CN203204159U - Integrated system for underwater positioning - Google Patents
Integrated system for underwater positioning Download PDFInfo
- Publication number
- CN203204159U CN203204159U CN 201220749902 CN201220749902U CN203204159U CN 203204159 U CN203204159 U CN 203204159U CN 201220749902 CN201220749902 CN 201220749902 CN 201220749902 U CN201220749902 U CN 201220749902U CN 203204159 U CN203204159 U CN 203204159U
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- China
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- positioning device
- under water
- transponder
- dgps
- attitude sensor
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- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Provided by the utility model is an integrated system for underwater positioning. The integrated system comprises a computer, a DGPS, an electric gyrocompass, an attitude sensor and an acoustic positioning device; and the DGPS, the electric gyrocompass, the attitude sensor and theaxoustic positioning device are connected with the computer. With utilization of the above-mentioned technical scheme, the concrete undersea geographical situation and landform can examined and considered visually and comprehensively; and the work demand of mapping at the later stage can be satisfied conveniently.
Description
Technical field
The utility model belongs to the positioning system field, especially relates to a kind of system for locating under water.
Background technology
Current most oceanographic engineering, investigation all needs the acoustics location that mobile object is under water carried out track and localization such as offshore and gas development, deep-sea resources, such as frogman, underwater remote-control robot etc.Movement by frogman and underwater remote-control robot has comprehensive understanding to the whole topography and geomorphology of investigating the area of waiting, but be difficult to whole distract concrete topography and geomorphology and definite position are difficult to effectively combine, be difficult to these information later stage overall treatments for staff's decision-making.
Summary of the invention
Problem to be solved in the utility model provides a kind of for locating system ensemble under water, is particularly suitable at the bottom of the Complex Sea condition survey and uses.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of for locating system ensemble under water, described underwater positioning system comprises computing machine, DGPS, gyro compass, attitude sensor and acoustic positioning device, and described DGPS, gyro compass, attitude sensor and acoustic positioning device are connected with computing machine.
Further, described acoustic positioning device is USBL.
Further, described acoustic positioning device is LBL.
Further, described USBL is comprised of acoustic array and transponder.
Further, described transponder also comprises depth transducer.
Further, described transponder also comprises depth transducer, and described depth transducer places transponder inner.
Further, described system also comprises Underwater Camera, and described Underwater Camera is connected with computing machine.
Advantage and the good effect that the utlity model has are: owing to adopting technique scheme, comprehensive consideration seabed condition landforms have particularly intuitively also made things convenient for simultaneously the need of work of later stage one-tenth figure.
Description of drawings
Fig. 1 is structural representation of the present utility model
Embodiment
As shown in Figure 1, the utility model comprises computing machine, DGPS, gyro compass, attitude sensor and acoustic positioning device, and described DGPS, gyro compass, attitude sensor and acoustic positioning device are connected with computing machine.DGPS is in order to send based on the positional information under the WGS-84 coordinate system in real time to computing machine, the accommodation that gyro compass is then measured the place changes in detail, attitude sensor is in order to measure the variation of front and back, accommodation attitude, acoustic positioning device in the utility model, has adopted ultra-short baseline (USBL) in order to measure the positional information of positioning object under water, why select ultra-short baseline, be because the integrated price of ultra-short baseline is lower, and be easy to realization is installed, and have higher measuring accuracy.
The course of work below in conjunction with this example is further elaborated the utility model: ultra-short baseline is comprised of transducer and transponder two parts, in real work, in order to improve the precision of measurement, generally also can increase an acoustic array, this acoustic array is comprised of the sound unit, its objective is the precision for better correcting measuring.Reply mutually by sound wave between transducer and the transponder, the time that arrives transducer according to the signal of transponder comprehensively draws transponder with respect to the distance between the transducer, in order to obtain more accurate measuring accuracy, a depth transducer can also be in the utility model, increased, the relative position of transponder can be obtained more accurately.In native system, also have GPS and gyro compass, obtain the absolute location information of measurement point by GPS, computing machine can obtain through converting transponder the WGS-84 coordinate under positional information, in real work, limit by objective condition, GPS and transducer can not be arranged on same position, so in native system, also increased gyro compass and attitude sensor, by measuring bearing, place and place attitude, can obtain accurately the accurate WGS-84 coordinate position of transducer by coordinate transformation.Also comprise a underwater camera head in native system, this underwater camera head and transponder link together, and can guarantee that taken impact position is consistent with transponder.These information are processed by computer generalization, and topography and geomorphology and position that can camera is taken combine, and make things convenient for the later stage work personnel to become figure to process
Above an embodiment of the present utility model is had been described in detail, but described content only is preferred embodiment of the present utility model, can not be considered to be used to limiting practical range of the present utility model.All equalizations of doing according to the utility model application range change and improve etc., all should still belong within the patent covering scope of the present utility model.
Claims (6)
1. one kind is used for locating system ensemble under water, it is characterized in that: described underwater positioning system comprises computing machine, DGPS, gyro compass, attitude sensor and acoustic positioning device, and described DGPS, gyro compass, attitude sensor and acoustic positioning device are connected with computing machine.
2. the system ensemble of locating under water according to claim 1, it is characterized in that: described acoustic positioning device is USBL.
3. the system ensemble of locating under water according to claim 1, it is characterized in that: described acoustic positioning device is LBL.
4. the system ensemble of locating under water according to claim 2, it is characterized in that: described USBL is comprised of acoustic array and transponder.
5. the system ensemble of locating under water according to claim 4, it is characterized in that: described transponder also comprises depth transducer, described depth transducer places transponder inner.
6. the system ensemble of locating under water according to claim 1, it is characterized in that: described system also comprises Underwater Camera, described Underwater Camera is connected with computing machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220749902 CN203204159U (en) | 2012-12-29 | 2012-12-29 | Integrated system for underwater positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220749902 CN203204159U (en) | 2012-12-29 | 2012-12-29 | Integrated system for underwater positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203204159U true CN203204159U (en) | 2013-09-18 |
Family
ID=49148255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220749902 Expired - Fee Related CN203204159U (en) | 2012-12-29 | 2012-12-29 | Integrated system for underwater positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203204159U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926560A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system |
| CN107192983A (en) * | 2017-07-04 | 2017-09-22 | 深圳潜行创新科技有限公司 | A kind of device, method and system for observing underwater vehicle relative position |
| CN109032210A (en) * | 2018-02-09 | 2018-12-18 | 胡刚毅 | A kind of underwater imaging system |
| CN109085774A (en) * | 2018-06-11 | 2018-12-25 | 同济大学 | The underwater safety device of seabed electromechanical equipment |
-
2012
- 2012-12-29 CN CN 201220749902 patent/CN203204159U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926560A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system |
| CN103926560B (en) * | 2014-04-15 | 2017-04-12 | 哈尔滨工程大学 | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system |
| CN107192983A (en) * | 2017-07-04 | 2017-09-22 | 深圳潜行创新科技有限公司 | A kind of device, method and system for observing underwater vehicle relative position |
| CN109032210A (en) * | 2018-02-09 | 2018-12-18 | 胡刚毅 | A kind of underwater imaging system |
| CN109085774A (en) * | 2018-06-11 | 2018-12-25 | 同济大学 | The underwater safety device of seabed electromechanical equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130918 Termination date: 20171229 |