CN206321792U - Side-scan sonar High precision underwater positioning system - Google Patents

Side-scan sonar High precision underwater positioning system Download PDF

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Publication number
CN206321792U
CN206321792U CN201621479241.XU CN201621479241U CN206321792U CN 206321792 U CN206321792 U CN 206321792U CN 201621479241 U CN201621479241 U CN 201621479241U CN 206321792 U CN206321792 U CN 206321792U
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China
Prior art keywords
towfish
under water
surveying vessel
beacon
receiving unit
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CN201621479241.XU
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Inventor
杨立文
刘宏
李海晶
张所光
朱海
赵启忠
赵志冲
陈泽栋
宋羡
万立健
仲丛宏
赵元生
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SHANGHAI BRANCH OF CCCC THIRD HARBOR ENGINEERING Co Ltd
SHANGHAI DAHUA SURVEY CO Ltd
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SHANGHAI BRANCH OF CCCC THIRD HARBOR ENGINEERING Co Ltd
SHANGHAI DAHUA SURVEY CO Ltd
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Priority to CN201621479241.XU priority Critical patent/CN206321792U/en
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Abstract

The utility model provides a kind of side-scan sonar High precision underwater positioning system, the system includes surveying vessel, towfish and ultra-short baseline locating module, the surveying vessel is provided with GPS unit and control unit, and described control unit connects the GPS unit and ultra-short baseline locating module respectively;The ultra-short baseline locating module is to determine the towfish or thereon relative dimensional position coordinates of the particular elements relative to the surveying vessel;Described control unit is used to:The position coordinates of the surveying vessel is determined using the GPS unit;According to the relative dimensional position coordinates and the position coordinates of surveying vessel, the towfish is positioned, location information is obtained.

Description

Side-scan sonar High precision underwater positioning system
Technical field
The utility model is related to Underwater Navigation field, more particularly to a kind of side-scan sonar High precision underwater positioning system.
Background technology
Side scan sonar has high-resolution and Real-time image display function, can accurately differentiate sub-sea floor targets feature, visits The shape of bright barrier, size, substantially proud exposure, property and sediment type overview, it plays the part of in construction context of detection Very important role.
Being presently used for submarine target and to sweep use stern pull-type the side-scan sonar of survey, the length of tow is according to water more Deep difference has 5m, 20m, 50m longer, and this operating type can not obtain the dynamic position of towfish under water in real time, many The position of side-scan sonar towfish under water is determined using empirical simple estimation by the relativeness with gps antenna, it is this The positioning precision that mode sweeps the submarine target of survey can not possibly be very high, and in addition by stormy waves, flow action, dragging for operation is swept for side Fish can be cooked random motion in water, and the precision for ultimately resulting in measurement and positioning will be at 1 meter or more than several meters, it is impossible to meet actual Production need, often also need to further confirm that using other e measurement technology means, this will result in economy and time into This waste, the positioning precision for how improving towfish is a difficult point.
Utility model content
In order to solve the above technical problems, the utility model provides a kind of side-scan sonar High precision underwater positioning system, Including surveying vessel, towfish and ultra-short baseline locating module, the surveying vessel is provided with GPS unit and control unit, the control Unit connects the GPS unit and ultra-short baseline locating module respectively;
The ultra-short baseline locating module to determine the towfish or thereon particular elements relative to the surveying vessel Relative dimensional position coordinates;
Described control unit is used to:
The position coordinates of the surveying vessel is determined using the GPS unit;
According to the relative dimensional position coordinates and the position coordinates of surveying vessel, the towfish is positioned, determined Position information.
Optionally, the ultra-short baseline locating module is included located at the transmitting receiving unit of the surveying vessel and located at institute State the respond beacon under water on towfish;
The transmitting receiving unit is communicated with respond beacon under water, and then:
The transmitting receiving unit is used to:
Send acoustic signals, and the echo signal of respond beacon feedback under water described in reception;
The relatively described oblique distance value for launching receiving unit of the respond beacon under water is determined by the echo signal, and then Obtain the relative dimensional coordinate position of the respond beacon under water relative to the transmitting receiving unit;
Described control unit is also used to:
According to the relative dimensional coordinate position and the position coordinates of surveying vessel, it is determined that the position of the respond beacon under water Put, and then the towfish is positioned, obtain location information.
Optionally, the transmitting receiving unit includes acoustic emission module, acoustic receiver module, respectively to launch sound wave To the Underwater Navigation beacon, and the echo signal for being received from the Underwater Navigation beacon feedback and coming.
Optionally, the transmitting receiving unit also includes the magnetic compass to determine itself directional information and determined from figure The attitude transducer of state information, the respond beacon under water relative to it is described transmitting receiving unit relative dimensional coordinate position according to It is worth to according to itself directional information, itself attitude information and the oblique distance.
Optionally, the respond beacon under water is located at the center of the towfish.
Optionally, the towfish is provided with bar linkage structure, is connected between the surveying vessel and bar linkage structure by towing cable, and The respond beacon under water enable around the center rotating of the towfish, wherein, scope of the rotational angle without departing from preset value.
The utility model innovatively proposes ultra-short baseline accessing side-scan sonar, and two kinds of system effective integrations can be real-time Measure the dynamic position of towfish under water.When operation is swept in side, beacon is directly anchored on towfish, is launched by ultra-short baseline and received Unit receives to be fixed on the location information of towfish center beacon, so that the precise location information provided for towfish.The coordinate of target Position is no longer directly provided by GPS, but is provided using ultra-short baseline measurement, and the precision of measurement position depends primarily on ultrashort The measurement accuracy of baseline.
Brief description of the drawings
Fig. 1 is the schematic diagram of side-scan sonar positioning in the prior art;
Fig. 2 is the schematic diagram of side-scan sonar High precision underwater positioning system in the alternative embodiment of the utility model one;
Fig. 3 is the scheme of installation of respond beacon under the alternative embodiment reclaimed water of the utility model one;
Fig. 4 is the comparison schematic diagram of positioning result and positioning result in the prior art in the utility model alternative embodiment;
In figure, 1- surveying vessels;2- towfish;3-GPS units;4- launches receiving unit;5- respond beacons under water;6- towing cables.
Embodiment
Carried out below with reference to the side-scan sonar High precision underwater positioning system that Fig. 1 to Fig. 3 is provided the utility model detailed Thin description, it is the utility model optional embodiment, it is believed that those skilled in the art are not changing the utility model In the range of spirit and content, it can be modified and polished.
Fig. 1 to Fig. 3 is refer to, the utility model provides a kind of side-scan sonar High precision underwater positioning system, including surveys Ship 1, towfish 2 and ultra-short baseline locating module are measured, the surveying vessel 1 is provided with GPS unit 3 and control unit, the control list Member connects the GPS unit 3 and ultra-short baseline locating module respectively;
The ultra-short baseline locating module to determine the towfish 2 or thereon particular elements relative to the surveying vessel 1 Relative dimensional position coordinates;
Described control unit is used to:
The position coordinates of the surveying vessel 1 is determined using the GPS unit 3;
According to the relative dimensional position coordinates and the position coordinates of surveying vessel 1, the towfish 2 is positioned, obtained Location information.
The relevant ultra-short baseline locating module:
The ultra-short baseline locating module includes being located at the transmitting receiving unit 4 of the surveying vessel 1 and dragged located at described Respond beacon 5 under water on fish 2;
The transmitting receiving unit 4 is communicated with respond beacon 5 under water, and then:
The transmitting receiving unit 4 is used to:
Send acoustic signals, and the echo signal that respond beacon 5 feeds back under water described in reception;
The relatively described oblique distance value for launching receiving unit 4 of the respond beacon 5 under water is determined by the echo signal, entered And obtain the relative dimensional coordinate position of the respond beacon 5 under water relative to the transmitting receiving unit 4;Also it can describe For:Transmitting receiving unit 4 is received from the signal that respond beacon 5 is sent under water, measures the oblique distance of transmitting receiving unit 4 and beacon Value, three-dimensional location coordinates of the beacon with respect to basic matrix are obtained by corresponding short Baselines relation.
In the installation of ultra-short baseline locating module, emphasis is the installation to launching the probe of receiving unit 4, due to its work With being that the transmitting of signal is received, the installation of probe will firmly, stably, apart from engine farther out, the less place of noise.Install After good, the echo signal that the beacon that reception is fixed on towfish 2 is sent is positioned.
Described control unit is also used to:
According to the relative dimensional coordinate position and the position coordinates of surveying vessel 1, it is determined that the position of the respond beacon under water 5 Put, and then the towfish 2 is positioned, obtain location information.
The transmitting receiving unit 4 includes acoustic emission module, acoustic receiver module, respectively to launch sound wave to described Underwater Navigation beacon, and the echo signal for being received from the Underwater Navigation beacon feedback and coming.
In the utility model optional embodiment, the transmitting receiving unit 4 also includes to determine itself directional information Magnetic compass and determine the attitude transducer of itself attitude information, the respond beacon under water 5 receives single relative to the transmitting The relative dimensional coordinate position of member 4 is worth to according to itself directional information, itself attitude information and the oblique distance.It is built-in Magnetic compass and attitude transducer
In the utility model preferred embodiment, the respond beacon under water 5 is located at the center of the towfish 2.Enter In the optional scheme of one step, the towfish is provided with bar linkage structure, is connected between the surveying vessel 1 and bar linkage structure by towing cable 6 Connect, and enable the respond beacon 5 under water around the center rotating of the towfish 2, wherein, rotational angle is without departing from preset value Scope.Specifically, it is not influence side to sweep attitude when towfish is measured and ensure that location data information fully reflects towfish Actual position, subsea beacon using movable joint be fixedly mounted at towfish with towing cable phase connecting rod, when operation is swept in side, by beacon with Connecting rod is directly anchored to slightly rotate along towfish center, and the physical location of towfish can be accurately reflected out in real time.
Fig. 3 is refer to, the bar linkage structure includes towing cable connecting portion 7, rotating part 8 and basic courses department 9, the basic courses department 9 The towfish 2 is fixed at, the towing cable connecting portion 7 connects the towing cable 6, and the towing cable connecting portion 7 passes through the rotating part 8 Rotated around the basic courses department 9, the respond beacon under water 5 is installed on the towing cable connecting portion 7.
Further in optional embodiment, one end of the rotating part 8 rotates around the basic courses department 9, the basic courses department 9 Rotary stopper part (not shown) is provided with, and then causes scope of the anglec of rotation without departing from preset value of the rotating part 8.Specifically Spacing means, there is many alternatives in this area and near field, even if so not doing specific expansion, being also not present The situation of insufficient disclosure.
The utility model additionally provides a kind of side-scan sonar High precision underwater positioning method, comprises the following steps:
S0:Surveying vessel 1, towfish 2 and ultra-short baseline locating module are provided, the surveying vessel 1 is provided with GPS unit 3;
S1:The relatively described measurement of particular elements on the towfish 2 or towfish 2 is determined using the ultra-short baseline locating module The relative dimensional coordinate position of ship 1;
In the further alternative embodiment of the utility model, the ultra-short baseline locating module includes being located at the surveying vessel 1 transmitting receiving unit 4 and respond beacon 5 under water on the towfish 2;Step S1 is specifically included:
S11:The transmitting receiving unit 4 sends acoustic signals, and the echo letter that respond beacon 5 feeds back under water described in reception Number;
S12:The relatively described oblique distance for launching receiving unit 4 of the respond beacon 5 under water is determined by the echo signal Value, and then obtain the relative dimensional coordinate position of the respond beacon 5 under water relative to the transmitting receiving unit 4.
S2:The position coordinates of the surveying vessel 1 is determined according to the relative dimensional position coordinates and the GPS unit 3, The towfish 2 is positioned, location information is obtained.
Optionally, after the step S3, also include:The positioning knot of the result that step S2 is positioned and RTK measuring systems Fruit verifies positioning precision compared to.Specifically, corresponding coordinate comparison work can be carried out, system is measured using ultra-short baseline System, the coordinate of the same Beacon Point of RTK-DGPS measuring system synchro measures, compare after both mutual deviations, checking access ultra-short baseline Side sweep positioning precision.
Optionally, after the step S3, also include:Resulting location information is subjected to Coordinate Conversion, to be accorded with Close the coordinate data of construction requirement.That is, measurement and positioning information input can be swept in software control system to side, system enters data The formation of row Coordinate Conversion meets the coordinate data of construction requirement.
In addition, it is also pointed out that, to improve the integrated application of subsea beacon location data and side scan sonar, develop data sieve Choosing, Smoothing fit and conversion software, it is ensured that sweep the most reliable submarine target data of offer for side, tested by on-the-spot test Card, the stability and reliability of data is higher, do not occur because impurities in water influences produce false bearing information pass through it is ultrashort Baseline transmission receiver receives to be fixed on the location information of towfish center beacon, so that the precise location information provided for towfish.
In other words, in step S11, S12 and S2, it can also include respectively to measured data and obtained number According to the process screened, it can exclude improper data, such as the data beyond theoretical probable value, then with the number after screening According to subsequent step is entered, in the step S3, also including obtaining geometric locus according to location information, and geometric locus is carried out The process of Smoothing fit.
In specific implementation process, it can carry out coming and going measurement respectively once along the plan line.In measurement process, by measuring people Member carries out the collection of Pile Foundation of Wharf data in the way of artificial RTK is measured.The position coordinates of Pile Foundation of Wharf is obtained by handling, It is compared with the artificial RTK location datas of identical measuring point, compares difference in 20cm or so;Without accessing ultrashort base Line, GPS location mode is pulled using tradition, and the Pile Foundation of Wharf position coordinates of acquisition is compared with artificial RTK measurement data, and difference exists 1.8m or so, it was demonstrated that the system effectively improves the positioning precision for verifying barrier under water.
During another specific implementation, traditional pulling mode and access ultra-short baseline positioning is respectively adopted, along dampening Lower toothed component sweeps survey, chooses along same survey line, the outcome data of the survey line file in identical course, is compared, and compares altogether Point count 41.
Compared using the data of traditional pulling mode and GPS location with tooth shaped component actual coordinate, difference is larger, and maximum reaches 3m, and the data measured using ultra-short baseline positioning method are compared with tooth shaped component actual coordinate, difference is no more than 0.4m.
It can be seen that, using the side scan sonar measuring system based on ultra-short baseline underwater position fixing technique, than it is more complete, solve exactly Determine the positioning precision problem of towfish 2.
In summary, the utility model innovatively proposes ultra-short baseline accessing side-scan sonar, two kinds of system active sets Into the dynamic position of towfish under water can be measured in real time.When operation is swept in side, beacon is directly anchored on towfish, passes through ultrashort base Line transmitting receiving unit receives to be fixed on the location information of towfish center beacon, so that the precise location information provided for towfish. The coordinate position of target is no longer directly provided by GPS, but is provided using ultra-short baseline measurement, and the precision of measurement position is main Depending on the measurement accuracy of ultra-short baseline.

Claims (6)

1. a kind of side-scan sonar High precision underwater positioning system, it is characterised in that:Including the positioning of surveying vessel, towfish and ultra-short baseline Module, the surveying vessel is provided with GPS unit and control unit, and described control unit connects the GPS unit and ultrashort respectively Baseline locating module;
The ultra-short baseline locating module is to determine the towfish or particular elements are relative relative to the surveying vessel thereon Three-dimensional location coordinates;
Described control unit is used to:
The position coordinates of the surveying vessel is determined using the GPS unit;
According to the relative dimensional position coordinates and the position coordinates of surveying vessel, the towfish is positioned, positioning letter is obtained Breath.
2. side-scan sonar High precision underwater positioning system as claimed in claim 1, it is characterised in that:The ultra-short baseline positioning Module is included located at the transmitting receiving unit of the surveying vessel and the respond beacon under water on the towfish;
The transmitting receiving unit is communicated with respond beacon under water, and then:
The transmitting receiving unit is used to:
Send acoustic signals, and the echo signal of respond beacon feedback under water described in reception;
Pass through the oblique distance value of the relatively described transmitting receiving unit of respond beacon, and then obtain under water described in echo signal determination The relative dimensional coordinate position of the respond beacon under water relative to the transmitting receiving unit;
Described control unit is also used to:
According to the relative dimensional coordinate position and the position coordinates of surveying vessel, it is determined that the position of the respond beacon under water, enters And the towfish is positioned, obtain location information.
3. side-scan sonar High precision underwater positioning system as claimed in claim 2, it is characterised in that:The transmitting receiving unit Including acoustic emission module, acoustic receiver module, respectively launching sound wave to the Underwater Navigation beacon, and institute is received from The echo signal stated Underwater Navigation beacon feedback and come.
4. side-scan sonar High precision underwater positioning system as claimed in claim 2 or claim 3, it is characterised in that:The transmitting is received Unit also include to determine itself directional information magnetic compass and determine itself attitude information attitude transducer, it is described under water Relative dimensional coordinate position foundation itself directional information, itself attitude of the respond beacon relative to the transmitting receiving unit Information and the oblique distance are worth to.
5. side-scan sonar High precision underwater positioning system as claimed in claim 1, it is characterised in that:The respond beacon under water Located at the center of the towfish.
6. side-scan sonar High precision underwater positioning system as claimed in claim 5, it is characterised in that:The towfish is provided with company Bar structure, is connected between the surveying vessel and bar linkage structure by towing cable, and enables the respond beacon under water around described The center rotating of towfish, wherein, scope of the rotational angle without departing from preset value.
CN201621479241.XU 2016-12-30 2016-12-30 Side-scan sonar High precision underwater positioning system Active CN206321792U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106526598A (en) * 2016-12-30 2017-03-22 上海达华测绘有限公司 Side-scan sonar underwater high-precision positioning system and method
CN108761470A (en) * 2018-06-29 2018-11-06 中国船舶重工集团公司第七〇五研究所 A kind of object localization method based on the parsing of towing cable shape equation
CN111638524A (en) * 2020-06-16 2020-09-08 无锡新蓝图测绘技术有限公司 Side-scan sonar underwater positioning system stable in operation
CN111948685A (en) * 2020-06-19 2020-11-17 中国船舶重工集团公司第七一五研究所 Buoy-based combined baseline underwater sound positioning method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106526598A (en) * 2016-12-30 2017-03-22 上海达华测绘有限公司 Side-scan sonar underwater high-precision positioning system and method
CN108761470A (en) * 2018-06-29 2018-11-06 中国船舶重工集团公司第七〇五研究所 A kind of object localization method based on the parsing of towing cable shape equation
CN108761470B (en) * 2018-06-29 2020-09-15 中国船舶重工集团公司第七一五研究所 Target positioning method based on towing cable morphological equation analysis
CN111638524A (en) * 2020-06-16 2020-09-08 无锡新蓝图测绘技术有限公司 Side-scan sonar underwater positioning system stable in operation
CN111638524B (en) * 2020-06-16 2021-03-19 无锡新蓝图测绘技术有限公司 Side-scan sonar underwater positioning system stable in operation
CN111948685A (en) * 2020-06-19 2020-11-17 中国船舶重工集团公司第七一五研究所 Buoy-based combined baseline underwater sound positioning method
CN111948685B (en) * 2020-06-19 2024-02-13 中国船舶重工集团公司第七一五研究所 Buoy-based combined baseline underwater sound positioning method

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