CN115208965A - Elastically integrated underwater positioning navigation time service terminal - Google Patents
Elastically integrated underwater positioning navigation time service terminal Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/28—Timers or timing mechanisms used in protocols
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
- G04R20/04—Tuning or receiving; Circuits therefor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40032—Details regarding a bus interface enhancer
Abstract
The invention discloses an elastic integrated underwater positioning navigation time service (PNT) terminal. The underwater PNT terminal adopts a general structure of depth integration of a common sensor and elastic integration of an underwater sensor. Defining a satellite positioning module, a micro inertial navigation system, a micro clock, a communication module and the like as common sensors, and performing deep integration on a core board card of the underwater PNT terminal; for underwater sensors such as sonar, high-precision inertial navigation, doppler velocimeter, thermohaline depth gauge, sound velocity profiler, pressure gauge, magnetometer and the like, the plug-and-play is realized by adopting standard interfaces between the core board card and various underwater sensors. The core of elastic integration is that the underwater sensor is not bound in a rigid manner, but autonomously sensed through a navigation scene, and the underwater PNT terminal can quickly realize the self-adaptive access and removal of the underwater sensor and determine the optimal combination and optimal parameters of different sensors. The invention has good application prospect in navigation positioning loads of unmanned ships, underwater vehicles and the like.
Description
Technical Field
The invention relates to the application fields of navigation positioning, unmanned ships on water surfaces, unmanned ships under water and the like.
Background
Along with the rapid development of the navigation positioning technology and the intelligent control technology, unmanned aerial vehicles, unmanned ships, underwater unmanned boats and the like have gained more and more attention and application in various fields of national production, the navigation positioning technology is like eyes of unmanned series carriers, accurate position information is provided, and the intelligent control technology effectively controls the efficient cooperation of a power system, a navigation system, a communication system and the like through the high-precision position information, so that the unmanned carriers can accurately move forward according to a set route in a complex scene. In the field of unmanned series, positioning navigation time service (PNT, time, navigation and time) of an unmanned ship/unmanned boat under water (including rivers, lakes and seas) cannot depend on satellite positioning (GNSS) signals for a long time, so that other types of sensors are required to be adopted for underwater positioning; considering the particularity of the underwater sensors, including the power consumption, the volume, the underwater sealing and water proofing, the overcoming of water flow, the pressure resistance and other complex environment factors, the development of the underwater positioning navigation time service PNT terminal for realizing high-precision positioning navigation is a hot point concerned by the fields of water/underwater unmanned ships, unmanned boats and the like.
In order to meet the requirements of multi-scene, high availability, toughness and continuity in navigation and positioning, an underwater PNT terminal must adopt an integrated solution of a multi-source sensor. However, there are many technical problems to be solved in the integration of the multi-source sensor. Firstly, the components and interfaces of most of the current multi-PNT terminals have non-standardization problems, various sensor components are difficult to communicate, multi-source PNT integration usually adopts loose hard binding, each underwater sensor has a specific data display platform or interface, and real multi-dimensional data fusion is difficult to realize; secondly, because the sizes and weights of various underwater sensors are larger than those of positioning navigation sensors usually adopted on the ground, and the differences between the positioning mechanism and the principle adopted by the underwater sensors are also very large, different types of sensors are directly combined together to realize the miniaturization of the terminal, which is completely infeasible; thirdly, with the increasing number of navigation integrated multisource heterogeneous sensors, whether the optimal combination and the optimal hardware parameter configuration of the sensors can be selected in a self-adaptive manner according to an underwater scene is a pain point problem to be solved urgently, and meanwhile, the complexity of multisource information fusion processing is also increased sharply, a large amount of hardware resources can be consumed, and the power consumption of the terminal is difficult to reduce. Therefore, how to effectively and organically combine the underwater multi-source heterogeneous sensor into an effective physical entity, namely an underwater PNT terminal, and the method has technical breakthroughs in the aspects of hardware integration, intelligent sensor matching, software self-adaptive fusion algorithm and the like, integrally reduces the power consumption of the terminal and realizes the miniaturization of the terminal, and is the key point of the development of the underwater PNT terminal.
The invention discloses an elastically integrated underwater positioning navigation time service terminal, which adopts the core idea that an underwater PNT terminal adopts the general architecture of the deep integration of a common sensor and the elastic integration of an underwater sensor. Defining a satellite positioning module, a micro inertial navigation system, a micro clock, a communication module and the like as common sensors, and performing deep integration on a core board card of the underwater PNT terminal; the main application points of the common sensor are in a water surface scene, and a satellite positioning module, a micro inertial navigation module, a micro clock, a communication module and the like can all play corresponding navigation and communication functions; for underwater sensors such as sonar, high-precision inertial navigation, doppler velocimeter, thermohalimeter, sound velocity profiler, pressure gauge, magnetometer and the like, the plug-and-play is realized by adopting standard interfaces between the core board card and various underwater sensors. The core of elastic integration is that the underwater sensor is not bound rigidly but supports autonomous sensing through a navigation scene, and the core board card not only supports access and rapid reconfiguration of novel and non-traditional sensors, but also can realize self-adaptive access and removal of the underwater sensor and determine the optimal combination and optimal parameters of different sensors. The flexible hardware architecture can support the establishment of a scene self-adaptive software algorithm module scheduling mechanism, and realize the flexible integration of the sensor function on the level of embedded software and a core algorithm. By means of the mode of depth integration of the common sensor and elastic integration of the underwater sensor, an effective solution is provided for really achieving miniaturization and low power consumption of the underwater PNT terminal and data fusion of the underwater multi-source sensor.
Disclosure of Invention
The invention discloses an elastic integrated underwater positioning navigation time service terminal, which is characterized in that:
the underwater positioning navigation time service (PNT) terminal adopts a general architecture of common sensor deep integration and underwater sensor elastic integration; the key components of the underwater PNT terminal are core board cards, and each core board card comprises a main control unit, a common sensor unit, an external expansion interface unit, a power management unit and a data storage unit;
the main control unit bears the main control logic and the core algorithm of the underwater PNT terminal, wherein the algorithm level comprises four subsystems which are respectively a multi-source fusion space-time preprocessing subsystem, a complex scene perception subsystem, a self-adaptive sensor access and shift-out subsystem and a multi-source fusion elastic positioning subsystem;
the elastic integration means that the underwater sensors are not integrated in a loose and hard binding manner, but are autonomously sensed through a navigation scene, and the underwater PNT terminal can quickly realize the self-adaptive access and removal of the underwater sensors and determine the optimal combination and optimal parameters of different underwater sensors.
The utility model provides an elasticity integrated underwater positioning navigation time service terminal which characterized in that:
the multi-source fusion space-time preprocessing subsystem is used for providing space-time reference alignment and preprocessing results of the original observation data of the common sensor and the underwater sensor to the main control unit;
the complex scene perception subsystem provides a complex scene type judgment result according to a function model, or fingerprint matching, or big data analysis based on the space-time reference alignment and preprocessing results of the original observation data of the common sensor and the underwater sensor;
the adaptive sensor access and removal subsystem is a core software subsystem elastically integrated by the underwater PNT terminal; the adaptive sensor access and shift-out subsystem is used for quickly carrying out optimal configuration on parameters of the underwater sensor and optimal combination of the generic sensor and the underwater sensor by combining navigation scene prior information based on the judgment result of the complex scene type; providing the main control unit with the common sensors or the underwater sensors which should participate in positioning and navigation under the current complex scene type, maintaining the logical connection between the common sensors or the underwater sensors and the main control unit, and respectively giving confidence results of the common sensors or the underwater sensors; furthermore, the adaptive sensor access and shift-out subsystem logically disconnects the shared sensor or the underwater sensor which is not used at the moment from the main control unit, namely, the shared sensor or the underwater sensor is physically kept connected but logically shifted out, namely, under the constraint conditions that navigation performance indexes and low power consumption of the underwater PNT terminal are met simultaneously, the flexible reconstruction of the underwater sensor in different complex scenes is realized, so that the capability of multi-scene seamless switching is realized, and the shared sensor or the underwater sensor list which needs to be reserved for scene soft switching is provided for the main control unit;
the multi-source fusion elastic positioning subsystem is used for calculating the position information of the underwater PNT terminal through a multi-source fusion positioning algorithm according to the measurement data of the common sensors or the underwater sensors which are output by the adaptive sensor access and shift-out subsystem and should participate in positioning and navigation under the current complex scene type and the measurement data after the common sensors or the underwater sensors are aligned with the space-time reference.
The utility model provides an elasticity integrated underwater positioning navigation time service terminal which characterized in that:
the external expansion interface unit comprises one or more external interfaces used for accessing the underwater sensor; the external interface is a standard data interface used between a core board card of the underwater PNT terminal and the underwater sensor, and comprises but is not limited to an RS232 interface, an RS422 interface and an RS485 interface, so that the underwater sensor can be plugged and used relative to the underwater PNT terminal; determining the number and the type of the external interfaces according to a specific application scene, and configuring and reserving the external interfaces on the core board card;
the underwater PNT terminal can intelligently identify the type and the number of the underwater sensors accessed to the external interface through the external interface expansion unit, and the identification mode includes but is not limited to high and low level signal acquisition, original measurement information acquisition and interface protocol field analysis.
And the main control unit generates power supply control information utilized by the power supply management unit according to the common sensors or the underwater sensor list which are output by the adaptive sensor access and removal subsystem and participate in positioning and navigation, the confidence corresponding to the common sensors or the underwater sensors, or the common sensors or the underwater sensor list which needs to be reserved for scene soft switching.
The power management unit is responsible for supplying power to the core board card of the underwater PNT terminal, but does not supply power to the plug-and-play underwater sensor; the power management unit receives power supply control information sent by the main control unit periodically or in an event triggering mode, and adjusts the power supply state of the common sensor borne on the core board card and the connection state of the underwater sensor by adopting a power supply enabling signal so as to dynamically optimize and adjust the overall power consumption of the underwater PNT terminal; the power supply enabling signal is a power supply enabling signal set corresponding to the common sensor and the underwater sensor, namely, each common sensor and each underwater sensor correspond to one path of power supply enabling signal.
The data storage unit is used for resolving data and storing sampling data, including but not limited to positioning position information, various kinds of original sampling information and timestamp information of the common sensor and the underwater sensor.
The utility model provides an elasticity integrated underwater positioning navigation time service terminal which characterized in that:
the common sensor unit consists of the common sensor and comprises but is not limited to a satellite positioning module, a micro inertial navigation system, a micro clock and a communication module; the common sensor needs to adopt a chip or module level product with high integration level, small volume and low power consumption.
The underwater sensor comprises but is not limited to a sonar distance meter, a high-precision inertial navigation instrument, a Doppler velocimeter, a thermohaline depth meter, a sound velocity profiler, a pressure meter and a magnetometer; the underwater sensor is provided with an independent power supply unit and a watertight cable, and supports a plug-and-play external standard interface and a data transmission cable.
The utility model provides an elasticity integrated underwater positioning navigation time service terminal which characterized in that:
the core board card of the underwater PNT terminal deeply integrates the units on the core board card by adopting a simplest circuit design and an optimized shared component mode aiming at the main control unit, the common sensor unit, the extended peripheral interface unit, the power management unit and the data storage unit; further, in order to reduce the size of the underwater PNT terminal, the core board card is further arranged in a manner including, but not limited to, double-sided PCB layout, high-density signal routing considering electromagnetic interference resistance, high-density chip mounting process, and multi-layer board card installation.
The invention discloses an elastic integrated underwater positioning navigation time service terminal. Firstly, the sensor is divided into two types, namely a common sensor and an underwater sensor, and the underwater PNT terminal is designed to adopt a general framework of deep integration of the common sensor and elastic integration of the underwater sensor. The main application point of the commonality sensor is the positioning and navigation of the water surface scene, and the commonality sensor can also support other scenes, such as a vehicle-mounted scene on the earth surface, an airborne scene near the earth surface and the like. The main application point of the underwater sensor is positioning and navigation in an underwater scene, and original observation and acquisition of various underwater data are provided. Secondly, the key point of the invention is elastic integration, one side is presented at the hardware level, the standard interfaces between the core board card and various underwater sensors realize plug and play, and the hardware supports the access and rapid reconfiguration of novel and non-traditional sensors; the other side surface is presented on the level of software and algorithm, and four algorithm subsystems, namely a multi-source fusion space-time preprocessing subsystem, a complex scene perception subsystem, a self-adaptive sensor access and removal subsystem and a multi-source fusion elastic positioning subsystem, are borne on a core board card; the four algorithm subsystems have close relevance, and the adaptive sensor access and removal subsystem is an elastically integrated core software subsystem, so that the optimal configuration of parameters of the underwater sensor and the optimal combination of the common sensor and the underwater sensor can be quickly carried out, and the organic fusion of data of each sensor is realized on the software algorithm level. Thirdly, an effective solution is provided for realizing the miniaturization and low power consumption of the underwater PNT terminal and the data fusion of the underwater multi-source sensor by the way of the depth integration of the common sensor and the elastic integration of the underwater sensor. The invention is suitable for underwater positioning navigation scenes, is particularly carried on underwater vehicle platforms such as ROV (remote operated vehicle) or AUV (autonomous underwater vehicle), unmanned ships on water surface, underwater unmanned boats and the like, and has wide application prospect.
Drawings
Fig. 1 is a conceptual diagram of a flexibly integrated underwater PNT terminal.
Fig. 2 is a schematic diagram of a core board card hardware architecture of the underwater PNT terminal.
Fig. 3 is a schematic diagram of an embedded algorithm framework of a main control unit in a core board card.
Fig. 4 is a schematic composition diagram of the elastically integrated underwater PNT terminal of embodiment 1.
Fig. 5 is a schematic diagram of system connection of an elastically integrated underwater PNT terminal for marine experiments in embodiment 1.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
Example 1:
based on the invention, the present embodiment describes in detail the principle and composition of an elastically integrated underwater PNT terminal. In this embodiment, the underwater PNT terminal is composed of a core board card, a display control unit, and a key unit. The core board card is a hardware core part of the underwater PNT terminal; and the display control unit and the key unit are external interfaces for man-machine interaction. The display control unit is mainly used for displaying the real-time position and the track of underwater navigation and displaying acquisition parameters, working states and various early warning information of different sensors; the key unit is mainly convenient for operators to carry out man-machine interaction operations such as key pressing. The underwater PNT terminal adopts a general architecture of depth integration of common sensors and elastic integration of the underwater sensors, and the architecture is embodied on hardware components of a core board card; the core board card includes a main control unit, a common sensor unit, an expansion peripheral interface unit, a power management unit, and a data storage unit, as shown in fig. 4.
The common sensor unit comprises a Beidou/GNSS module, a micro inertial navigation module, a micro clock module and a 5G module for wireless communication. The external interface unit of expansion includes: RS232 interface, RS422 interface, RS485 interface, UWB interface, net gape. The underwater sensor supporting plug and play comprises: sonar distance meter, high-precision inertial navigation, doppler Velocimeter (DVL), thermohaline depth gauge (CTD), sound Velocity Profiler (SVP), pressure gauge and magnetometer.
To illustrate the connection of different modules or plug-and-play sensors, a common sensor interface (Iu) and a plug-and-play sensor interface (Ipnp) are defined, as shown in fig. 4. The definition and function of the different interfaces are as follows:
common sensor interface: including Iu _1 to Iu _4.
Iu _1: the interface faces to the Beidou/GNSS module; outputting the resolved longitude and latitude height result, and original observation data of satellite navigation such as pseudo range, doppler, carrier phase, ephemeris, acceleration, angular velocity and the like of the Beidou/GNSS satellite signal and a specific correlator result for the elastic enhancement module to a main control unit; the interface input is a control signaling of the main control unit, which comprises Doppler/pseudo range estimation information used for controlling the elastic enhancement module NCO; the deep integration is not only embodied on hardware, but also embodied on the tight coupling of an algorithm level, and the Beidou/GNSS module can provide the original observed quantity and is the basis for carrying out a tight combination positioning navigation algorithm;
iu _2: the interface faces the micro inertial navigation module; outputting original observation data of the micro inertial navigation nine-axis sensor to a main control unit; the interface input is the control signaling of the main control unit;
iu _3: the interface faces the micro-clock module; outputting original observation data of the micro-clock to a main control unit, wherein the original observation data is a reference for carrying out unified time service and time-space correction on different sensors in the core board card; the interface input is the control signaling of the main control unit;
iu _4: the interface faces the communication module; outputting wireless signal original observation data of the 5G cellular network to a main control unit; the interface input is the control signaling of the master control unit.
In order to ensure the expandability of the elastically integrated underwater PNT terminal, a common sensor interface is reserved; if other sensors are selected as common sensors, the integration can be carried out on the core board card in a deep integration mode.
Plug and play sensor interface: including Ipnp _1 to Ipnp _7.
Ipnp _1: the interface faces the sonar distance meter; outputting ranging information to a main control unit, wherein the ranging information is the underwater transmission time of sound waves measured by communication between sonar-based transceiving equipment and an underwater shallow mark or a beacon device, and is converted into ranging information; the interface input is the control signaling of the main control unit; in the aspect of plug-and-play, in order to support the data protocol standard of the sonar distance meter, an RS232 interface of an expanded peripheral interface unit is adopted;
ipnp _2: the interface is oriented towards a thermohaline depth gauge (CTD); outputting original observation data such as seawater temperature, seawater salinity, depth profile data and the like to a main control unit; the interface input is a main control unit control signaling; in the aspect of plug and play, an RS232 interface of an expanded peripheral interface unit is adopted to support the data protocol standard of the CTD;
ipnp _3: the interface faces a Sound Velocity Profiler (SVP); outputting sound velocities in different directions and dimensions and collected data of a depth profile to a main control unit; the interface input is a main control unit control signaling; in the aspect of plug and play, an RS232 interface of an expanded peripheral interface unit is adopted to support the data protocol standard of SVP;
ipnp _4: the interface faces the pressure gauge; outputting original observation data of the pressure gauge in an underwater complex scene to a main control unit so as to convert the original observation data into underwater depth information; the interface input is a main control unit control signaling; in the aspect of plug and play, an RS232 interface of an expanded peripheral interface unit is adopted to support the data protocol standard of the pressure gauge;
ipnp _5: the interface faces the magnetometer; outputting the original observation data of the magnetic compass in the underwater complex environment to the main control unit; the interface input is a main control unit control signaling; in the aspect of plug and play, an RS232 interface of an expanded peripheral interface unit is adopted to support the data protocol standard of a magnetometer;
ipnp _6: the interface faces high precision inertial navigation; outputting original observation data of the nine-axis sensor of the high-precision inertial navigation to a main control unit; the interface input is a main control unit control signaling; in the aspect of plug and play, in order to support the data protocol standard of high-precision inertial navigation, an RS422 interface of an expanded peripheral interface unit is adopted;
ipnp _7: the interface is facing a Doppler Velocimeter (DVL); outputting Doppler signals, doppler frequency shift, fluid speed and other original observation data to a main control unit; the interface input is a main control unit control signaling; in the aspect of plug and play, in order to support the data protocol standard of DVL, an RS422 interface of an expanded peripheral interface unit is adopted.
In order to ensure the expandability of the elastically integrated underwater PNT terminal, sensor interfaces of external interface units are also reserved, such as RS485 interfaces, USB interfaces, network ports and the like. If other sensors are selected as the sensors for underwater positioning and navigation, the method can also adopt a plug-and-play mode to perform elastic integration on a core board card of the underwater PNT terminal.
In this embodiment, the main control unit carries the main control logic and core algorithm of the underwater PNT terminal, wherein the algorithm layer includes four subsystems, which are respectively a multi-source fusion space-time preprocessing subsystem, a complex scene perception subsystem, a self-adaptive sensor access and shift-out subsystem, and a multi-source fusion elastic positioning subsystem. In the embedded algorithm level, the function interface of the embedded algorithm also needs to be defined, which is as follows:
ia _1: the interface is one of the important interfaces for software and hardware integration of the elastically integrated underwater PNT terminal, and is used for the interaction of data and control signaling between the main control unit and the multi-source integration space-time preprocessing subsystem; the multi-source fusion space-time preprocessing subsystem aligns and preprocesses the space-time reference of the original observation data of multiple PNTs to the main control unit;
ia _2: the interface is one of important interfaces for software and hardware integration of an elastically integrated underwater PNT terminal, and is used for interaction of data and control signaling between a main control unit and a complex scene perception subsystem; the complex scene perception subsystem provides a complex scene perception result of an algorithm level to the main control unit;
ia _3: the interface is one of important interfaces for software and hardware integration of an elastically integrated underwater PNT terminal, and is used for interaction of data and control signaling between a main control unit and a self-adaptive sensor access and removal subsystem; the adaptive sensor access and shift-out subsystem provides sensors which should work under the current scene for the main control unit, gives confidence results of all the sensors, and provides the sensors list which are possibly reserved for scene soft switching for the main control unit;
ia _4: the interface is one of important interfaces for software and hardware integration of the elastically integrated underwater PNT terminal, and is used for interaction of data and control signaling between the main control unit and the multi-source integration elastic positioning subsystem; the multi-source fusion elastic positioning subsystem determines the grade of an underwater fusion algorithm, performs positioning navigation by combining data fusion means of different levels, and provides a continuous, reliable and high-precision multi-source fusion positioning navigation result for the main control unit.
Specifically, for the multisource fusion space-time preprocessing subsystem, when the elastically integrated underwater PNT terminal has a new sensor to access, the system automatically generates an adapter, and the steps are as follows:
(1) when a core board card is connected with a new sensor, a sensor information model is instantiated;
(2) performing sensor registration according to the example;
(3) the registration information is submitted to a sensor information manager for maintenance;
(4) according to an example, the method library is queried: the adapter generation module dynamically generates an adapter by configuring and combining the abstract methods according to the communication interface and the data expression characteristics;
(5) the sensor and the adapter establish communication connection, and data structure conversion is carried out;
(6) the analyzed data is delivered to an observation data manager for unified management;
(7) the data service manager performs data interaction through an expansion interface, extracts data in the sensor information manager and the observation data manager according to upper layer requirements, performs data reconstruction according to specifications, and realizes adaptive access to heterogeneous sensing data;
(8) and the analysis of the data acquired by the multiple PNT sensors is realized through the design of various sensor standardized protocols.
(9) Through the combination of an external clock source and an internal clock source of the underwater PNT terminal (mainly relying on a micro clock on a core board card unless a clock source with higher precision is found by a plug-and-play interface), unified space-time reference is provided for various heterogeneous sensors, and the space-time reference alignment of a data preprocessing layer is realized.
For the complex scene sensing subsystem, the underwater PNT terminal can work on the water surface and also can work underwater to judge the water surface and underwater environment; meanwhile, the underwater environment can be further subdivided, such as 0-100 m underwater, 100-200 m underwater, …, and the flow speed, temperature, salinity and whether the water is a known scene (underwater shallow beacon and beacon are deployed in advance) are considered. The specific complex scene perception algorithm is not limited in the present invention.
For the adaptive sensor access and shift-out subsystem, the underwater sensors related in this embodiment include sonar range finders, high-precision inertial navigation, SVP, CTD, pressure gauges, and the like, and the navigation positioning precision, range, characteristics, and the like under different systems are all different. How to select a sensor with high confidence coefficient, good positioning performance and continuity in different scenes is a key point for continuous and reliable positioning and navigation of an underwater PNT terminal. This also depends on the correlation of the accuracy assessment in the underwater environment for different types of sensors. For example: and (3) according to the nominal speed and the angle precision of the high-precision inertial navigation, by means of an error propagation law and in combination with the navigation positioning time length, calculating a change curve of the positioning error along with time. The sonar navigation positioning precision is related to an ocean sound velocity field, sound ray tracking, a sound path and the like, and a distance measurement error model is constructed according to an acoustic tracking principle; the navigation positioning mostly adopts a sound ray intersection method, and the navigation positioning precision is evaluated by means of indirect adjustment and a positioning co-factor array. The physical field matching mainly comprises gravity matching, magnetic force matching, terrain matching and landform image matching, and the matching navigation positioning precision is mainly related to the background field precision and resolution, the aviation actual measurement sequence precision and resolution, the matching sequence length and the matching algorithm. The matching navigation mainly adopts correlation matching, and the accuracy of the physical field matching navigation is comprehensively determined by means of correlation coefficients, resolution and a relation curve of the correlation coefficients and the accuracy. The efficiency of multiple PNT sensors is comprehensively analyzed according to the overwater/underwater scene, navigation scene perception and sensor self-adaptive configuration are completed, the accessed underwater sensor is accessed or moved out, and boundary conditions of a navigation positioning algorithm are provided. Meanwhile, the adaptive sensor access and shift-out subsystem ensures that the underwater PNT terminal has the capability of multi-scene seamless switching, and provides the common sensor or the underwater sensor list which needs to be reserved for scene soft switching to the main control unit.
For the multi-source fusion elastic positioning subsystem, calculating the position information of the underwater PNT terminal through a multi-source fusion positioning algorithm, and outputting the longitude and latitude height in an underwater coordinate system; the specific underwater multi-source fusion positioning algorithm is not limited in the invention.
In this embodiment, assume that the current water depth is 3000m, the underwater sensor that can effectively play a role includes sonar distance meter, high-precision inertial navigation, CTD, and DVL, and therefore, the main control unit of the core board card can adjust the fusion coefficient of the multi-source fusion positioning measurement equation through optimal parameter configuration, and let the fusion coefficients of sonar distance meter, high-precision inertial navigation, CTD, and DVL be: 0.4, 0.1; logically removing the magnetometer and the pressure gauge from the access sensor; meanwhile, the SVP is listed as a sensor which needs to be considered for soft switching of the scene, and the sensor enters the alternative list.
The power management unit mainly comprises a power management chip, a charging interface and the like, and is used for providing functions of stable power supply, electric quantity monitoring and the like for all common components in the underwater PNT terminal core board card and ensuring normal work of all the components.
The data storage unit includes an internal storage unit and an external storage interface. The internal storage unit is mainly used for storing some software programs and comprises two parts, namely an embedded multimedia card (eMMC) and a double-data rate synchronous dynamic random access memory (DDR SDRAM); the external storage interface transmits data with the microprocessor through data signals and copies files, and the communication signals comprise four-bit data lines, a clock line, a command and response multiplexing line and a power supply line.
In the embodiment shown in fig. 5, the elastically integrated underwater PNT terminal is mounted on a ship to perform a networking mode of an underwater experiment. As shown in FIG. 5, the elastic integrated underwater PNT terminal is placed in a watertight compartment, and other underwater plug-and-play sensors are connected with the underwater PNT terminal placed in the watertight compartment through watertight cables in the connection modes of RS232 and RS422. The elastic integrated underwater PNT terminal can be integrally fixed on an underwater vehicle ROV after a watertight cabin is additionally arranged, and the ROV is connected with a mother ship through a cable. Meanwhile, a special underwater power supply unit is loaded on the ROV to supply power for other underwater sensors. In this embodiment, the underwater power supply unit supplies power to the sonar distance meter, the DVL, the pressure gauge, the magnetometer, and the high-precision inertial navigation device. It should be noted that 1) the data cable and the power supply cable of the high-precision inertial navigation device are the same cable, so that branching is required to be performed, one cable is changed into two cables, one cable is connected with the underwater PNT terminal for data transmission, and the other cable is connected with the underwater power supply unit; 2) The SVP device and the CTD device in this embodiment are supplied with power from a battery, and do not need power input from an external power source.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides an elasticity integrated underwater positioning navigation time service terminal which characterized in that:
the underwater positioning navigation time service (PNT) terminal adopts a general architecture of depth integration of a common sensor and elastic integration of an underwater sensor;
the key components of the underwater PNT terminal are core board cards, and the core board cards comprise a main control unit, a common sensor unit, an external expansion interface unit, a power management unit and a data storage unit;
the main control unit bears the main control logic and the core algorithm of the underwater PNT terminal, wherein the algorithm level comprises four subsystems which are respectively a multi-source fusion space-time preprocessing subsystem, a complex scene perception subsystem, a self-adaptive sensor access and shift-out subsystem and a multi-source fusion elastic positioning subsystem;
the elastic integration means that the underwater sensors are not integrated in a loose and hard binding manner, but are autonomously sensed through a navigation scene, and the underwater PNT terminal can quickly realize the self-adaptive access and removal of the underwater sensors and determine the optimal combination and optimal parameters of different underwater sensors.
2. The elastically integrated underwater positioning navigation time service terminal of claim 1, wherein:
the multi-source fusion space-time preprocessing subsystem is used for providing space-time reference alignment and preprocessing results of the original observation data of the common sensor and the underwater sensor to the main control unit;
the complex scene perception subsystem provides a complex scene type judgment result according to a function model, or fingerprint matching, or big data analysis based on the space-time reference alignment and preprocessing results of the original observation data of the common sensor and the underwater sensor;
the adaptive sensor access and removal subsystem is a core software subsystem elastically integrated by the underwater PNT terminal;
the adaptive sensor access and shift-out subsystem is used for quickly carrying out optimal configuration on parameters of the underwater sensor and optimal combination of the generic sensor and the underwater sensor by combining navigation scene prior information based on the judgment result of the complex scene type;
providing the main control unit with the common sensors or the underwater sensors which should participate in positioning and navigation under the current complex scene type, keeping the logical connection of the common sensors or the underwater sensors with the main control unit, and respectively giving confidence results of the common sensors or the underwater sensors;
furthermore, the adaptive sensor access and shift-out subsystem logically disconnects the unused common sensor or the underwater sensor from the main control unit, namely the common sensor or the underwater sensor is physically kept connected but logically shifted out, namely the flexible reconstruction of the underwater sensor in different complex scenes is realized under the constraint conditions that the navigation performance index and the low power consumption of the underwater PNT terminal are met, so that the capability of multi-scene seamless switching is realized, and the common sensor or the underwater sensor list required to be reserved for scene soft switching is provided for the main control unit;
the multi-source fusion elastic positioning subsystem is used for calculating the position information of the underwater PNT terminal through a multi-source fusion positioning algorithm according to the measurement data of the common sensors or the underwater sensors which are output by the adaptive sensor access and shift-out subsystem and should participate in positioning and navigation under the current complex scene type and the measurement data after the common sensors or the underwater sensors are aligned with the space-time reference.
3. The elastically integrated underwater positioning and navigation time service terminal of claim 1, wherein:
the external expansion interface unit comprises one or more external interfaces used for accessing the underwater sensor; the external interface is a standard data interface used between a core board card of the underwater PNT terminal and the underwater sensor, and comprises but is not limited to an RS232 interface, an RS422 interface and an RS485 interface, so that the underwater sensor can be plugged and used relative to the underwater PNT terminal; determining the number and the type of the external interfaces according to a specific application scene, and configuring and reserving the external interfaces on the core board card;
the underwater PNT terminal can intelligently identify the type and the number of the underwater sensors accessed to the external interface through the external interface expansion unit, and the identification mode includes but is not limited to high and low level signal acquisition, original measurement information acquisition and interface protocol field analysis.
4. An elastically integrated underwater positioning navigation time service terminal according to claim 1 and claim 2, characterized in that:
and the main control unit generates power supply control information utilized by the power supply management unit according to the common sensors or the underwater sensor list which are output by the adaptive sensor access and removal subsystem and participate in positioning and navigation, the confidence corresponding to the common sensors or the underwater sensors, or the common sensors or the underwater sensor list which needs to be reserved for scene soft switching.
5. The elastically integrated underwater positioning and navigation time service terminal as claimed in claim 1 and claim 4, wherein:
the power management unit is responsible for supplying power to the core board card of the underwater PNT terminal, but does not supply power to the plug-and-play underwater sensor;
the power management unit receives power supply control information sent by the main control unit periodically or in an event-triggered manner, and adjusts the power supply state of the common sensor borne on the core board card and the connection state of the underwater sensor by adopting a power supply enabling signal so as to dynamically optimize and adjust the overall power consumption of the underwater PNT terminal;
the power supply enabling signal is a power supply enabling signal set corresponding to the common sensor and the underwater sensor, namely, each common sensor and each underwater sensor correspond to one path of power supply enabling signal.
6. The elastically integrated underwater positioning and navigation time service terminal of claim 1, wherein:
the data storage unit is used for resolving data and storing sampling data, including but not limited to positioning position information, various kinds of original sampling information and timestamp information of the common sensor and the underwater sensor.
7. The elastically integrated underwater positioning and navigation time service terminal of claim 1, wherein:
the common sensor unit consists of the common sensor and comprises but is not limited to a satellite positioning module, a micro inertial navigation system, a micro clock and a communication module;
the common sensor needs to adopt a chip or module level product with high integration level, small volume and low power consumption.
8. The elastically integrated underwater positioning and navigation time service terminal as claimed in claim 1 and claim 3, wherein:
the underwater sensor comprises but is not limited to sonar, high-precision inertial navigation, a Doppler velocimeter, a thermohaline depth gauge, an acoustic velocity profiler, a pressure gauge and a magnetometer;
the underwater sensor is provided with an independent power supply unit and a watertight cable, and supports a plug-and-play external standard interface and a data transmission cable.
9. The elastically integrated underwater positioning and navigation time service terminal of claim 1, wherein:
the core board card of the underwater PNT terminal deeply integrates the units on the core board card by adopting a simplest circuit design and an optimized shared component mode aiming at the main control unit, the common sensor unit, the extended peripheral interface unit, the power management unit and the data storage unit;
further, in order to reduce the size of the underwater PNT terminal, the core board card is further arranged in a manner including, but not limited to, double-sided PCB layout, high-density signal routing considering electromagnetic interference resistance, high-density chip mounting process, and multi-layer board card installation.
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