CN112068078B - Combined long-baseline deep sea underwater sound positioning method - Google Patents
Combined long-baseline deep sea underwater sound positioning method Download PDFInfo
- Publication number
- CN112068078B CN112068078B CN202010696215.7A CN202010696215A CN112068078B CN 112068078 B CN112068078 B CN 112068078B CN 202010696215 A CN202010696215 A CN 202010696215A CN 112068078 B CN112068078 B CN 112068078B
- Authority
- CN
- China
- Prior art keywords
- positioning
- submerged buoy
- communication
- machine
- positioning machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 67
- 239000013535 sea water Substances 0.000 claims abstract description 4
- 230000004044 response Effects 0.000 claims description 25
- 239000000725 suspension Substances 0.000 claims description 14
- 238000007667 floating Methods 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 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
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000011084 recovery Methods 0.000 abstract description 3
- 238000012876 topography Methods 0.000 abstract description 3
- 238000002360 preparation method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000001934 delay Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a combined long-baseline deep sea underwater sound positioning method. The method has the advantages that when underwater sound positioning is carried out on the underwater vehicle in a deep sea area, the suspended submerged buoy is used as a positioning base station, and compared with the buoy positioning base station, the method has the advantages that the deployment and recovery process is simpler, and the life cycle is longer; the submerged buoy communication positioning machine is suspended in the sea water, so that the communication positioning machine A is not influenced by the submarine topography; and placing at least 4 bottom-sitting type auxiliary positioning devices on each set of submerged positioning base stations Zhou Weibu, and before the positioning function is executed, calibrating the positions of the submerged positioning devices A by the bottom-sitting type auxiliary positioning devices according to a long baseline positioning method, so that the positioning precision of the underwater vehicle is improved.
Description
Technical Field
The invention relates to the field of underwater acoustic long baseline positioning, in particular to a combined long baseline deep sea underwater acoustic positioning method.
Background
The underwater sound positioning system generally has a plurality of positioning base stations, and the connection line between the positioning base stations is a base line, and can be classified 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 line. The long baseline positioning system has the characteristics of long acting 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, when the buoy positioning base station executes a positioning function, the buoy positioning base station needs to be anchored in a certain area, otherwise, the buoy positioning base station drifts along with waves and is separated from the area, and the positioning function of the system is affected. However, for deep sea areas, the anchoring buoy requires at least a full sea depth length of cable, which increases the deployment and recovery difficulties of the buoy positioning base station. The sea surface waves in the deep sea area are larger, so that the life cycle of the buoy is shorter. The submerged buoy does not need a cable with the full sea depth length, and works underwater, so that the life cycle is not influenced by sea surface waves. However, the potential positioning base station also has the following problems:
(1) for the seat-bottom submerged buoy, because of the complex topography of the seabed, if the submerged buoy is arranged in a submarine concave area, the receiving and transmitting signals of the submerged buoy can be blocked, so that the system is abnormal;
(2) 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 is affected by ocean currents to change in a fluctuation mode, and the positioning accuracy is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a combined long baseline deep sea underwater sound positioning method.
The aim of the invention is achieved by the following technical scheme. A combined long baseline deep sea underwater sound positioning method is suitable for deep sea and is not influenced by submarine topography, and comprises the following steps:
(1) The deep sea is provided with suspension type submerged buoy, the number of the suspension type submerged buoy is not less than 4, each suspension type submerged buoy 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 suspended in sea water, 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) Placing at least 4 sets of bottom-sitting type auxiliary positioning equipment on each set of suspension type submerged buoy Zhou Weibu, wherein each set of bottom-sitting type auxiliary positioning equipment mainly comprises a communication positioning machine B and a depth sensor B; the accurate position of each set of bottom-sitting auxiliary positioning equipment is measured by an absolute calibration method by the water surface ship, and the accurate position is sent to the suspended submerged buoy, and the suspended submerged buoy stores the accurate position;
(3) The underwater vehicle sends a positioning request frame, the suspended submerged buoy which receives the request frame immediately calculates the real-time position of the self-communication positioning machine A, and then replies a positioning response frame to the underwater vehicle, wherein the response frame comprises the real-time position of the submerged buoy communication positioning machine A;
(4) 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 according to a set mode by a long baseline positioning method.
The main floating body is provided with an iridium beacon.
In the step (1), a suspension type submerged buoy is selected as a positioning base station, and a communication positioning machine A is suspended in the ocean, wherein the depth difference between the communication positioning machine A and the ocean floor is larger than the ocean floor fluctuation range.
In step (3), the method for calculating the real-time position of the communication positioning machine A is as follows: the communication positioning machine A sequentially responds to the surrounding bottom-mounted auxiliary positioning equipment for distance measurement, measures the distance between the communication positioning machine A and each bottom-mounted auxiliary positioning equipment, combines the saved positions of each bottom-mounted auxiliary positioning equipment, and calculates the real-time position of the communication positioning machine A according to the long baseline positioning principle.
Compared with the traditional underwater sound length baseline positioning method, the invention has the following beneficial effects:
(1) In a deep sea area, a suspension type submerged buoy is used as a positioning base station, and compared with a buoy, the floating submerged buoy has the advantages that the distribution and recovery process is relatively simple, the floating submerged buoy is not influenced by sea surface fluctuation during working, and the life cycle is long;
(2) The suspension depth of the submerged buoy communication positioning machine A and the depth difference between the seafloor are set to be large enough, so that the communication positioning machine A is not influenced by the seafloor depression.
(3) Before providing navigation positioning service, the submerged buoy calculates the A position of the self-communication positioning machine by using a bottom-sitting auxiliary positioning device placed by Zhou Weibu and combining a long baseline principle, and transmits the A position to the underwater vehicle; the underwater vehicle calculates the position of the underwater vehicle by using the submerged buoy placed by Zhou Weibu and combining the long baseline principle. By applying the long baseline principle twice, the influence of ocean currents on the position A of the submerged buoy communication positioning machine is eliminated, and the positioning precision of the underwater vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a single submerged positioning base station;
FIG. 2 is a combined long baseline navigation positioning schematic;
fig. 3 is a schematic diagram of a structure of a location response frame.
Reference numerals illustrate: the device comprises a suspension type submerged buoy 1, a main floating body 1-1, a communication positioning machine A1-2, a bottom-supported auxiliary positioning device 2 and an underwater vehicle 3.
Detailed Description
The invention will now be described in detail with reference to the accompanying drawings and examples:
the invention discloses a combined long baseline deep sea underwater sound positioning method, which comprises the following steps:
(1) The number of the floating submerged buoy 1 arranged in the deep sea is not less than 4, each set of the floating submerged buoy 1 mainly comprises a main floating body 1-1 and a communication positioning machine A1-2, and an iridium beacon is arranged on the main floating body 1-1. The communication positioning machine A is provided with a depth sensor A which is suspended in seawater, and the depth sensor A is connected with the communication positioning machine A1-2 through a cable and transmits depth information to the communication positioning machine A1-2 through the cable; the suspended submerged buoy is selected as a positioning base station, and the communication positioning machine A1-2 is suspended in the ocean, and the depth difference between the communication positioning machine A1-2 and the ocean floor is larger than the ocean floor fluctuation range. The suspension depth of the submerged buoy communication positioning machine A and the depth difference between the seafloor are large enough to ensure that the submerged buoy communication positioning machine A is not influenced by the seafloor depression, and the submerged buoy communication positioning machine A can work normally;
(2) At least 4 sets of bottom-sitting type auxiliary positioning equipment 2 are distributed around each set of suspension type submerged buoy 1, and each set of bottom-sitting type auxiliary positioning equipment 2 mainly comprises a communication positioning machine B and a depth sensor B; the accurate position of each set of bottom-sitting auxiliary positioning equipment 2 of the surface ship is measured by an absolute calibration method and is sent to the suspended submerged buoy 1, and the suspended submerged buoy 1 stores the position; the position of the communication positioning machine B is not influenced by factors such as ocean currents after the bottom-sitting type auxiliary positioning equipment is arranged on the sea bottom, so that the position of the submerged buoy communication positioning machine A can be calibrated in real time through the position information of the bottom-sitting type auxiliary positioning equipment;
(3) Before starting the positioning process, the underwater vehicle 3 sends a positioning request frame, the suspended submerged buoy 1 which receives the request frame starts a positioning preparation process, the real-time position of the submerged buoy communication positioning machine A1-2 is calculated immediately, and after the preparation process is finished, the submerged buoy replies a positioning response frame to the underwater vehicle 3, wherein the response frame comprises the real-time position of the submerged buoy communication positioning machine A1-2. And (3) transmitting a position calibration request signal to a plurality of surrounding base type auxiliary positioning devices for each submerged buoy in the preparation process, and after the base type auxiliary positioning devices receive the position calibration request signal, replying a position calibration response signal to the submerged buoy, wherein the calibration response signal comprises depth information of the base type auxiliary positioning devices, and calculating the accurate position of the submerged buoy communication positioning machine A by the submerged buoy according to the propagation delay and the depth information of the position calibration response signal and by 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 submerged buoy communication positioning machine according to a set mode by a long baseline positioning method.
The active navigation adopts an inquiry-response mode, an underwater vehicle transmits an inquiry signal, a positioning base station replies a response signal after receiving the signal, the underwater vehicle calculates the self position according to the response signals of a plurality of positioning base stations, and the navigation positioning function is realized by combining a long baseline principle.
Examples: as shown in fig. 2, the deep sea is provided with suspended submerged buoy, the number of the submerged buoy is 4, each submerged buoy is provided with a depth sensor, a communication positioning machine a and the like, the depth sensor 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.
4 sets of bottom-sitting type auxiliary positioning devices (shown in figure 1) are distributed around each set of submerged buoy, and each set of bottom-sitting type auxiliary positioning device mainly comprises a communication positioning machine A and a depth sensor. The accurate position of each set of sitting-bottom type auxiliary positioning is measured by the water surface ship pair equipment through an absolute calibration method. The surface vessel transmits a positioning response frame (shown in fig. 3) and the accurate position of each set of bottom-sitting auxiliary positioning equipment is sent to the corresponding submerged buoy. The submerged buoy saves the location.
The absolute calibration method is a measuring method based on arrival time, which mainly adopts a deployment ship to carry on-board sonar to measure the to-be-measured seating-bottom auxiliary positioning equipment, a water surface ship is provided with a satellite positioning system, and then the accurate position of the seating-bottom auxiliary positioning equipment is calculated by adopting a geometric intersection method through the time delay information of a measuring signal from the water surface ship to the to-be-measured equipment.
Before the start of the positioning process,the underwater vehicle sends a positioning request frame, and the submerged buoy which receives 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 can be fluctuant and changed under the influence of ocean currents, and the preparation process mainly aims at determining the real position of the communication positioning machine A. Specifically, each submerged buoy transmits a position calibration request signal to surrounding base type auxiliary positioning equipment in sequence, wherein the transmitting time is t_s 0i (i=1,.,. 4), the undersea assisted positioning device delays receipt for a fixed time γ 0 Then, the position calibration response signal is returned to the submerged buoy, and the submerged buoy is used for determining the position of the submerged buoy according to the position of the submerged buoy at t_r 0i The signal position calibration signal is received at the moment, and the propagation delay from the submerged buoy to the ith auxiliary positioning equipment is analyzed to be t 0i ＝(t_r 0i -t_r 0i -γ 0 ) And (2) finally, calculating the accurate position of the submerged buoy through long baseline positioning, and solving the following equation (c is sound velocity):
(x i -x q ) 2 +(y i -y q ) 2 +(z i -z q ) 2 ＝c 2 t 0i 2 (1)
(x i ,y i ,z i ) For the accurate position of the ith bottoming type auxiliary positioning device stored in the submerged buoy, (x) q ,y q ,z q ) For the position of the submerged buoy communication positioning machine A, z q Can be obtained directly by a depth sensor.
After the calculation of the submerged buoy is completed, a locating response frame is returned to the underwater vehicle to indicate that the submerged vehicle is ready to complete, the frame structure is shown in fig. 3, and the signal comprises the real-time position of the submerged buoy communication locating machine A.
And after receiving the positioning response frame, the underwater vehicle decodes and stores the real-time position of the submerged buoy communication positioning machine A. After receiving the 4 potential location response frames, the active navigation process is started. The underwater vehicle monitors a timer on its own hardware, with a time value equal to the periodic emission instant t_s 1 Transmitting an underwater sound active navigation request signal;
the submerged buoy receives the request signal and delays for a fixed time gamma 1 After that, the response signals are replied, and different submerged buoy communication positioning machines A are used forMutually non-overlapping frequency transmit response signals;
the communication positioning machine A installed on the underwater vehicle receives a positioning response signal from the submerged positioning base station, and the arrival time of the measurement response signal is t_r 1i (i=1,.,. 4), when navigation positioning signals of 4 positioning base stations are received, the saved submerged buoy position information is combined according to the following equation:
(x i -x s ) 2 +(y i -y s ) 2 +(z i -z s ) 2 ＝c 2 [(t_r 1i -t_s 1 -γ 1 )/2] 2 (2)
wherein (x) i ,y i ,z i ) The accurate position of the base station is positioned for the ith potential position stored in the underwater vehicle, c is the sound velocity, and the self position x can be calculated s ,y s ,z s 。
The underwater vehicle monitors the existence time of the position A of the submerged buoy communication positioning machine stored by the underwater vehicle, and the position A exceeds a certain time, and a positioning request frame needs to be retransmitted.
While the foregoing is directed to embodiments of the present invention, and details of the invention have been set forth in the foregoing description, it should be understood that the description is not intended to limit the invention. Many modifications and substitutions of the present invention will be apparent to those of ordinary skill in the art upon reading the foregoing. The scope of the invention should, therefore, be determined with reference to the appended claims.
Claims (3)
1. A combined long baseline deep sea underwater sound positioning method is characterized in that: the method comprises the following steps:
(1) The deep sea is provided with suspension type submerged buoy (1) with the number not less than 4, each suspension type submerged buoy (1) 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 suspended in 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) Placing at least 4 sets of bottom-sitting type auxiliary positioning equipment (2) on each set of suspension type submerged buoy (1) Zhou Weibu, wherein each set of bottom-sitting type auxiliary positioning equipment (2) consists of a communication positioning machine B and a depth sensor B; the accurate position of each set of bottom-supported auxiliary positioning equipment (2) of the water surface ship is measured by an absolute calibration method and is sent 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 type submerged buoy (1) which receives the request frame immediately calculates the real-time position of the self-communication positioning machine A (1-2), 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 positioning machine 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 according to a set mode by a long baseline positioning method;
in the step (3), the real-time position calculation method of the communication positioning machine A (1-2) is as follows: the communication positioning machine A (1-2) sequentially responds to the surrounding base type auxiliary positioning equipment (2) for distance measurement, the distance between the communication positioning machine A and each base type auxiliary positioning equipment (2) is measured, and the real-time position of the communication positioning machine A (1-2) is calculated according to the long baseline positioning principle by combining the saved positions of each base type auxiliary positioning equipment (2).
2. The combined long baseline deep sea underwater sound positioning method according to claim 1, wherein the main floating body (1-1) is provided with an iridium beacon.
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 ocean, and the depth difference between the communication positioning machine A and the ocean bottom is larger than the ocean bottom fluctuation range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010696215.7A CN112068078B (en) | 2020-07-20 | 2020-07-20 | Combined long-baseline deep sea underwater sound positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010696215.7A CN112068078B (en) | 2020-07-20 | 2020-07-20 | Combined long-baseline deep sea underwater sound positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112068078A CN112068078A (en) | 2020-12-11 |
| CN112068078B true CN112068078B (en) | 2024-03-15 |
Family
ID=73657370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010696215.7A Active CN112068078B (en) | 2020-07-20 | 2020-07-20 | Combined long-baseline deep sea underwater sound positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112068078B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911298B (en) * | 2021-10-14 | 2022-07-22 | 厦门理工学院 | Intelligent device for assisting underwater search positioning |
| CN114089399A (en) * | 2021-11-15 | 2022-02-25 | 自然资源部第一海洋研究所 | Broadcast type underwater navigation positioning system and method |
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009039488A1 (en) * | 2007-09-21 | 2009-03-26 | Hydroid, Inc. | Autonomous underwater vehicle used to calibrate a long baseline navigation network |
| GB0918518D0 (en) * | 2005-06-13 | 2009-12-09 | Wireless Fibre Systems Ltd | Underwater navigation |
| KR20120104135A (en) * | 2012-09-05 | 2012-09-20 | 한국해양연구원 | Calibration method for underwater acoustic positioning system |
| CN103823205A (en) * | 2014-02-28 | 2014-05-28 | 上海交通大学 | Underwater locating navigation system and method |
| JP2017040500A (en) * | 2015-08-18 | 2017-02-23 | 国立研究開発法人 海上・港湾・航空技術研究所 | Underwater station region positioning system |
| CN107664758A (en) * | 2016-07-28 | 2018-02-06 | 中国科学院沈阳自动化研究所 | Deep-sea navigation positioning system and method based on Long baselines or ultra-short baseline networking |
| CN110161461A (en) * | 2019-03-28 | 2019-08-23 | 南京工程学院 | A kind of underwater sensing network node method for self-locating |
| CN111060913A (en) * | 2019-11-26 | 2020-04-24 | 中国船舶重工集团公司第七研究院 | Active and passive compatible underwater sound positioning system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2599902C1 (en) * | 2015-09-08 | 2016-10-20 | Общество с ограниченной ответственностью "Лаборатория подводной связи и навигации" | Method of navigating underwater objects and system for its implementation |
| US10597128B2 (en) * | 2017-12-18 | 2020-03-24 | United States Of America As Represented By The Secretary Of Te Navy | Diver navigation, information and safety buoy |
-
2020
- 2020-07-20 CN CN202010696215.7A patent/CN112068078B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0918518D0 (en) * | 2005-06-13 | 2009-12-09 | Wireless Fibre Systems Ltd | Underwater navigation |
| WO2009039488A1 (en) * | 2007-09-21 | 2009-03-26 | Hydroid, Inc. | Autonomous underwater vehicle used to calibrate a long baseline navigation network |
| KR20120104135A (en) * | 2012-09-05 | 2012-09-20 | 한국해양연구원 | Calibration method for underwater acoustic positioning system |
| CN103823205A (en) * | 2014-02-28 | 2014-05-28 | 上海交通大学 | Underwater locating navigation system and method |
| JP2017040500A (en) * | 2015-08-18 | 2017-02-23 | 国立研究開発法人 海上・港湾・航空技術研究所 | Underwater station region positioning system |
| CN107664758A (en) * | 2016-07-28 | 2018-02-06 | 中国科学院沈阳自动化研究所 | Deep-sea navigation positioning system and method based on Long baselines or ultra-short baseline networking |
| CN110161461A (en) * | 2019-03-28 | 2019-08-23 | 南京工程学院 | A kind of underwater sensing network node method for self-locating |
| CN111060913A (en) * | 2019-11-26 | 2020-04-24 | 中国船舶重工集团公司第七研究院 | Active and passive compatible underwater sound positioning system |
Non-Patent Citations (3)
| Title |
|---|
| Underwater target localization using long baseline positioning system;Zhang, JC 等;APPLIED ACOUSTICS;第111卷;129-134 * |
| 基于长基线水声定位系统误差分析以及定位精度研究;孙微 等;声学与电子工程(第02期);14-19 * |
| 张同伟 等.深海长基线定位系统现状及展望.测绘通报.2018,(第10期),75-78+106. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112068078A (en) | 2020-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112068078B (en) | Combined long-baseline deep sea underwater sound positioning method | |
| CN108955678B (en) | A kind of deep-sea vehicle communication location navigation time service integral method and system | |
| JP3561881B2 (en) | Underwater vehicle positioning system | |
| CA1208428A (en) | Method for determining the position of a marine seismic receiver cable | |
| US7433264B2 (en) | Methods and systems for determination of vertical correction of observed reflection seismic signals | |
| CN102854534A (en) | Method and device of obtaining a node-to-surface distance in a network of acoustic nodes, corresponding computer program product and storage means | |
| CN109029460B (en) | Air navigation aid, system and device of the deep-sea vehicle to monitor surface platform ranging | |
| CN110294080B (en) | Method for realizing underwater accurate operation by using ultra-short baseline | |
| CN111948685B (en) | Buoy-based combined baseline underwater sound positioning method | |
| NO160032B (en) | PROCEDURE AND APPARATUS FOR ACOUSTIC TELEMETERATION. | |
| JP3803177B2 (en) | Tsunami detection system | |
| CN102081170A (en) | Submarine cable secondary positioning method based on integrated positioning of acoustic long baseline and ultrashort baseline | |
| AU2005268886B2 (en) | Method for an antenna angular calibration by relative distance measuring | |
| US20160195626A1 (en) | Method and System for Determining the Position of Control Devices on a Seismic Instrumented Towed Cable | |
| RU2303275C2 (en) | Method for determination of co-ordinates of submerged objects | |
| JPH09145821A (en) | Underwater object position measuring device | |
| RU2009110869A (en) | METHOD FOR DETERMINING AMENDMENTS TO DEPTHS, MEASURED BY A SHOCKFINDER WHEN TAKING A BOTTOM RELIEF, AND A DEVICE FOR ITS IMPLEMENTATION | |
| JP3136505B2 (en) | Positioning method for underwater work machines, etc. | |
| CN111948676B (en) | Real-time acquisition method for reference element position in long baseline positioning system of buoy | |
| KR20070005316A (en) | Noise measurement using gps | |
| CN114018224A (en) | System and method for checking chart water depth data | |
| JPH08136650A (en) | Acoustic position measuring instrument | |
| CN118311583B (en) | Stereo baseline acoustic measurement system and speed measurement method for underwater user thereof | |
| JP4830269B2 (en) | Mooring sensor positioning method and apparatus | |
| KR102637095B1 (en) | A system for measuring underwater radiation noise of a ship using a buoy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |