corresponds to U0To U1The length of the curve is Lq
Figure BDA0002572964300000041
n is the number of the fingers0To U1The number of segments into which the curve between i ∈ [0, n ] is divided]；
At this time, U0To U1Should be equal to U0To U1Length L of the intermediate quadratic Bezier curveqIs obtained by
Lq-L＝0
At the same time, combine
Figure BDA0002572964300000042
This condition, and based on a trust domain optimization algorithm, P1' (t) is initially solved as P1(0) Thereby obtaining P1' (t) at this time P0(t)、P1't' is the corresponding secondary Bezier curve as U0To U1The actual shape of the umbilical cord in between;
d) through U2Depth meter measure U2At depth Z2(t) by U2The inertia measurement unit measures U2Acceleration and orientation H2(t)；
e)U2Corrected coordinates P of2' (t) obtaining, this step and U1Corrected coordinates P of1' (t) is obtained in the same manner;
f) by parity of reasoning, obtain U in turn3、···UMTo achieve a diver's position fix.
The invention has the following advantages:
the system can realize precise underwater positioning of divers, is independent of acoustic positioning, and does not worry about environmental noise interference (such as too shallow water and multipath effect of underwater acoustic channels), reflection and obstacles due to the adoption of a non-acoustic positioning technology; the problems of other sensors, transponders, power supply, wiring and the like do not exist; the complex arrangement and installation are avoided, and a professional acoustic background is not needed; the error is relatively fixed, and the positioning position does not generate unpredictable jump;
the position is displayed, and meanwhile, the shape of an umbilical cord can be displayed, so that the underwater safety is further improved;
and thirdly, combining the inertia measurement unit with the secondary Bezier curve, and performing numerical solution through a trust domain optimization algorithm to realize accurate positioning.
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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 should be apparent that the drawings in the following description are merely exemplary of the invention, and that other embodiments can be derived from the drawings provided by those skilled in the art without inventive effort.
FIG. 1: the structure schematic diagram of the pipe supply type diving harness;
FIG. 2: the invention discloses a structural schematic diagram of an underwater intelligent umbilical cable positioning system;
FIG. 3: u in step c) of the invention0To U1A quadratic Bezier curve in between;
Detailed Description
The invention is further illustrated by the following figures and examples:
reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in FIG. 2, an underwater intelligent umbilical cable positioning system is characterized in that: the system mainly comprises a water surface terminal, cables, an umbilical cord and a plurality of underwater nodes arranged on the umbilical cord, wherein the underwater nodes are distributed along the umbilical cord, are connected through the cables, and are used for providing power and data transmission;
each underwater node comprises an inertia measurement unit for detecting the three-axis attitude angle and acceleration of the underwater node, a depth meter for detecting the current position and water depth of the underwater node, and a data calculation and transmission module for processing the data of the inertia measurement unit and the depth meter and transmitting the data to a water surface part;
the water surface terminal comprises a computing unit, a coordinate receiver and a power module, wherein the coordinate receiver is used for obtaining GPS or Beidou coordinates of each underwater node, the power module is used for supplying power to the underwater nodes, the computing unit and the coordinate receiver, and the computing unit can be a computer with a display.
Preferably, the closer to the diver from the surface terminal to the diver, the denser the underwater nodes on the umbilical are. The closer to the diver, the more data that can be collected, the more accurate the detection of the state of the umbilical.
A method for positioning a diver by using the underwater intelligent umbilical cable positioning system is characterized in that:
step S1, the coordinate receiver obtains accurate GPS or Beidou coordinates of each underwater node, and the water surface terminal is set as U0From which the downward underwater nodes are sequentially U1，U2，···，UM；
Step S2, first pass U0Calculating U from the accurate coordinates of1To then U1Calculating U based on coordinates2And sequentially calculating downwards until the final head node of the diver.
Preferably, the step S2 specifically includes:
a) the coordinate system is set as the world coordinate system, U0Coordinate P of0(t) accurately obtained, estimated U by coordinate receiver1，U2，···，UMAll relative to U0(ii) a Measure U0Coordinate P of0(t) and orientation H0(t), setting the length of an umbilical cord between adjacent underwater nodes as L, wherein the length L can be determined in advance and cannot be extended; it should be noted that the length L of the umbilical cord between adjacent underwater nodes does not need to be the same, i.e., L can be a variable value and can be set manually, for example, UM-1To UMThe length L of the umbilical cord can be less than U1To U2The length L of the umbilical cord;
b) through U1Depth meter measure U1At depth Z1(t) by U1The inertia measurement unit measures U1Acceleration and orientation H1(t)；
c)U1Corrected coordinates P of1' (t) in two steps:
①U1inertial navigation coordinate P1(t) obtaining
Measurement model of gyroscope:
Figure BDA0002572964300000071
wherein the content of the first and second substances,
Figure BDA0002572964300000072
refers to the actual measured angular velocity of the gyroscopeω represents the angular velocity to be solved for, bgRepresenting a slowly varying deviation bias over time ηgWhite noise, the parameters being functions of time;
the accelerometer measurement model is as follows:
Figure BDA0002572964300000073
wherein, baRepresenting an offset bias of acceleration slowly varying over time, ηaIs a white noise, and is,
Figure BDA0002572964300000074
representing the actually measured acceleration, a representing the acceleration to be solved, R being a rotation angle, wherein the parameters are all functions of time; g is the acceleration of gravity;
from the equation of motion of the inertial measurement unit and the discretization process, U1At [ t + Δ t]The rotation angle R (t + Δ t), the speed V (t + Δ t), and the coordinate P (t + Δ t) at the time can be obtained by the following equations:
Figure BDA0002572964300000081
Figure BDA0002572964300000082
Figure BDA0002572964300000083
wherein the continuous noise term ηg、ηaAfter being dispersed, η can be respectively obtainedgd、ηadThe relationship between them is as follows
Cov(ηg(t))＝Δt×Cov(ηgd(t))
Cov(ηa(t))＝Δt×Cov(ηad(t))
Based on the above steps, P can be obtained1(t) and initial coordinates P1(0) But due to the passage of timeCoordinates P obtained by inertial navigation1(t) will be inaccurate and therefore require correction;
② realizing P by curve fitting1(t) optimization to obtain P1′(t)；
As shown in FIG. 3, first, rely on P already obtained0(t)、H0(t)、P1(t)、H1(t) parameters, calculating P01(t)；P01(t) is located at P0(t) along H0(t) extension line and P1(t) along H1(t) where the extensions meet;
then according to P0(t)、P01(t)、P1(t) generating U0To U1The formula of the quadratic Bezier curve in between is as follows:
B(k)＝(1-k)2P0(t)+2k(1-k)P01(t)+k2P1(t),k∈[0,1]
at this time, the generated curve corresponds to U0To U1The length of the curve is Lq
Figure BDA0002572964300000084
n is the number of the fingers0To U1The number of segments into which the curve between i ∈ [0, n ] is divided]；
At this time, U0To U1Should be equal to U0To U1Length L of the intermediate quadratic Bezier curveqIs obtained by
Lq-L＝0
At the same time, combine
Figure BDA0002572964300000091
This condition, and based on a trust domain optimization algorithm, P1' (t) is initially solved as P1(0) Thereby obtaining P1' (t) at this time P0(t)、P1't' is the corresponding secondary Bezier curve as U0To U1The umbilical cord betweenA posterior shape;
d) through U2Depth meter measure U2At depth Z2(t) by U2The inertia measurement unit measures U2Acceleration and orientation H2(t)；
e)U2Corrected coordinates P of2' (t) obtaining, this step and U1Corrected coordinates P of1' (t) is obtained in the same manner;
f) by parity of reasoning, obtain U in turn3、···UMTo achieve a diver's position fix.
Note that U is1To UMBecause the nodes are underwater nodes, the nodes are underwater, and the coordinate receivers of the nodes cannot be directly detected, but U is0Can be, this is because of U0Is on water, so U1To UMThe coordinates of the underwater nodes can only be calculated through a motion equation of the inertial measurement unit, namely the coordinates of the underwater nodes cannot be directly detected, but are indirectly obtained (calculated) according to the values of acceleration, depth and orientation of each underwater node which can be directly detected, and therefore a problem is caused in that the coordinate values obtained by using an inertial navigation method are more and more inaccurate along with the time, and because errors occur in parameters in a calculation formula and the calculation itself also generates accumulated errors, the coordinates need to be corrected.
On the basis that the coordinates and azimuth angles of the underwater nodes are obtained, the difference value of the shape of the cable between the two underwater nodes is solved by combining the basic principle of NURBS (non-uniform rational B spline), and therefore the shape of the umbilical cable between the two underwater nodes in water is obtained. In addition, according to the GPS or Beidou coordinates of the water surface, the position and the direction of the tail-end diver are calculated by combining the corresponding azimuth angle and the corresponding depth of each underwater node, and accurate positioning is realized.
Wherein the inertial measurement unit is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object. Generally, an inertial measurement unit includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure angular velocity and acceleration of the object in three-dimensional space, and then calculate the attitude of the object.
The accelerometer of the inertia measurement unit can generate a large amount of noise when moving, the precision is seriously influenced, filtering processing is carried out by Kalman filtering in order to obtain more accurate acceleration, and good convergence can be obtained after processing, so that the accuracy of data can be effectively improved.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.

Claims (5)

1. The utility model provides an intelligence umbilical cable positioning system under water which characterized in that: the system mainly comprises a water surface terminal, cables, an umbilical cord and a plurality of underwater nodes arranged on the umbilical cord, wherein the underwater nodes are distributed along the umbilical cord, are connected through the cables, and are used for providing power and data transmission;
each underwater node comprises an inertia measurement unit for detecting the three-axis attitude angle and acceleration of the underwater node, a depth meter for detecting the current position and water depth of the underwater node, and a data calculation and transmission module for processing the data of the inertia measurement unit and the depth meter and transmitting the data to a water surface part;
the water surface terminal comprises a computing unit, a coordinate receiver and a power module, wherein the coordinate receiver is used for obtaining GPS or Beidou coordinates of each underwater node, and the power module is used for supplying power to the underwater nodes, the computing unit and the coordinate receiver.
2. An underwater intelligent umbilical positioning system as claimed in claim 1 wherein: the closer to the diver, the more dense the underwater nodes on the umbilical are, from the surface terminal to the diver.
3. A method of locating a diver using an underwater intelligent umbilical positioning system as claimed in claim 1 or 2, characterized by:
step S1, the coordinate receiver obtains the accurate GPS or Beidou coordinates of each underwater node, and the water surface terminal is set to be U0From which the downward underwater nodes are sequentially U1，U2，···，UM；
Step S2, first pass U0Calculating U from the accurate coordinates of1To then U1Calculating U based on coordinates2And sequentially calculating downwards until the final head node of the diver.
4. A method of locating a diver according to claim 3, wherein:
the step S2 specifically includes:
a) the coordinate system is set as the world coordinate system, U0Coordinate P of0(t) accurately obtained, estimated U by coordinate receiver1，U2，···，UMAll relative to U0(ii) a Measure U0Coordinate P of0(t) and orientation H0(t), setting the length of an umbilical cord between adjacent underwater nodes as L, wherein the length L can be determined in advance and cannot be extended;
b) through U1Depth meter measure U1At depth Z1(t) by U1The inertia measurement unit measures U1Acceleration and orientation H1(t)；
c)U1Corrected coordinates P of1' (t) in two steps:
①U1inertial navigation coordinate P1(t) obtaining
Measurement model of gyroscope:
Figure FDA0002572964290000021
wherein the content of the first and second substances,
Figure FDA0002572964290000022
is the angular velocity actually measured by the gyroscope, omega represents the angular velocity to be solved, bgRepresenting a slowly varying deviation bias over time ηgWhite noise, the parameters being functions of time;
the accelerometer measurement model is as follows:
Figure FDA0002572964290000023
wherein, baRepresenting an offset bias of acceleration slowly varying over time, ηaIs a white noise, and is,
Figure FDA0002572964290000027
representing the actually measured acceleration, a representing the acceleration to be solved, R being a rotation angle, wherein the parameters are all functions of time; g is the acceleration of gravity;
from the equation of motion of the inertial measurement unit and the discretization process, U1At [ t + Δ t]The rotation angle R (t + Δ t), the speed V (t + Δ t), and the coordinate P (t + Δ t) at the time can be obtained by the following equations:
Figure FDA0002572964290000024
Figure FDA0002572964290000025
Figure FDA0002572964290000026
wherein the continuous noise term ηg、ηaAfter being dispersed, η can be respectively obtainedgd、ηadThe relationship between them is as follows
Cov(ηg(t))＝Δt×Cov(ηgd(t))
Cov(ηa(t))＝Δt×Cov(ηad(t))
Based on the above steps, P can be obtained1(t) and initial coordinates P1(0)；
② realizing P by curve fitting1(t) optimization to obtain P1′(t)；
First of all, relying on P already obtained0(t)、H0(t)、P1(t)、H1(t) parameters, calculating P01(t)；
Then according to P0(t)、P01(t)、P1(t) generating U0To U1The formula of the quadratic Bezier curve in between is as follows:
B(k)＝(1-k)2P0(t)+2k(1-k)P01(t)+k2P1(t),k∈[0,1]
at this time, the generated curve corresponds to U0To U1The length of the curve is Lq
Figure FDA0002572964290000031
n is the number of the fingers0To U1The number of segments into which the curve between i ∈ [0, n ] is divided]；
At this time, U0To U1Should be equal to U0To U1Length L of the intermediate quadratic Bezier curveqIs obtained by
Lq-L＝0
At the same time, combine
Figure FDA0002572964290000032
This condition, and based on a trust domain optimization algorithm, P1' (t) is initially solved as P1(0) Thereby obtaining P1' (t) at this time P0(t)、P1't' is the corresponding secondary Bezier curve as U0To U1The actual shape of the umbilical cord in between;
d) through U2Depth meter measure U2At depth Z2(t) by U2The inertia measurement unit measures U2Acceleration and orientation H2(t)；
e)U2Corrected coordinates P of2' (t) obtaining, this step and U1Corrected coordinates P of1' (t) is obtained in the same manner;
f) by parity of reasoning, obtain U in turn3、···UMTo achieve a diver's position fix.
5. A method of locating a diver according to claim 3, wherein: and filtering the acceleration information acquired by the inertia measurement unit by adopting Kalman filtering.
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