CN112068078A - Combined long-baseline deep sea underwater sound positioning method - Google Patents
Combined long-baseline deep sea underwater sound positioning method Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 70
- 239000000725 suspension Substances 0.000 claims abstract description 15
- 239000013535 sea water Substances 0.000 claims abstract description 3
- 230000004044 response Effects 0.000 claims description 25
- 238000007667 floating Methods 0.000 claims description 7
- 229910052741 iridium Inorganic materials 0.000 claims description 3
- GKOZUEZYRPOHIO-UHFFFAOYSA-N iridium atom Chemical compound [Ir] GKOZUEZYRPOHIO-UHFFFAOYSA-N 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
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- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect 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
- 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
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
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Abstract
The invention provides a combined long-baseline deep sea underwater sound positioning method. The method has the advantages that when underwater acoustic positioning is carried out on the underwater vehicle in the deep sea area, the suspension type submerged buoy is used as the positioning base station, and compared with the buoy positioning base station, the distribution and recovery process is simple, and the life cycle is long; the submerged buoy communication positioning machine is suspended in seawater, so that the communication positioning machine A is not influenced by the submarine landform; at least 4 bottom-seated auxiliary positioning devices are distributed around each set of submerged buoy positioning base station, and before the positioning function is executed, the submerged buoy communication positioning machine A firstly calibrates the position of the submerged buoy communication positioning machine A through the bottom-seated auxiliary positioning devices according to a long baseline positioning method, so that the positioning accuracy of the underwater vehicle is improved.
Description
Technical Field
The invention belongs to the field of underwater sound long baseline positioning, and mainly relates to a combined long baseline deep sea underwater sound positioning method.
Background
The underwater sound positioning system is generally provided with a plurality of positioning base stations, connecting lines among the positioning base stations are base lines, and the underwater sound positioning system can be divided into a long base line system, a short base line system and an ultra-short base line system according to the length of the base lines. The long baseline positioning system has the characteristics of long action distance, high positioning precision and the like, and is widely applied to various fields of marine operation.
The traditional long baseline positioning system adopts a buoy as a positioning base station, the buoy positioning base station needs to be anchored in a certain area when executing a positioning function, otherwise, the buoy drifts along with waves and is separated from the area, and the positioning function of the system is influenced. However, for deep sea areas, anchoring buoys require at least full sea depth length of cable, which increases the difficulty of deployment and retrieval of the buoy positioning base. The deep sea area has larger sea surface waves, so that the life cycle of the buoy is shorter. The submerged buoy does not need a cable with the length of the whole sea depth, works underwater, and has the life cycle not influenced by sea surface waves. However, the subsurface buoy positioning base station also has the following problems:
firstly, for the bottom-seated subsurface buoy, due to the complex submarine topography, if the bottom-seated subsurface buoy is laid in a submarine sunken area, the transmitting and receiving signals of the bottom-seated subsurface buoy can be shielded, so that the system is in malfunction;
secondly, for the suspended submerged buoy, the communication positioning machine A is in flexible connection with other equipment through a cable, so that the real-time position of the submerged buoy communication positioning machine A fluctuates under the influence of ocean currents, and the positioning precision is influenced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a combined long-baseline deep sea underwater sound positioning method.
The object of the present invention is achieved by the following technical means. A combined long baseline deep sea underwater sound positioning method is suitable for deep sea and is not influenced by submarine landforms, and comprises the following steps:
(1) the method comprises the following steps that suspension submerged buoy sets are arranged in the deep sea, the number of the suspension submerged buoy sets is not less than 4, each suspension submerged buoy set mainly comprises a main floating body and a communication positioning machine A, a depth sensor A is arranged on the communication positioning machine A and is suspended in the sea, the depth sensor A is connected with the communication positioning machine A through a cable, and depth information is transmitted to the communication positioning machine A through the cable;
(2) at least 4 sets of bottom-sitting auxiliary positioning equipment are distributed around each set of suspended submerged buoy, and each set of bottom-sitting auxiliary positioning equipment mainly comprises a communication positioning machine B and a depth sensor B; the surface ship measures the accurate position of each set of bottom-sitting auxiliary positioning equipment by an absolute calibration method and sends the accurate position to the suspended submerged buoy, and the suspended submerged buoy stores the position;
(3) the underwater vehicle sends a positioning request frame, a suspended submerged buoy receiving the request frame immediately calculates the real-time position of the self-communication positioning machine A, and then a positioning response frame is replied to the underwater vehicle, wherein the response frame comprises the real-time position of the submerged buoy communication positioning machine A;
(4) and after receiving the positioning response frame of each submerged buoy, the underwater vehicle decodes and stores the real-time position of each submerged buoy communication positioning machine A, and then calculates the position of the underwater vehicle by a long baseline positioning method according to a set mode.
An iridium beacon is arranged on the main floating body.
In the step (1), a suspension type submerged buoy is selected as a positioning base station, the communication positioning machine A is suspended in the sea, and the depth difference between the communication positioning machine A and the sea bottom is larger than the fluctuation range of the sea bottom.
In the step (3), the used method for calculating the real-time position of the communication positioning machine A is as follows: the communication positioning machine A sequentially responds to and measures distance with the surrounding bottom-sitting auxiliary positioning equipment, measures the distance between the communication positioning machine A and each bottom-sitting auxiliary positioning equipment, and calculates the real-time position of the communication positioning machine A according to a long baseline positioning principle by combining the position of each bottom-sitting auxiliary positioning equipment which is stored by the communication positioning machine A.
Compared with the traditional underwater sound long baseline positioning method, the method has the following beneficial effects:
(1) in a deep sea area, a suspended submerged buoy is used as a positioning base station, the laying and recovery process is relatively simple relative to a buoy, the influence of sea surface fluctuation is avoided during working, and the life cycle is long;
(2) the depth difference between the suspension depth of the submerged buoy communication positioning machine A and the seabed is set to be large enough, so that the communication positioning machine A is not influenced by the seabed depression.
(3) Before providing navigation positioning service, the submerged buoy firstly calculates the position of a self-communication positioning machine A through sitting-bottom auxiliary positioning equipment distributed around and combines a long baseline principle and transmits the position to an underwater vehicle; the underwater vehicle calculates the position of the underwater vehicle by using submerged buoy distributed around and combining a long baseline principle. By applying the long baseline principle twice, the influence of ocean current on the position of the underwater vehicle communication locator A is eliminated, and the positioning precision of the underwater vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a single submerged buoy positioning base station;
FIG. 2 is a schematic view of a combined long baseline navigational positioning;
fig. 3 is a schematic diagram of a positioning response frame structure.
Description of reference numerals: the underwater navigation system comprises a suspended submerged buoy 1, a main floating body 1-1, a communication positioner A1-2, a bottom-sitting auxiliary positioning device 2 and an underwater vehicle 3.
Detailed Description
The invention will be described in detail with reference to the following figures and examples:
the invention discloses a combined long-baseline deep sea underwater sound positioning method, which comprises the following steps:
(1) the method comprises the following steps that suspension type submerged buoy 1 is arranged in the deep sea, the number of the suspension type submerged buoy 1 is not less than 4, each suspension type submerged buoy 1 mainly comprises a main floating body 1-1 and a communication positioning machine A1-2, and iridium beacons are arranged on the main floating body 1-1. The communication positioning machine A is provided with a depth sensor A and is suspended in seawater, the depth sensor A is connected with the communication positioning machine A1-2 through a cable, and depth information is transmitted to the communication positioning machine A1-2 through the cable; a suspension type submerged buoy is selected as a positioning base station, a communication positioning machine A1-2 is suspended in the sea, and the depth difference between the communication positioning machine A1-2 and the sea bottom is larger than the fluctuation range of the sea bottom. The difference between the suspension depth of the submerged buoy communication positioning machine A and the depth of the seabed is large enough to ensure that the submerged buoy communication positioning machine A is not influenced by seabed sinking, and the submerged buoy communication positioning machine A can work normally;
(2) at least 4 sets of bottom-sitting auxiliary positioning equipment 2 are distributed around each set of suspended submerged buoy 1, and each set of bottom-sitting auxiliary positioning equipment 2 mainly comprises a communication positioning machine B and a depth sensor B; the surface ship measures the accurate position of each set of bottom-sitting auxiliary positioning equipment 2 by an absolute calibration method and sends the accurate position to the suspended submerged buoy 1, and the suspended submerged buoy 1 stores the accurate position; because the bottom-sitting auxiliary positioning equipment is positioned on the seabed, and after the bottom-sitting auxiliary positioning equipment is laid, the position of the communication positioning machine B is not influenced by factors such as ocean currents and the like, the position of the submerged buoy communication positioning machine A can be calibrated in real time through the position information of the bottom-sitting auxiliary positioning equipment;
(3) before the positioning process is started, the underwater vehicle 3 sends a positioning request frame, the suspended submerged buoy 1 receiving the request frame starts a positioning preparation process, the real-time position of the self-communication positioning machine A1-2 is immediately calculated, after the preparation process is completed, the submerged buoy replies a positioning response frame to the underwater vehicle 3, and the response frame comprises the real-time position of the submerged buoy communication positioning machine A1-2. The preparation process includes that each submerged buoy sequentially transmits position calibration request signals to a plurality of sets of surrounding bottom-sitting auxiliary positioning equipment, the bottom-sitting auxiliary positioning equipment replies position calibration response signals to the submerged buoy after receiving the position calibration response signals, the calibration response signals contain depth information of the bottom-sitting auxiliary positioning equipment, and the submerged buoy calculates the accurate position of the submerged buoy communication positioning machine A according to the propagation delay and the depth information of the position calibration response signals and through a long baseline positioning principle.
(4) After receiving the positioning response frame of each submerged buoy, the underwater vehicle 3 decodes and stores the real-time position of each submerged buoy communication positioning machine A1-2, and then calculates the position of the underwater vehicle by a long baseline positioning method according to a set mode.
The active navigation adopts an inquiry-response mode, an underwater vehicle transmits inquiry signals, the positioning base stations reply response signals after receiving the inquiry signals, the underwater vehicle calculates the self position according to the response signals of the plurality of positioning base stations, and the navigation and positioning functions are realized by combining a long baseline principle.
Example (b): as shown in fig. 2, 4 suspended submerged beacons are arranged in the deep sea, each submerged beacon is provided with a depth sensor, a communication positioning machine a and the like, the depth sensors are connected with the communication positioning machines a through cables, and depth information is transmitted to the communication positioning machines a through the cables.
4 sets of bottom-sitting auxiliary positioning equipment (shown in figure 1) are distributed around each set of submerged buoy, and each set of bottom-sitting auxiliary positioning equipment mainly comprises a communication positioning machine A and a depth sensor. And the surface ship measures the accurate position of each set of the bottom-supported auxiliary positioning equipment by an absolute calibration method. The surface ship transmits a positioning response frame (as shown in figure 3), and the accurate position of each set of the auxiliary positioning equipment with the bottom is sent to the corresponding submerged buoy. The submerged buoy saves the location.
The absolute calibration method is a measurement method based on arrival time, and mainly adopts a ship-laying and shipborne sonar to measure the sitting-bottom type auxiliary positioning equipment to be measured, a surface ship is provided with a satellite positioning system, and then the accurate position of the sitting-bottom type auxiliary positioning equipment is calculated by adopting a geometric intersection method according to the time delay information from the surface ship to the equipment to be measured by measuring signals.
Before the positioning process is started, the underwater vehicle sends a positioning request frame, and a submerged buoy receiving the request frame starts a positioning preparation process. Because the communication positioning machine A in the submerged buoy is in soft connection with other equipment, the real-time position of the communication positioning machine A fluctuates under the influence of ocean currents, and the preparation process is mainly used for determining the real position of the communication positioning machine A. Specifically, each submerged buoy sequentially transmits a position calibration request signal to the surrounding bottom-sitting auxiliary positioning equipment, and the transmission time is t _ s0i(i 1.., 4), the sit-on auxiliary positioning device is received and delayed for a fixed time gamma0And then returns a position calibration reply signal to the submerged buoy, which is based on the time at t _ r0iThe signal position calibration signal is received at all times, and the propagation delay from the subsurface buoy to the ith auxiliary positioning equipment is analyzed to be t0i＝(t_r0i-t_r0i-γ0) And/2, finally, calculating the accurate position of the subsurface buoy through long baseline positioning, and solving the following equation (c is the sound velocity):
(xi-xq)2+(yi-yq)2+(zi-zq)2＝c2t0i 2 (1)
(xi,yi,zi) For the precise position of the ith seated auxiliary locator stored in the submerged buoy, (x)q,yq,zq) Locating the position, z, of machine A for submerged buoy communicationqCan be obtained directly by a depth sensor.
After the submerged buoy is resolved, a positioning response frame is replied to the underwater vehicle to indicate that the underwater vehicle is ready, the frame structure is shown in fig. 3, and the signal comprises the real-time position of the submerged buoy communication positioning machine A.
The underwater vehicle receives the positioning response frameAnd then decoding and storing the real-time position of the submerged buoy communication positioning machine A. And when 4 subsurface buoy location response frames are received, starting the active navigation process. The underwater vehicle monitors a timer on the hardware of the underwater vehicle, and when the time value is equal to the periodic emission time t _ s1When the navigation request signal is received, transmitting an underwater sound active navigation request signal;
the submerged buoy receives the request signal and delays for a fixed time gamma1Then, replying a response signal, and transmitting the response signal by different submerged buoy communication positioning machines A at the frequency which is not overlapped with each other;
a communication locator A arranged on an underwater vehicle receives a positioning response signal from a submerged buoy positioning base station, and the arrival time of the measurement response signal is t _ r1i(i 1.. 4), when receiving the navigation positioning signals of 4 positioning base stations, combining the stored subsurface buoy position information according to the following equation:
(xi-xs)2+(yi-ys)2+(zi-zs)2＝c2[(t_r1i-t_s1-γ1)/2]2 (2)
wherein (x)i,yi,zi) The accurate position of the base station is positioned for the ith submerged buoy stored in the underwater vehicle, and c is the sound velocity, so that the position x of the underwater vehicle can be calculateds,ys,zs。
The underwater vehicle monitors the existence time of the position A of the submerged buoy communication locator stored by the underwater vehicle, and if the existence time exceeds a certain time, the underwater vehicle needs to transmit the positioning request frame again.
While the present invention has been described in detail in connection with certain embodiments thereof, it should be understood that the above description is not to be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (4)
1. A combined long-baseline deep sea underwater sound positioning method is characterized in that: the method comprises the following steps:
(1) the method comprises the following steps that suspension type submerged buoy (1) are arranged in the deep sea, the number of the suspension type submerged buoy is not less than 4, each suspension type submerged buoy (1) mainly comprises a main floating body (1-1) and a communication positioning machine A (1-2), a depth sensor A is arranged on the communication positioning machine A and is suspended in the sea water, the depth sensor A is connected with the communication positioning machine A (1-2) through a cable, and depth information is transmitted to the communication positioning machine A (1-2) through the cable;
(2) at least 4 sets of bottom-sitting auxiliary positioning equipment (2) are distributed around each set of suspended submerged buoy (1), and each set of bottom-sitting auxiliary positioning equipment (2) mainly comprises a communication positioning machine B and a depth sensor B; the surface ship measures the accurate position of each set of bottom-sitting auxiliary positioning equipment (2) by an absolute calibration method and sends the accurate position to the suspended submerged buoy (1), and the suspended submerged buoy (1) stores the position;
(3) the underwater vehicle (3) sends a positioning request frame, the suspended submerged buoy (1) receiving the request frame immediately calculates the real-time position of the communication positioner A (1-2) of the underwater vehicle, and then replies a positioning response frame to the underwater vehicle (3), wherein the response frame comprises the real-time position of the submerged buoy communication positioner A (1-2);
(4) after receiving the positioning response frame of each submerged buoy, the underwater vehicle (3) decodes and stores the real-time position of each submerged buoy communication positioning machine A (1-2), and then calculates the position of the underwater vehicle by a long baseline positioning method according to a set mode.
2. The combined long baseline deep sea underwater acoustic positioning method according to claim 1, wherein an iridium beacon is provided on the main floating body (1-1).
3. The combined long-baseline deep-sea underwater sound positioning method according to claim 1, wherein in the step (1), a suspension type submerged buoy is selected as a positioning base station, and the communication positioning machine A (1-2) is suspended in the sea, and the depth difference between the communication positioning machine A and the sea bottom is larger than the fluctuation range of the sea bottom.
4. The combined long-baseline deep-sea underwater sound positioning method according to claim 1, wherein in the step (3), the used communication positioning machine A (1-2) real-time position calculation method is as follows: the communication positioning machine A (1-2) sequentially responds to and measures distance with the surrounding bottom-sitting auxiliary positioning equipment (2), measures the distance between the communication positioning machine A and each bottom-sitting auxiliary positioning equipment (2), and calculates the real-time position of the communication positioning machine A (1-2) according to a long baseline positioning principle by combining the position of each bottom-sitting auxiliary positioning equipment (2) stored by the communication positioning machine A.
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Cited By (4)
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| CN113911298A (en) * | 2021-10-14 | 2022-01-11 | 厦门理工学院 | Intelligent device for assisting underwater search positioning |
| WO2023082382A1 (en) * | 2021-11-15 | 2023-05-19 | 自然资源部第一海洋研究所 | Broadcast-type underwater navigation and positioning system and method |
| CN117607786A (en) * | 2023-11-21 | 2024-02-27 | 浙江大学 | Position determining method and device for deep sea submerged buoy and electronic equipment |
| CN118210002A (en) * | 2024-05-15 | 2024-06-18 | 自然资源部第二海洋研究所 | Method and system for automatically detecting position of submerged buoy on board |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117607786A (en) * | 2023-11-21 | 2024-02-27 | 浙江大学 | Position determining method and device for deep sea submerged buoy and electronic equipment |
| CN117607786B (en) * | 2023-11-21 | 2024-05-10 | 浙江大学 | Position determining method and device for deep sea submerged buoy and electronic equipment |
| CN118210002A (en) * | 2024-05-15 | 2024-06-18 | 自然资源部第二海洋研究所 | Method and system for automatically detecting position of submerged buoy on board |
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