CN113311388B - Ultra-short baseline positioning system of underwater robot - Google Patents
Ultra-short baseline positioning system of underwater robot Download PDFInfo
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- CN113311388B CN113311388B CN202110584036.9A CN202110584036A CN113311388B CN 113311388 B CN113311388 B CN 113311388B CN 202110584036 A CN202110584036 A CN 202110584036A CN 113311388 B CN113311388 B CN 113311388B
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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
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- 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
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention provides an ultra-short baseline positioning system of an underwater robot, which comprises water surface equipment and an underwater ultra-short baseline submersible, and is characterized in that the water surface equipment comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation assembly; the underwater ultra-short baseline submersible is provided with an ultra-short baseline transponder and a synchronous clock module; the built-in inertial navigation assembly is used for collecting the positions, the postures and the bow directions of different acoustic array base stations, and further calculating and positioning the target absolute position of the underwater robot through the signal processing unit; the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock triggering mode for positioning. The system provided by the invention can independently complete the underwater positioning task, and the filtering processing is matched before the filtering noise reduction processing, so that the accuracy of calculating the final target absolute position by the sonar signal is improved, and the accuracy, convenience and operability of the system are improved.
Description
Technical Field
The invention belongs to the technical field of underwater robot positioning, and particularly relates to an ultra-short baseline positioning system of an underwater robot.
Background
Since acoustic waves are the only effective information carrier under water found by humans so far, underwater acoustic positioning technology is the main means of positioning and tracking underwater targets at present. The underwater acoustic positioning navigation technology is a technology which is excited in a baseline mode and realizes positioning and navigation by measuring information such as time, phase, frequency and the like of sound wave propagation. The ultra-short baseline positioning system consists of a multi-element acoustic array and an acoustic beacon, and is positioned by measuring distance and azimuth. The device has the advantages of small size, convenient installation, good portability and independence, and suitability for tracking a large-scale operation area of the low-cost submarine.
The ultra-short baseline positioning system is used for determining the absolute position of a target, and firstly, the position, the gesture and the bow direction of the acoustic array are known, and the parameters can be provided by a GPS, a motion sensor and an electric compass, and then, the position of the target in an acoustic head coordinate system is determined. Therefore, the prior ultra-short baseline positioning system needs MRU and electric compass to provide the gesture and the bow direction. However, because of the different mounting locations on the carrier, the mounting error angle needs to be calibrated before each use, which is complex and increases the number of peripherals.
Disclosure of Invention
Aiming at the defects, the invention provides the ultra-short baseline positioning system of the underwater robot, which can independently finish the underwater positioning task, and the filtering processing is matched before the filtering noise reduction processing, so that the accuracy of the final target absolute position calculated by the sonar signal is improved, the relevant work is not needed during the use, and the precision, the convenience and the operability of the system are further improved.
The invention provides an ultra-short baseline positioning system of an underwater robot, which comprises water surface equipment and an underwater ultra-short baseline submersible and is characterized in that the water surface equipment comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation assembly;
the underwater ultra-short baseline submersible is provided with an ultra-short baseline transponder and a synchronous clock module, and is used for receiving response signals sent by different acoustic array base stations;
the built-in inertial navigation assembly is used for collecting the positions, the postures and the bow directions of different acoustic array base stations, and further calculating and positioning the target absolute position of the underwater robot through the signal processing unit;
the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock triggering mode for positioning:
the acoustic response mode is that a signal processing unit sends an inquiry signal to different acoustic array base stations, the ultra-short baseline transponder receives response signals sent by the different acoustic array base stations and then transmits the response signals to the signal processing unit, and the signal processing unit calculates the time difference from sending the inquiry signal to receiving the response signals to calculate the distance between the underwater robot and the different acoustic array base stations, so that the target absolute position is obtained;
the synchronous clock triggering mode is that the signal processing unit sends an instruction to the synchronous clock module, the synchronous clock module synchronously triggers the ultra-short baseline transponder and the shipborne acoustic transducer array, the distance between the underwater robot and different acoustic array base stations is calculated by calculating the time difference from the synchronous pulse triggering time to the response signal, and the data acquired by the built-in inertial navigation assembly are combined with the positioning result of the distance between the underwater robot and the different acoustic array base stations, so that the target absolute position is obtained.
Further, the signal processing unit comprises a transceiver module, a control module, a calculation module, an inquiry control and transmitter, a display module and a Kalman filter, wherein the transceiver module is composed of a plurality of hydrophones. Wherein the control module is a position computer.
Further, before filtering, the Kalman filter performs matched filtering on sonar signal data collected by the plurality of hydrophones, and the Kalman filter comprises the following steps:
1) Construction of the signal x received by the ith hydrophone i [n]And the signal x i [n]With noise h [ n ]]A convolution output calculation model between (a):
wherein k is more than or equal to 1 and less than or equal to n, and n is the total number of hydrophones;
2) Convolving output signal x received at ith hydrophone i [n]Nearest to the noise h [ n ]]Is the signal x received by the ith hydrophone i [n]Where the maximum value is reached, by calculating a plurality of said signals x i [n]As a convolution output y i [n]Metrics for calculating the validity of the results:
3) Comparing the standard deviation sigma calculated in the step 2) with a threshold value to further judge the convolution output y i [n]Whether or not it is a valid result, whenThe calculated convolution output y i [n]In the event of an invalid result,
the convolution output of n hydrophones is calculated by moving average smoothing y' [ n ]:
wherein i is not equal to j, i is not less than 1, j is not less than n;
4) Carrying out normalization calculation on the moving average smooth y' n obtained in the step 3), finally obtaining normalized convolution output y n after matched filtering, and transmitting the normalized convolution output y n to a Kalman filter for filtering and noise reduction treatment, wherein the normalization calculation formula is as follows:
further, the threshold in the step 3) is n+1, and the judgment criterion is that when σ < n+1, the calculated convolution output y i [n]Is a valid result; when sigma is more than or equal to n+1, the calculated convolution output y i [n]Is an invalid result.
Further, the on-board acoustic transducer array is mounted on the bottom or side of the vessel.
Further, the acoustic array base station comprises an interrogation control and transmitter, a transmit/receive switch, a first hydrophone transmitting a reply signal to the ultra-short baseline transponder, and a second hydrophone for transmitting a received interrogation signal to the interrogation control and transmitter.
Further, the built-in inertial navigation assembly comprises a GPS positioning module, an attitude sensor and an electric compass module.
Further, the computing module includes a direction angle processor and a distance processor.
Furthermore, the ultra-short baseline transponder is arranged on the back of the underwater carrier, the hemispherical directivity of the ultra-short baseline transponder can cover the whole upper half space, and the ultra-short baseline positioning system can work normally under various underwater depth and dip angle states.
The beneficial effects of the invention are as follows:
1. the ultra-short baseline positioning system provided by the invention adopts an acoustic response mode and a synchronous clock triggering mode, when the acoustic response mode is adopted, the water surface respectively transmits inquiry signals to the transponders, the transponders transmit response signals after receiving the inquiry signals for themselves, and the distance is calculated by calculating the time difference from the transmitted inquiry signals to the received response signals. When the synchronous clock triggering mode is adopted, the inertial navigation assembly data is combined with the ultra-short baseline positioning result by calculating the time difference calculation distance from the synchronous pulse triggering moment to the receiving response signal, the accurate position of the underwater transponder can be accurately judged, different signal transmission modes can be adopted to carry out target positioning under different conditions,
2. according to the ultra-short baseline positioning system of the underwater robot, response signals are sent to the underwater transponder of the positioning system through different acoustic base station arrays, the transponder sends sonar signals to the marine equipment part on the water surface, when the synchronous clock triggering mode is adopted, the system uses an acoustic beacon which is synchronous with the clock time on the underwater robot, only one way is needed to send the sonar signals, the acoustic array resides on the underwater robot instead of the beacon, and finally a calculation module in the marine equipment on the water surface, namely a position calculator collects acoustic data through the array and processes the acoustic data to determine the distance, azimuth angle and inclination of the acoustic source of the array; if the source is at a known location, this information and underwater robot compass data can be used to calculate the instantaneous absolute position of the target. The invention adopts the acoustic passive mode on the underwater robot, namely the underwater robot does not output response signals, thus greatly reducing the power consumption and the cost, and simultaneously realizing that a single sound source can be used for positioning a plurality of underwater robots without time or frequency sharing.
3. The position calculator of the ultra-short baseline positioning system of the underwater robot provided by the invention adopts the Kalman filter to carry out filtering treatment on the collected sonar signals, the Kalman filter carries out estimation on probability distribution of a dynamic system from a group of observation sequences with measurement noise through updating the mean value and the covariance in real time, the filtering process is realized, the position calculator is an efficient recursive filter, and the measurement noise points of the position are removed through the Kalman filter, so that the positioning accuracy is improved.
4. According to the position calculator of the ultra-short baseline positioning system of the underwater robot, before the Kalman filter is adopted to carry out filtering treatment on the collected sonar signals, matching filtering is firstly carried out, the sonar signals collected at different trigger times can be matched under a synchronous clock trigger mode, normalized convolution output y [ n ] is finally obtained after convolution output and moving average are smoothed, the sonar signals at different trigger times are prevented from being simultaneously mixed and filtered, and the accuracy of the Kalman filter on the sonar signals collected at different trigger times is improved.
5. The invention integrates the high-precision built-in inertial navigation assembly into the ultra-short base line, not only can provide high-precision gestures for the ultra-short base line positioning in real time, but also can output inertial navigation results, the high-speed inertial navigation output results compensate for the lower refresh rate of underwater sound, and the positioning results of the ultra-short base line can periodically readjust the accumulated errors of inertial navigation. The ultra-short baseline positioning system with the high-precision built-in inertial navigation assembly can independently complete underwater positioning tasks, the installation error is accurately corrected when leaving a factory, and related work is not needed when the ultra-short baseline positioning system is used, so that the precision, convenience and operability of the system are further improved.
6. The ultra-short baseline positioning system provided by the invention has wide application in two fields of civil use and military use. In civil range, submarine surveys, marine surveys, diver operations, underwater salvage, underwater engineering and the like all need underwater acoustic positioning to provide support; the military range comprises applications such as frog activities, submarine sailing, underwater robot recovery, dragon number deep sea detection, co-location, enemy ship detection and the like.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
Wherein:
FIG. 1 is a schematic diagram of the appearance of an ultra-short baseline positioning system according to the present invention;
FIG. 2 is a schematic diagram of a system module structure according to the present invention;
fig. 3 is a flowchart of a calculation module of the system provided by the invention for calculating and matching filtering collected sonar signals and then performing kalman filtering.
Description of the preferred embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
1-2, an ultra-short baseline positioning system of an underwater robot provided by the invention comprises surface equipment and an underwater ultra-short baseline submersible, and is characterized in that the surface equipment comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation assembly;
an ultra-short baseline transponder and a synchronous clock module are arranged on the underwater ultra-short baseline submersible and are used for receiving response signals sent by different acoustic array base stations;
the built-in inertial navigation assembly is used for collecting the positions, the postures and the bow directions of different acoustic array base stations, and further calculating and positioning the positions of the target absolute positions of the underwater robots through the signal processing unit;
the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock triggering mode for positioning:
the acoustic response mode is that a signal processing unit sends an inquiry signal to different acoustic array base stations, an ultra-short baseline transponder receives response signals sent by the different acoustic array base stations and then transmits the response signals to the signal processing unit, and the signal processing unit calculates the time difference from sending the inquiry signal to receiving the response signals to calculate the distance between the underwater robot and the different acoustic array base stations, so that the absolute position of a target is obtained;
the synchronous clock triggering mode is that the signal processing unit sends an instruction to the synchronous clock module, the synchronous clock module synchronously triggers the ultra-short baseline transponder and the shipborne acoustic transducer array, the distance between the underwater robot and the different acoustic array base stations is calculated by calculating the time difference from the synchronous pulse triggering time to the response signal, and the data acquired by the built-in inertial navigation assembly are combined with the positioning result of the distance between the underwater robot and the different acoustic array base stations, so that the target absolute position is obtained.
The signal processing unit comprises a transceiver module, a control module, a calculation module, an inquiry control and transmitter, a display module and a Kalman filter, wherein the transceiver module is composed of a plurality of hydrophones; the control module is a position computer. The calculation module comprises a direction angle processor and a distance processor.
Although the ultra-short baseline underwater acoustic positioning result does not have the situation of error divergence, the positioning data has the characteristics of discontinuity, large dispersion and large wild value due to the influence of complex underwater environments such as Doppler effect, multipath effect, time-varying effect and the like of an underwater acoustic channel, and the ultra-short baseline underwater acoustic positioning result cannot be directly used and needs to be subjected to data filtering.
As shown in fig. 3, the acquired sonar signals are noise-reduced and filtered based on a kalman filter, so as to obtain the position information of the underwater vehicle when the underwater vehicle is sailing. Kalman filtering, which is an efficient recursive filter, is implemented by updating the mean and covariance in real time to estimate the probability distribution of a dynamic system from a set of observation sequences with measurement noise. The basic idea of kalman filtering is: and establishing a state equation and a measurement equation of the system, wherein a state transition model and an observation model are linear models with Gaussian white noise, and estimating a current state value by using an estimated value at the last moment and an observed value at the current moment. Through Kalman filtering, the measurement noise points of the positions are removed, and the positioning accuracy is improved.
The built-in inertial navigation assembly comprises a GPS positioning module, an attitude sensor and an electronic compass module.
The on-board acoustic transducer array is mounted on the bottom or side of the vessel.
The acoustic array base station includes an interrogation control and transmitter, a transmit/receive switch, a first hydrophone transmitting a reply signal to the ultra-short baseline transponder, and a second hydrophone transmitting a received interrogation signal to the interrogation control and transmitter.
The ultra-short baseline transponder is arranged on the back of the underwater carrier, the hemispherical directivity of the ultra-short baseline transponder can cover the whole upper half space, and the ultra-short baseline positioning system can work normally under various underwater depth and dip angle states.
Before filtering, the Kalman filter performs matched filtering on sonar signal data collected by a plurality of hydrophones, and the Kalman filter comprises the following steps:
1) Construction of the signal x received by the ith hydrophone i [n]Sum signal x i [n]With noise h [ n ]]A convolution output calculation model between (a):
wherein k is more than or equal to 1 and less than or equal to n, and n is the total number of hydrophones;
2) Convolving output signal x received at ith hydrophone i [n]Nearest noise h [ n ]]Is the signal x received by the ith hydrophone i [n]Where the maximum value is reached, by calculating a plurality of signals x i [n]As a convolution output y i [n]Metrics for calculating the validity of the results:
3) Comparing the standard deviation sigma calculated in the step 2) with a threshold value to further judge the convolution output y i [n]Whether or not it is a valid result, when the calculated convolution output y i [n]In the event of an invalid result,
the convolution output of n hydrophones is calculated by moving average smoothing y' [ n ]:
wherein i is not equal to j, i is not less than 1, j is not less than n;
4) Carrying out normalization calculation on the moving average smoothing y' n obtained in the step 3), finally obtaining normalized convolution output y n after matched filtering, and transmitting the normalized convolution output y n to a Kalman filter for filtering and noise reduction treatment, wherein the normalization calculation formula is as follows:
the threshold value in the step 3) is n+1, the judgment standard is the convolution output y calculated when sigma is less than n+1 i [n]Is a valid result; when sigma is more than or equal to n+1, the calculated convolution output y i [n]Is an invalid result.
According to the ultra-short baseline positioning system of the underwater robot, response signals are sent to the underwater transponder of the positioning system through different acoustic base station arrays, the transponder sends sonar signals to the marine equipment part on the water surface, when the synchronous clock triggering mode is adopted, the system uses an acoustic beacon which is synchronous with the clock time on the underwater robot, only one way is needed to send the sonar signals, the acoustic array resides on the underwater robot instead of the beacon, and finally a calculation module in the marine equipment on the water surface, namely a position calculator collects acoustic data through the array and processes the acoustic data to determine the distance, azimuth angle and inclination of the acoustic source of the array; if the source is at a known location, this information and underwater robot compass data can be used to calculate the instantaneous absolute position of the target. The invention adopts the acoustic passive mode on the underwater robot, namely the underwater robot does not output response signals, thus greatly reducing the power consumption and the cost, and simultaneously realizing that a single sound source can be used for positioning a plurality of underwater robots without time or frequency sharing.
The Kalman filtering realizes the filtering process by updating the mean value and covariance in real time to estimate the probability distribution of a dynamic system from a group of observation sequences with measurement noise, is an efficient recursive filter, and eliminates the measurement noise points of the position by the Kalman filtering, thereby improving the positioning accuracy.
Before the Kalman filter is adopted to carry out filtering treatment on the collected sonar signals, matching filtering is firstly carried out, the sonar signals collected at different trigger times in a synchronous clock trigger mode can be matched, normalized convolution output y n is finally obtained after convolution output and moving average are smoothed, the sonar signals at different trigger times are prevented from being simultaneously mixed and filtered, and the accuracy of the Kalman filter on the sonar signals collected at different trigger times is improved.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (7)
1. An ultra-short baseline positioning system of an underwater robot comprises water surface equipment and an underwater ultra-short baseline submersible, and is characterized in that the water surface equipment comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation assembly;
the underwater ultra-short baseline submersible is provided with an ultra-short baseline transponder and a synchronous clock module, and is used for receiving response signals sent by different acoustic array base stations;
the built-in inertial navigation assembly is used for collecting the positions, the postures and the bow directions of different acoustic array base stations, and further calculating and positioning the target absolute position of the underwater robot through the signal processing unit;
the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock triggering mode for positioning:
the acoustic response mode is that a signal processing unit sends an inquiry signal to different acoustic array base stations, the ultra-short baseline transponder receives response signals sent by the different acoustic array base stations and then transmits the response signals to the signal processing unit, and the signal processing unit calculates the time difference from sending the inquiry signal to receiving the response signals to calculate the distance between the underwater robot and the different acoustic array base stations, so that the target absolute position is obtained;
the synchronous clock triggering mode is that the signal processing unit sends an instruction to the synchronous clock module, the synchronous clock module synchronously triggers the ultra-short baseline transponder and the shipborne acoustic transducer array, the distance between the underwater robot and different acoustic array base stations is calculated by calculating the time difference from the synchronous pulse triggering time to the response signal, and the data acquired by the built-in inertial navigation assembly are combined with the positioning result of the distance between the underwater robot and the different acoustic array base stations, so that the target absolute position is obtained.
2. The ultra-short baseline positioning system of an underwater robot according to claim 1, wherein the signal processing unit comprises a transceiver module consisting of a plurality of hydrophones, a control module, a calculation module, an interrogation control and transmitter, a display module and a kalman filter.
3. An ultra-short baseline positioning system for an underwater robot according to claim 1, wherein the on-board acoustic transducer array is mounted on the bottom or side of a vessel.
4. An ultra-short baseline positioning system for an underwater robot according to claim 1, wherein said acoustic base station includes an interrogation control and transmitter, a transmit/receive switch, a first hydrophone transmitting a reply signal to said ultra-short baseline transponder, and a second hydrophone transmitting a received interrogation signal to said interrogation control and transmitter.
5. The ultra-short baseline positioning system of an underwater robot of claim 1, wherein the built-in inertial navigation assembly comprises a GPS positioning module, an attitude sensor, and an electronic compass module.
6. An ultra-short baseline positioning system for an underwater robot according to claim 2, wherein said calculation module includes a direction angle processor and a distance processor.
7. The ultra-short baseline positioning system of the underwater robot according to claim 1, wherein the ultra-short baseline transponder is arranged on the back of the underwater carrier, and the hemispherical directivity of the ultra-short baseline transponder covers the whole upper half space, so that the ultra-short baseline positioning system can work normally under various underwater depth and dip angle states.
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