CN113945891A - Underwater intelligent equipment positioning system and method - Google Patents
Underwater intelligent equipment positioning system and method Download PDFInfo
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- CN113945891A CN113945891A CN202111172434.6A CN202111172434A CN113945891A CN 113945891 A CN113945891 A CN 113945891A CN 202111172434 A CN202111172434 A CN 202111172434A CN 113945891 A CN113945891 A CN 113945891A
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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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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Abstract
The invention relates to a positioning system and a method for underwater intelligent equipment, wherein the system comprises a ground integrated system, the underwater intelligent equipment and a plurality of movable intelligent buoys, a movable intelligent buoy positioning system is established, satellite signals are applied to realize buoy self-positioning data, and the difficulty of positioning measurement array arrangement is reduced; the positioning method adopts a modal decomposition and maximum likelihood estimation method to carry out emission signal estimation and noise signal estimation, improves the precision of time delay estimation values among different mobile intelligent buoys under the condition of low signal-to-noise ratio, and combines a least square method twice and a Taylor positioning calculation algorithm, thereby reducing the complexity of required sensor equipment and a calculation process and improving the positioning precision of underwater positioning.
Description
Technical Field
The invention relates to the technical field of underwater positioning, in particular to an underwater intelligent equipment positioning system and method.
Background
With the proposal of the ocean strong national strategy, higher requirements are put forward on the reliability and the precision of underwater positioning. Due to the complex underwater environment, the electromagnetic wave cannot be transmitted in a long distance underwater, so that the satellite positioning technology cannot be applied in the underwater positioning process. In an underwater environment, the underwater positioning technology mainly comprises an inertial navigation positioning technology, an acoustic positioning technology, a geophysical positioning technology and an optical vision positioning technology.
The inertial navigation positioning technology calculates the relative displacement by carrying out secondary integration on data acquired by an accelerometer and gyroscope data, and calculates the current position information by combining initial position information.
The geophysical positioning technology is a positioning technology which utilizes external environment information as reference, needs to acquire the external environment information of the working position of the submersible in advance, cannot work in an environment lacking the external environment information, is suitable for an environment close to the sea bottom, and cannot meet the use of any position in water.
An underwater positioning technology realized by optical vision positioning technology by using optical information is mostly only applied to the accurate positioning of the tail end of some scenes and cannot be used in a large range because the propagation distance of an optical signal in an underwater environment is short.
The acoustic positioning is a method for positioning a position obtained by calculating a signal based on measuring the propagation time of an acoustic signal, and mainly comprises three methods, namely a long baseline, a short baseline and an ultra-short baseline. Acoustic positioning needs to arrange a matrix in advance in a sea area where the submersible works, generally, a long baseline needs to be fixed and arranged in a sea area environment such as a sea bottom or a sea surface, a short baseline and an ultra-short baseline are generally arranged on a buoy or a traveling mother ship, a large support system is needed, the cost is high, the positioning range is limited, and the requirement of the submersible independent work task cannot be met; meanwhile, due to the complex underwater environment, the acoustic signal has the characteristics of small bandwidth, low available frequency, strong interference noise, large transmission delay and the like, so that the existing method can have higher positioning accuracy only at high signal-to-noise ratio, and the resolving method is complex.
Disclosure of Invention
The invention aims to provide an underwater intelligent equipment positioning system and method to improve positioning accuracy of underwater positioning.
In order to achieve the purpose, the invention provides the following scheme:
an underwater smart equipment positioning system, the system comprising: the system comprises a ground integrated system, underwater intelligent equipment and a plurality of mobile intelligent buoys;
the plurality of mobile intelligent buoys are positioned on the sea surface and enclose a working sea area of the underwater intelligent equipment; the underwater intelligent equipment is placed under the water of the working sea area;
the plurality of mobile intelligent buoys are in underwater acoustic communication with the underwater intelligent equipment, and are used for respectively transmitting simple harmonic acoustic signals to the underwater intelligent equipment and receiving feedback simple harmonic acoustic signals of the underwater intelligent equipment;
the mobile intelligent buoys are also connected with the ground integrated system and used for acquiring respective environmental information and satellite positioning information and transmitting the respective environmental information, the satellite positioning information and the respective received feedback simple harmonic acoustic signals to the ground integrated system;
the ground integrated system is used for carrying out multi-information fusion on the environmental information, the satellite positioning information and the feedback simple harmonic acoustic signals of the plurality of mobile intelligent floats and calculating the position information of the underwater intelligent equipment.
Optionally, the mobile smart buoy includes: the system comprises a hydrophone, an environment monitor, a satellite positioner and a wireless signal transmitter;
the hydrophone, the environment monitor and the satellite positioner are all connected with the ground integrated system through a wireless signal transmitter;
the hydrophone is used for transmitting simple harmonic acoustic signals to the underwater intelligent equipment, receiving feedback simple harmonic acoustic signals of the underwater intelligent equipment and transmitting the feedback simple harmonic acoustic signals to the ground integrated system through the wireless signal transmitter;
the environment monitor is used for measuring the environment information of the environment where the mobile intelligent buoy is located and transmitting the environment information to the ground integrated system; the environmental information comprises underwater sound speed and noise;
the satellite positioner is used for acquiring satellite positioning information of the mobile intelligent buoy and transmitting the satellite positioning information to the ground integrated system.
Optionally, the underwater intelligent equipment comprises: an underwater acoustic communicator;
the underwater acoustic communicator is used for receiving the simple harmonic acoustic signals transmitted by the plurality of mobile intelligent buoys and transmitting feedback simple harmonic acoustic signals to the plurality of mobile intelligent buoys at the same time.
An underwater intelligent equipment positioning method based on the underwater intelligent equipment positioning system comprises the following steps:
acquiring environmental information, satellite positioning information and feedback simple harmonic acoustic signals of each mobile intelligent buoy;
according to the feedback simple harmonic acoustic signals of each mobile intelligent buoy and the feedback simple harmonic acoustic signals of the reference mobile intelligent buoy, adopting a generalized cross-correlation time delay estimation method based on empirical mode decomposition to obtain a time delay estimation value of each mobile intelligent buoy for receiving the feedback simple harmonic acoustic signals;
obtaining an initial positioning result of the underwater intelligent equipment by using a twice least square method according to a time delay estimation value of each mobile intelligent buoy receiving a feedback simple harmonic acoustic signal, the environment information of each mobile intelligent buoy and satellite positioning information;
and determining a final positioning result of the underwater intelligent equipment by adopting a Taylor positioning algorithm according to the initial positioning result.
Optionally, the obtaining, according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy, a generalized cross-correlation delay estimation method based on empirical mode decomposition is used to obtain a delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal, and specifically includes:
according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy, an empirical mode decomposition method and a maximum likelihood estimation method are adopted to obtain a filtering parameter of each mobile intelligent buoy;
substituting the filtering parameters of each mobile intelligent buoy into the generalized cross-correlation function
Obtaining the cross correlation between each mobile intelligent buoy and a reference mobile intelligent buoy for receiving feedback simple harmonic acoustic signals;
using a formula based on the cross-correlation
Obtaining a time delay estimation value of each mobile intelligent buoy for receiving feedback simple harmonic acoustic signals;
wherein the content of the first and second substances,
the mobile intelligent buoy and the reference mobile intelligent buoy receive the cross correlation of the feedback simple harmonic acoustic signals, psi (f) is a filtering parameter,
and receiving the cross power spectral density of the feedback simple harmonic acoustic signals for the mobile intelligent buoy and the reference mobile intelligent buoy, D is a time delay estimation value, and tau is the time difference of the mobile intelligent buoy and the reference mobile intelligent buoy in receiving the feedback simple harmonic acoustic signals.
Optionally, the obtaining the filtering parameter of each mobile intelligent buoy by using an empirical mode decomposition method and a maximum likelihood estimation method according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy specifically includes:
decomposing the feedback simple harmonic acoustic signals of each mobile intelligent buoy by adopting an empirical mode decomposition method to obtain multi-order connotation modal components of each feedback simple harmonic acoustic signal;
taking the first-order connotative modal component as a first noise signal, taking the second-order connotative modal component as a second noise signal, taking the sum of the first-order connotative modal component and the connotative modal component except the second-order connotative modal component in the multi-order connotative modal component of each feedback simple harmonic acoustic signal as an estimation signal, acquiring the first noise signal and the second noise signal of each mobile intelligent buoy, and acquiring the estimation signal of the reference mobile intelligent buoy;
determining the power spectral densities of the first and second noise signals of each mobile intelligent buoy and the estimated signal of the reference mobile intelligent buoy and using a maximum likelihood estimation function
Obtaining a filtering parameter of each mobile intelligent buoy;
wherein S (f) is the power spectral density, W, of the estimated signal1(f) Is the power spectral density, W, of the first noise signal2(f) Is the power spectral density of the second noise signal.
Optionally, the obtaining, according to the time delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal, the environment information of each mobile intelligent buoy, and the satellite positioning information, an initial positioning result of the underwater intelligent equipment by using a twice least square method specifically includes:
taking the product of the time delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal and the underwater sound speed in the environment information of each mobile intelligent buoy as the distance difference between the slope distance of each mobile intelligent buoy and the slope distance of the reference mobile intelligent buoy to the underwater intelligent equipment;
obtaining initial position estimation coordinates of the underwater intelligent equipment by using a least square method according to the slant distance difference, the satellite positioning information of each mobile intelligent buoy and noise in the environment information;
obtaining an estimated position deviation by using a least square method according to the initial position estimated coordinates;
estimating coordinates and estimated position deviations from the initial position using a formula
Determining an initial positioning result of the underwater intelligent equipment; wherein z ispIs an initial positioning result vector of underwater smart equipment, z'aTo estimate the position deviation vector, (x)0，y0，z0) Coordinates are estimated for the initial position.
Optionally, according to the initial positioning result, determining a final positioning result of the underwater intelligent equipment by using a taylor positioning algorithm, and then further comprising:
obtaining the distance between the final positioning result and a working sea area boundary surrounded by a plurality of mobile intelligent buoys;
and when the distance is smaller than or equal to the distance threshold value, the positions of the plurality of mobile intelligent buoys are moved, so that the underwater intelligent equipment is always positioned in a working sea area surrounded by the plurality of mobile intelligent buoys.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a positioning system and a method for underwater intelligent equipment, wherein a mobile intelligent buoy positioning system is established, and satellite signals are applied to realize self-positioning data of buoys, so that the difficulty in laying a positioning measurement array is reduced; the positioning method adopts a modal decomposition and maximum likelihood estimation method to carry out emission signal estimation and noise signal estimation, improves the precision of time delay estimation values among different mobile intelligent buoys under the condition of low signal-to-noise ratio, and combines a least square method twice and a Taylor positioning calculation algorithm, thereby reducing the complexity of required sensor equipment and a calculation process and improving the positioning precision of underwater positioning.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of an underwater intelligent equipment positioning system provided by the present invention;
FIG. 2 is a flow chart of a method for positioning an underwater intelligent device according to the present invention;
FIG. 3 is a schematic diagram of a method for locating an underwater intelligent device according to the present invention;
FIG. 4 is a schematic diagram of empirical mode decomposition provided by the present invention;
description of the symbols: the method comprises the steps of 1-global satellite positioning system, 2-mobile intelligent buoy, 3-ground integrated system, 4-underwater intelligent equipment and 5-positioning area.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an underwater intelligent equipment positioning system and method to improve positioning accuracy of underwater positioning.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In order to solve the problems of complex solving process and low positioning accuracy in the related art, the invention provides an underwater intelligent equipment positioning system, which comprises the following components in part by weight as shown in fig. 1: the system comprises a ground integrated system, underwater intelligent equipment and a plurality of movable intelligent buoys.
The plurality of mobile intelligent buoys are positioned on the sea surface and enclose a working sea area of the underwater intelligent equipment; the underwater intelligent equipment is placed under the water in the working sea area.
The plurality of mobile intelligent buoys are in underwater acoustic communication with the underwater intelligent equipment, and are used for respectively transmitting simple harmonic acoustic signals to the underwater intelligent equipment and receiving feedback simple harmonic acoustic signals of the underwater intelligent equipment.
The plurality of mobile intelligent buoys are also connected with the ground integrated system, and are also used for acquiring respective environmental information and satellite positioning information and transmitting the respective environmental information, the satellite positioning information and the respective received feedback simple harmonic acoustic signals to the ground integrated system.
The ground integrated system is used for carrying out multi-information fusion on the environmental information, the satellite positioning information and the feedback simple harmonic acoustic signals of the plurality of mobile intelligent floats and calculating the position information of the underwater intelligent equipment.
Portable intelligent buoy includes: hydrophones, environmental monitors, satellite locators, and wireless signal transmitters.
The hydrophone, the environment monitor and the satellite positioner are all connected with the ground integrated system through a wireless signal transmitter. The hydrophone is used for transmitting simple harmonic acoustic signals to the underwater intelligent equipment, receiving feedback simple harmonic acoustic signals of the underwater intelligent equipment, and transmitting the feedback simple harmonic acoustic signals to the ground integrated system through the wireless signal transmitter. The environment monitor is used for measuring the environment information of the environment where the mobile intelligent buoy is located and transmitting the environment information to the ground comprehensive system. The environmental information includes underwater sound velocity and noise. The satellite positioner is used for acquiring satellite positioning information of the mobile intelligent buoy and transmitting the satellite positioning information to the ground integrated system.
The intelligent equipment includes under water: an underwater acoustic communicator. The underwater acoustic communicator is used for receiving the simple harmonic acoustic signals transmitted by the plurality of mobile intelligent buoys and transmitting feedback simple harmonic acoustic signals to the plurality of mobile intelligent buoys at the same time.
Referring to fig. 1, the global satellite positioning system: and carrier phase difference data is provided, and real-time navigation and positioning services are provided for the mobile intelligent buoy. Portable intelligent buoy: the system integrates a hydrophone, an environment monitor, a wireless signal transmitter and a high-precision satellite positioner; the method realizes real-time high-precision self-positioning, obtains the buoy attitude position, the environmental information and the underwater acoustic signal information for receiving, and provides positioning and navigation for the underwater intelligent submersible. A ground integrated system: the positioning device comprises a positioning information resolving unit and a wireless signal receiving and transmitting unit; and fusing the buoy attitude position, the environment information and the underwater acoustic signal information returned by the mobile intelligent buoy to obtain the position information of the underwater intelligent equipment. The underwater intelligent equipment comprises: and carrying an underwater acoustic signal receiving and transmitting end to realize the receiving and transmitting of the underwater acoustic signal. A positioning area: the work area that portable intelligent buoy encloses.
According to the invention, a mobile intelligent buoy positioning system is established, and satellite signals are applied to realize self-positioning data of the buoy, so that the difficulty in laying a positioning measurement array is reduced; meanwhile, the high positioning capacity of satellite positioning signals in the air is adopted, and the coordinate position of the underwater intelligent equipment can be directly converted into a geodetic coordinate. And the underwater intelligent equipment sends the positioned acoustic signals to all the mobile intelligent buoys simultaneously, so that the problem that the signals of different mobile intelligent buoys need different codes and the power consumption is increased due to the fact that the signals are sent for multiple times is solved, and the endurance of the underwater intelligent equipment is enhanced.
The invention provides an underwater intelligent equipment positioning method based on the underwater intelligent equipment positioning system, and as shown in fig. 2, the method comprises the following steps:
And 102, obtaining a time delay estimation value of each mobile intelligent buoy for receiving the feedback simple harmonic acoustic signal by adopting a generalized cross-correlation time delay estimation method based on empirical mode decomposition according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy.
The method specifically comprises the following steps:
according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy, an empirical mode decomposition method and a maximum likelihood estimation method are adopted to obtain a filtering parameter of each mobile intelligent buoy;
substituting the filtering parameters of each mobile intelligent buoy into the generalized cross-correlation function
Obtaining the cross correlation between each mobile intelligent buoy and a reference mobile intelligent buoy for receiving feedback simple harmonic acoustic signals;
using a formula based on the cross-correlation
Obtaining a time delay estimation value of each mobile intelligent buoy for receiving feedback simple harmonic acoustic signals;
in the formula (I), the compound is shown in the specification,
the mobile intelligent buoy and the reference mobile intelligent buoy receive the cross correlation of the feedback simple harmonic acoustic signals, psi (f) is a filtering parameter,
and receiving the cross power spectral density of the feedback simple harmonic acoustic signals for the mobile intelligent buoy and the reference mobile intelligent buoy, D is a time delay estimation value, and tau is the time difference of the mobile intelligent buoy and the reference mobile intelligent buoy in receiving the feedback simple harmonic acoustic signals.
The method includes the following steps that according to feedback simple harmonic acoustic signals of each mobile intelligent buoy and feedback simple harmonic acoustic signals of a reference mobile intelligent buoy, an empirical mode decomposition method and a maximum likelihood estimation method are adopted to obtain filtering parameters of each mobile intelligent buoy, and the method specifically includes the following steps:
decomposing the feedback simple harmonic acoustic signals of each mobile intelligent buoy by adopting an empirical mode decomposition method to obtain multi-order connotation modal components of each feedback simple harmonic acoustic signal;
taking the first-order connotative modal component as a first noise signal, taking the second-order connotative modal component as a second noise signal, taking the sum of the first-order connotative modal component and the connotative modal component except the second-order connotative modal component in the multi-order connotative modal component of each feedback simple harmonic acoustic signal as an estimation signal, acquiring the first noise signal and the second noise signal of each mobile intelligent buoy, and acquiring the estimation signal of the reference mobile intelligent buoy;
determining the power spectral densities of the first and second noise signals of each mobile intelligent buoy and the estimated signal of the reference mobile intelligent buoy and using a maximum likelihood estimation function
Obtaining a filtering parameter of each mobile intelligent buoy;
wherein S (f) is the power spectral density, W, of the estimated signal1(f) Is the power spectral density, W, of the first noise signal2(f) Is the power spectral density of the second noise signal.
And 103, obtaining an initial positioning result of the underwater intelligent equipment by using a twice least square method according to the time delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal, the environment information of each mobile intelligent buoy and the satellite positioning information.
The method specifically comprises the following steps:
taking the product of the time delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal and the underwater sound speed in the environment information of each mobile intelligent buoy as the distance difference between the slope distance of each mobile intelligent buoy and the slope distance of the reference mobile intelligent buoy to the underwater intelligent equipment;
obtaining initial position estimation coordinates of the underwater intelligent equipment by using a least square method according to the difference of the slant distance and the noise in the satellite positioning information and the environmental information of each mobile intelligent buoy;
obtaining an estimated position deviation by using a least square method according to the initial position estimated coordinates;
estimating coordinates and estimated position deviations from the initial position using a formula
Determining an initial positioning result of the underwater intelligent equipment; wherein z ispIs an initial positioning result vector of underwater smart equipment, z'aTo estimate the position deviation vector, (x)0，y0，z0) Coordinates are estimated for the initial position.
And 104, determining a final positioning result of the underwater intelligent equipment by adopting a Taylor positioning algorithm according to the initial positioning result.
Step 104 is followed by:
obtaining the distance between the final positioning result and a working sea area boundary surrounded by a plurality of mobile intelligent buoys;
and when the distance is smaller than or equal to the distance threshold value, the positions of the plurality of mobile intelligent buoys are moved, so that the underwater intelligent equipment is always positioned in a working sea area surrounded by the plurality of mobile intelligent buoys.
The method of the invention has the following advantages:
1. the mobile intelligent buoy can adjust the arrangement position of the mobile intelligent buoy in real time according to the moving range of the measured target, and the measured target can work in the area range of the optimal positioning by using fewer positioning buoys.
2. The positioning method adopts a modal decomposition and maximum likelihood estimation method to carry out emission signal estimation and noise signal estimation, and improves the precision of time delay estimation values among different mobile intelligent buoys under the condition of low signal to noise ratio.
3. The least square method twice is combined with the Taylor positioning calculation algorithm, and the required complexity of sensor equipment and the calculation process is reduced under the condition of meeting the requirement of positioning accuracy.
Referring to fig. 3, the specific implementation process of the present invention is as follows:
1) when the underwater intelligent equipment needs to work in a certain sea area, at least 4 mobile intelligent buoys are rapidly distributed in the work field (positioning area) required by the underwater intelligent equipment. The mobile intelligent buoy obtains self-positioning data through a high-precision satellite positioner, and a carried environmental information monitor is applied to obtain environmental information such as ambient wind speed, water body temperature, underwater sound speed and the like of the intelligent buoy.
2) And (4) putting underwater intelligent equipment in a working water area (positioning area) surrounded by the movable intelligent buoy. Each mobile intelligent buoy transmits simple harmonic acoustic signal information s (t) ═ 1000 x sin (2 x pi x 4000 x t) +5000 x sin (2 x pi x 2000 x t) to the underwater intelligent equipment through the hydrophone, and the underwater intelligent equipment activates an underwater acoustic signal transmitting end and transmits simple harmonic signals to each mobile intelligent buoy after receiving the simple harmonic acoustic signals transmitted by each mobile intelligent buoy.
3) After the hydrophones of the mobile intelligent buoys receive the simple harmonic signals fed back by the underwater intelligent equipment, the hydrophones send the received acoustic signals, the existing environmental information, the self-positioning data and the satellite positioning information to the ground comprehensive working system through the wireless signal transmitter.
4) And after the ground comprehensive working system receives the acoustic signal information, the environment information, the self-positioning data and the satellite positioning information sent by each mobile intelligent buoy for information fusion, the position information of the underwater intelligent equipment is solved.
5) The whole solving process comprises two steps: (1) calculating the time delay estimation value of the hydrophone of each mobile intelligent buoy relative to the reference receiver; (2) based on the calculation of the time delay estimation value, the position information of the underwater intelligent equipment is solved by combining a least square method twice and a Taylor algorithm.
The delay estimation resolving process is as follows:
a) and determining all extreme points on the x (t) by using a signal x (t) received by the receiver, connecting all the extreme points by using a cubic spline curve to form an upper envelope curve, and forming a lower envelope curve by using the same method. Mean m of signal x (t) and upper and lower envelope lines1The difference is represented as H1In which H is1＝x(t)-m1。
b) H is to be1Consider as new x (t) and repeat the above steps until HiTwo of the following three empirical Mode Functions (IMFs) conditions are met: (1) the signal has at least two extreme points (a maximum point and a minimum point); (2) the characteristic time scale is defined as the time interval between adjacent extreme points; (3) if the signal has no extreme point but only an inflection point, differentiating the signal once or more before decomposing the signal, and then integrating the obtained result to obtain a corresponding component; it becomes the first order of the screening of the original signal, denoted c1。
c) C is to be1Separating from the signal x (t) to obtain a difference signal r with the high-frequency signal component removed1，r1＝x(t)-C1. Handle r1Repeating steps a, b as a new signal until the nth order residual signal becomes a monotonic function, rn＝rn-1-Cn。
d) And repeating the steps a), b) and c) to respectively estimate rn values of different mobile intelligent buoys. a) The steps b) and c) are empirical mode decomposition processes, as shown in fig. 4. Applying Fourier transform to signal rnPerforming power spectral density analysis to obtain r1And r2Is defined as the noise signal; the sum of the remaining values is defined as the estimated signal. Extracting noise signal w of mobile intelligent buoys from acoustic positioning signals received from each intelligent buoy1(t) noise signal w of reference mobile intelligent buoy2(t) and an estimated signal s (t) of the reference mobile intelligent buoy, solving the power spectral densities of the noise signal and the estimated signal, and substituting the power spectral densities into a maximum likelihood estimation function
e) The filter parameters Ψ (f) are obtained.
f) Substituting the filter parameter Ψ (f) into the generalized cross-correlation function
Wherein
Is a received signal x1(t) and x2(t) cross power spectral density. x is the number of1(t) is the acoustic positioning signal received by the reference mobile smart buoy, x2And (t) is an acoustic positioning signal received by another mobile intelligent buoy.
g) Time difference between receiving time between intelligent mobile buoys and time difference between receiving time of reference intelligent mobile buoys
According to the time delay estimation calculation algorithm, the time delay estimation value of the underwater acoustic signal received by each intelligent mobile buoy relative to the underwater acoustic signal received by the reference intelligent mobile buoy is calculated, and the position of the underwater intelligent equipment is calculated; the specific method comprises the following steps:
a) acquiring a time delay estimation value according to the time delay estimation calculation algorithm; and meanwhile, the sound velocity c in water is obtained by using environmental information monitored by the intelligent movable buoy.
b) Suppose that N mobile intelligent buoys participating in positioning are provided, wherein the coordinate of the reference intelligent buoy is (x)1，y1，z1) The skew distance between the ith mobile intelligent buoy and the reference intelligent buoy is Ri，1＝Ri-R1＝c(ti-t1)，
Wherein
yi，1＝yi-y1，zi，1＝zi-z1，R1For reference intelligent buoy and underwater intelligent equipment, KiThe square sum of the coordinates of the ith mobile intelligent buoy.
c) Using a method of least squares
Obtaining an estimated initial position estimation solution B, wherein
Q is a covariance matrix of noise, which can be obtained from environmental information.
For the first initial position estimate of the least squares method, GaAnd h is a simplification coefficient.
d) Applying the initial estimate solution B to the second least squares z'a＝(G′a TB′-1GaQ-1GaB′-1G′a)-1(G′a TB′-1GaQ-1GaB′-1) h ', obtaining an estimated position deviation z'a. Wherein the content of the first and second substances,
e1，e2，e3，e4is zaThe error of the estimation of (2) is,
and estimating the slope distance between the position and the underwater intelligent equipment for the first least square method.
e) The final position estimation result of the two-time least square method is
The positive and negative values are determined by a priori information.
Obtaining the positioning result (x) by using a two-time least square method(0)，y(0)，z(0)) Substituting the initial value into the position estimation equation of the Taylor positioning algorithm
Wherein
Δ x-x (0) represents the error of the true value from the initial estimated value,
initial estimate (x) representing each mobile intelligent buoy and underwater intelligent equipment0，y0，z0) The pitch of the inclined plate is adjusted,
initial estimation value (x) representing reference mobile intelligent buoys and underwater intelligent equipment0，y0，z0) The slope distance of (a).
f) Converting the equation into A delta which is D + epsilon; wherein m isi＝c(ti-t1) And c is the speed of sound,
eiin order to measure the error of the measurement,
d represents a coefficient, miThe difference between the slant distance of the underwater intelligent to the ith movable intelligent buoy and the slant distance of the underwater intelligent equipment to the reference intelligent equipment is represented, tiIndicating the time, t, for the underwater intelligent equipment to reach the ith mobile intelligent buoy1Indicating the time when the underwater intelligent equipment arrives at the reference intelligent buoy,
indicating the coordinate value substitution of each mobile intelligent buoy
And (5) obtaining a value.
g) Obtaining delta-A by using weighted least square methodTQ-1A]-1ATQ-1D and Q are covariance matrixes of noise, and whether the requirement of the threshold value of the positioning precision is met or not is judged by environment noise estimation
Judgment of sigmaA threshold value; if not, updating the initial value
And repeating the steps d, e and f until the threshold requirement is met, and obtaining the final positioning result (x, y, z).
6) And the ground comprehensive working system sends the solved final positioning result to the mobile intelligent buoy through a wireless signal, and then the buoy sends the position information to the underwater intelligent equipment through acoustic communication to complete positioning.
7) The mobile intelligent buoy moves the position of the mobile intelligent buoy by judging whether the position of the underwater intelligent equipment is about to exceed the enclosed working sea area or not and completes secondary correction through the satellite positioning system, so that the underwater intelligent equipment is always in the high-precision working sea area.
The invention combines a modal analysis method and a maximum likelihood estimation method to establish a filter function, applies the filter function to a generalized cross-correlation function, realizes the calculation of the time delay estimation value among all the receivers, and solves the problem of inaccurate time delay estimation solution of the submersible in a complex environment under the condition of low signal-to-noise ratio.
And estimating the initial position of the underwater intelligent equipment by using a least square method twice, and performing positioning correction by using the initial position parameter as an initial value of a Taylor positioning algorithm to improve the positioning precision.
The intelligent buoy carries an environment detection system, can acquire and adjust real-time water area environment parameters, and improves the preparation of real-time positioning.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. An underwater smart equipment positioning system, the system comprising: the system comprises a ground integrated system, underwater intelligent equipment and a plurality of mobile intelligent buoys;
the plurality of mobile intelligent buoys are positioned on the sea surface and enclose a working sea area of the underwater intelligent equipment; the underwater intelligent equipment is placed under the water of the working sea area;
the plurality of mobile intelligent buoys are in underwater acoustic communication with the underwater intelligent equipment, and are used for respectively transmitting simple harmonic acoustic signals to the underwater intelligent equipment and receiving feedback simple harmonic acoustic signals of the underwater intelligent equipment;
the mobile intelligent buoys are also connected with the ground integrated system and used for acquiring respective environmental information and satellite positioning information and transmitting the respective environmental information, the satellite positioning information and the respective received feedback simple harmonic acoustic signals to the ground integrated system;
the ground integrated system is used for carrying out multi-information fusion on the environmental information, the satellite positioning information and the feedback simple harmonic acoustic signals of the plurality of mobile intelligent floats and calculating the position information of the underwater intelligent equipment.
2. The subsea intelligent equipment location system of claim 1, wherein the mobile intelligent buoy comprises: the system comprises a hydrophone, an environment monitor, a satellite positioner and a wireless signal transmitter;
the hydrophone, the environment monitor and the satellite positioner are all connected with the ground integrated system through a wireless signal transmitter;
the hydrophone is used for transmitting simple harmonic acoustic signals to the underwater intelligent equipment, receiving feedback simple harmonic acoustic signals of the underwater intelligent equipment and transmitting the feedback simple harmonic acoustic signals to the ground integrated system through the wireless signal transmitter;
the environment monitor is used for measuring the environment information of the environment where the mobile intelligent buoy is located and transmitting the environment information to the ground integrated system; the environmental information comprises underwater sound speed and noise;
the satellite positioner is used for acquiring satellite positioning information of the mobile intelligent buoy and transmitting the satellite positioning information to the ground integrated system.
3. The subsea intelligent equipment location system of claim 1, wherein the subsea intelligent equipment comprises: an underwater acoustic communicator;
the underwater acoustic communicator is used for receiving the simple harmonic acoustic signals transmitted by the plurality of mobile intelligent buoys and transmitting feedback simple harmonic acoustic signals to the plurality of mobile intelligent buoys at the same time.
4. An underwater intelligent equipment positioning method based on the underwater intelligent equipment positioning system of any one of claims 1 to 3, characterized in that the method comprises:
acquiring environmental information, satellite positioning information and feedback simple harmonic acoustic signals of each mobile intelligent buoy;
according to the feedback simple harmonic acoustic signals of each mobile intelligent buoy and the feedback simple harmonic acoustic signals of the reference mobile intelligent buoy, adopting a generalized cross-correlation time delay estimation method based on empirical mode decomposition to obtain a time delay estimation value of each mobile intelligent buoy for receiving the feedback simple harmonic acoustic signals;
obtaining an initial positioning result of the underwater intelligent equipment by using a twice least square method according to a time delay estimation value of each mobile intelligent buoy receiving a feedback simple harmonic acoustic signal, the environment information of each mobile intelligent buoy and satellite positioning information;
and determining a final positioning result of the underwater intelligent equipment by adopting a Taylor positioning algorithm according to the initial positioning result.
5. The method according to claim 4, wherein the obtaining of the time delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal by using the generalized cross-correlation time delay estimation method based on empirical mode decomposition according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy specifically comprises:
according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy, an empirical mode decomposition method and a maximum likelihood estimation method are adopted to obtain a filtering parameter of each mobile intelligent buoy;
substituting the filtering parameters of each mobile intelligent buoy into the generalized cross-correlation function
Obtaining the cross correlation between each mobile intelligent buoy and a reference mobile intelligent buoy for receiving feedback simple harmonic acoustic signals;
using a formula based on the cross-correlation
Obtaining a time delay estimation value of each mobile intelligent buoy for receiving feedback simple harmonic acoustic signals;
wherein the content of the first and second substances,
the mobile intelligent buoy and the reference mobile intelligent buoy receive the cross correlation of the feedback simple harmonic acoustic signals, psi (f) is a filtering parameter,
and receiving the cross power spectral density of the feedback simple harmonic acoustic signals for the mobile intelligent buoy and the reference mobile intelligent buoy, D is a time delay estimation value, and tau is the time difference of the mobile intelligent buoy and the reference mobile intelligent buoy in receiving the feedback simple harmonic acoustic signals.
6. The method according to claim 5, wherein the obtaining of the filtering parameters of each mobile intelligent buoy according to the feedback simple harmonic acoustic signal of each mobile intelligent buoy and the feedback simple harmonic acoustic signal of the reference mobile intelligent buoy by an empirical mode decomposition method and a maximum likelihood estimation method specifically comprises:
decomposing the feedback simple harmonic acoustic signals of each mobile intelligent buoy by adopting an empirical mode decomposition method to obtain multi-order connotation modal components of each feedback simple harmonic acoustic signal;
taking the first-order connotative modal component as a first noise signal, taking the second-order connotative modal component as a second noise signal, taking the sum of the first-order connotative modal component and the connotative modal component except the second-order connotative modal component in the multi-order connotative modal component of each feedback simple harmonic acoustic signal as an estimation signal, acquiring the first noise signal and the second noise signal of each mobile intelligent buoy, and acquiring the estimation signal of the reference mobile intelligent buoy;
determining the power spectral densities of the first and second noise signals of each mobile intelligent buoy and the estimated signal of the reference mobile intelligent buoy and using a maximum likelihood estimation function
Obtaining a filtering parameter of each mobile intelligent buoy;
wherein S (f) is the power spectral density, W, of the estimated signal1(f) Is the power spectral density, W, of the first noise signal2(f) Is the power spectral density of the second noise signal.
7. The method according to claim 4, wherein the obtaining of the initial positioning result of the underwater intelligent equipment by using a two-time least square method according to the time delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal, the environment information of each mobile intelligent buoy and the satellite positioning information specifically comprises:
taking the product of the time delay estimation value of each mobile intelligent buoy receiving the feedback simple harmonic acoustic signal and the underwater sound speed in the environment information of each mobile intelligent buoy as the distance difference between the slope distance of each mobile intelligent buoy and the slope distance of the reference mobile intelligent buoy to the underwater intelligent equipment;
obtaining initial position estimation coordinates of the underwater intelligent equipment by using a least square method according to the slant distance difference, the satellite positioning information of each mobile intelligent buoy and noise in the environment information;
obtaining an estimated position deviation by using a least square method according to the initial position estimated coordinates;
estimating coordinates and estimated position deviations from the initial position using a formula
Determining an initial positioning result of the underwater intelligent equipment; wherein z ispIs an initial positioning result vector of underwater smart equipment, z'aTo estimate the position deviation vector, (x)0，y0，z0) Coordinates are estimated for the initial position.
8. The method of claim 4, wherein a Taylor positioning algorithm is used to determine a final positioning result of the underwater intelligent equipment according to the initial positioning result, and then further comprising:
obtaining the distance between the final positioning result and a working sea area boundary surrounded by a plurality of mobile intelligent buoys;
and when the distance is smaller than or equal to the distance threshold value, the positions of the plurality of mobile intelligent buoys are moved, so that the underwater intelligent equipment is always positioned in a working sea area surrounded by the plurality of mobile intelligent buoys.
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