CN207181664U - A kind of device and system for observing underwater vehicle relative position - Google Patents
A kind of device and system for observing underwater vehicle relative position Download PDFInfo
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- CN207181664U CN207181664U CN201720804331.XU CN201720804331U CN207181664U CN 207181664 U CN207181664 U CN 207181664U CN 201720804331 U CN201720804331 U CN 201720804331U CN 207181664 U CN207181664 U CN 207181664U
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Abstract
The utility model discloses a kind of device and system for observing underwater vehicle relative position.The device includes acoustic feature measurement module, for detecting the position of underwater vehicle, and exports the first data；Locating module, it is arranged on buoy relaying, for determining the position of buoy relaying, and exports the second data；Inertia measuring module, it is arranged on underwater vehicle, for detecting the motion state of underwater vehicle, and exports the 3rd data；Control process module, it is connected with the output end of the acoustic feature measurement module, the locating module and the inertia measuring module, for receiving first data, second data and the 3rd data, and the data of reception are handled, obtain first position information.Underwater vehicle is solved after water is entered, the problem of operator can not quick and precisely obtain underwater vehicle present position and posture, has reached accurate and has easily exported underwater vehicle relative position and the effect of attitude information.
Description
Technical field
The utility model embodiment is related to electronic equipment location technology, more particularly to a kind of observation underwater vehicle with respect to position
The device and system put.
Background technology
Underwater vehicle after water is entered, operator can not intuitively be observed on the water surface underwater vehicle present position and
Posture, therefore can not effectively operate underwater vehicle and be moved to desired location.
Because radio wave signal can not be propagated in the seawater and acoustic signals have good propagation characteristic in water,
Current technology is that multiple sound wave auxiliary locators are disposed in certain working region, forms positioning network, then calculates
Distance between target object and positioner, then depth data, angle-data fusion are calculated, so as to obtain target object
Relative position in network is positioned.
But in the prior art, the relative position that obtains based on sound wave needs to dispose auxiliary equipment, locking working region,
Integrated level is low and price is higher.
Utility model content
The utility model provides a kind of device and system for observing underwater vehicle relative position, to realize that operator can be with
Accurate measurement and the relative position of observation underwater vehicle on the water surface, while reduce the price of measuring apparatus and improve equipment
Integrated level.
In a first aspect, the utility model embodiment provides a kind of device for observing underwater vehicle relative position, including
Acoustic feature measurement module, locating module, inertia measuring module and control process module, wherein：
The acoustic feature measurement module, for detecting the position of underwater vehicle, and export the first data；
The locating module, it is arranged on buoy relaying, for determining the position of buoy relaying, and exports the second data；
The inertia measuring module, is arranged on underwater vehicle, for detecting the motion state of underwater vehicle, and it is defeated
Go out the 3rd data；
The control process module, with the acoustic feature measurement module, the inertia measuring module and the locating module
Output end connects, and is carried out for receiving first data, second data and the 3rd data, and to the data of reception
Processing, obtains first position information.
Second aspect, the utility model embodiment provide a kind of system for observing underwater vehicle relative position, including
Communication module, interactive controlling module, display module and outside input module, in addition to the utility model any embodiment are provided
Observation underwater vehicle relative position device；Wherein,
The communication module, it is connected with the control process module output end, for receiving the phase of the underwater vehicle
To positional information and attitude information and export；
The interactive controlling module, it is connected with the display module input, for receiving the communication module output
Relative position information and attitude information, and transmit relative position and/or appearance to the display module to the underwater vehicle
State is shown；
The interactive controlling module, also it is connected with the outside input module, for defeated by the outside input module
Enter control instruction, and control instruction is sent to communication module, be further conveyed to the control process module, pass through the control
Processing module control underwater vehicle motion processed.
The device for the observation underwater vehicle relative position that the utility model embodiment is provided, solves underwater vehicle
After water is entered, operator can not intuitively observe underwater vehicle present position and posture on the water surface, can not effectively operate
Underwater vehicle to desired location move the problem of, realize it is accurate and easily display control underwater vehicle relative position and
The effect of posture.
Brief description of the drawings
Fig. 1 is the apparatus structure schematic diagram that underwater vehicle relative position is observed in the utility model embodiment one.
Fig. 2 be in the utility model embodiment one observe underwater vehicle relative position device acoustic feature measurement module and
Locating module structural representation.
Fig. 3 a are the inertia measuring modules for the device that underwater vehicle relative position is observed in the utility model embodiment one
Structural representation.
Fig. 3 b are the control process modules for the device that underwater vehicle relative position is observed in the utility model embodiment one
Structural representation.
Fig. 4 is the system structure diagram that underwater vehicle relative position is observed in the utility model embodiment two.
Fig. 5 a are the communication mode structures for the system that underwater vehicle relative position is observed in the utility model embodiment two
Schematic diagram.
Fig. 5 b are the communication mode structures for the system that underwater vehicle relative position is observed in the utility model embodiment two
Schematic diagram.
Fig. 5 c are the communication mode structures for the system that underwater vehicle relative position is observed in the utility model embodiment two
Schematic diagram.
Fig. 6 a are the 2D figure shows phases for the system that underwater vehicle relative position is observed in the utility model embodiment two
To the structural representation of position.
Fig. 6 b are the 2D figure shows phases for the system that underwater vehicle relative position is observed in the utility model embodiment two
To the structural representation of position.
Fig. 7 a are the 3D figure shows phases for the system that underwater vehicle relative position is observed in the utility model embodiment two
To the structural representation of position.
Fig. 7 b are the 3D figure shows appearances for the system that underwater vehicle relative position is observed in the utility model embodiment two
The structural representation of state.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than to restriction of the present utility model.Further need exist for
It is bright, for the ease of description, the part related to the utility model rather than entire infrastructure are illustrate only in accompanying drawing.
Embodiment one
Fig. 1 is the apparatus structure schematic diagram for the observation underwater vehicle relative position that the utility model embodiment one provides,
The device of the observation underwater vehicle relative position of the present embodiment is applicable to the relative position of observation directly perceived to underwater vehicle be present
Put the situation with posture.
As shown in figure 1, the device of observation underwater vehicle relative position includes：Acoustic feature measurement module 110, locating module
120th, inertia measuring module 130 and control process module 140, wherein：Acoustic feature measurement module 110, for detecting underwater vehicle
Position, and export the first data；Locating module 120, it is arranged on buoy relaying, for determining the position of buoy relaying, and
Export the second data；Inertia measuring module 130, is arranged on underwater vehicle, for detecting the motion state of underwater vehicle,
And export the 3rd data；Control process module 140, with the acoustic feature measurement module 110, the locating module 120 and described used
Property measurement module 130 output end connection, for receiving first data, second data and the 3rd data, and
The data of reception are handled, obtain first position information.
Specifically, underwater vehicle detects the position of the underwater vehicle by acoustic feature measurement module 110, and export
First data are to control process module 140.Such as the position of the underwater vehicle can be that underwater vehicle relays with buoy
The distance between and orientation angles etc..Locating module 120 is arranged on a buoy relaying, can pass through locating module 120
The position that positioning function relays to buoy is determined, and then obtains the positional information of buoy relaying, and exports the second data
To control process module 140.Such as the positional information of buoy relaying can be the move distance information and speed letter of buoy relaying
Breath etc..When the positional information of buoy relaying is determined, the position of other units, module and part for being arranged on buoy relaying etc.
Confidence breath can also determine simultaneously, and then buoy relaying can be used as a reference position.Underwater vehicle can also lead to simultaneously
The motion state that inertia measuring module 130 detects underwater vehicle is crossed, obtains the movable information of underwater vehicle, and exports the 3rd
Data are to control process module 140.Such as the movable information of underwater vehicle can be the line movable information of underwater vehicle, angle
Movable information, submerged depth information and course information etc., can be specifically three-dimensional acceleration, three-dimensional angular velocity, submerged depth and
Navigate by water direction etc..Control process module 140 can be microcontrol processor, such as the microcontrol processor chip of STM32 series
Deng for receiving the first data, the second data and the 3rd data are handled, and export first position information.Such as first
Confidence breath can be relative position information and attitude information of the underwater vehicle relative to underwater vehicle initial position, further
Ground can specifically include distance, angle, submerged depth, course and the posture of underwater vehicle and underwater vehicle initial position
Deng.The initial position of the underwater vehicle can be the initial position of buoy relaying simultaneously.
The device for the observation underwater vehicle relative position that the present embodiment provides, underwater submariner can be exported by the device
The relative position information and attitude information of device, solve underwater vehicle after water is entered, and operator can not quick and precisely obtain
The problem of underwater vehicle present position and posture, reach accurate and easily exported underwater vehicle relative position and posture
The effect of information.
Preferably, on the basis of above-mentioned technical proposal, as shown in Fig. 2 acoustic feature measurement module 110 includes response unit
211 and basic matrix unit 212.Basic matrix unit 212 includes at least three transducer, and a fixed angle can be presented between transducer
Shape loads part composition basic matrix unit 211, and is arranged on the carrier of underwater vehicle, for launch request signal and
The answer signal that response unit 211 is launched is received, while the relation of the coordinate system of basic matrix unit 212 and underwater vehicle coordinate system needs
To be precisely calculated when setting basic matrix unit 212.Response unit 211 is used for the request signal for receiving the transmitting of basic matrix unit 212
With transmitting answer signal, response unit 211 and locating module 120 are arranged on the carrier of a buoy relaying 100 simultaneously, so
The position of response unit 211 and buoy relaying 100 can be determined by locating module 120, further obtains response unit 211
The second place information obtained with the positional information and locating module 120 of buoy relaying 100 is also identical.In basic matrix unit 212
One transducer can launch request signal, and the request signal that response unit 211 can receive the transmitting of basic matrix unit 212 is concurrent
Go out answer signal, while the transducer of basic matrix unit 212 can also receive the answer signal of the transmitting of response unit 211, further
The phase difference that different transducers are received between the transmitting answer signal of response unit 211 can be calculated to send out with basic matrix unit 212 is calculated
Penetrate request signal and receive the passing time of the answer signal of the transmitting of response unit 211, and as the first data output to control
Processing module 140 is handled.
Preferably, on the basis of above-mentioned technical proposal, the initial position of buoy relaying 100 is the initial of underwater vehicle
Position, buoy, which relays the locating module 120 set on 100, can export the second data.Second data relay including buoy
100 positional information and velocity information, can also be specially the positional information and velocity information of response unit 211, so as to
The positional information of response unit 211 this moment is further determined that, the second data meter then determined further according to acoustic feature measurement module 110
The distance between basic matrix unit 212 and response unit 211 information and orientation angles information are calculated, further calculates basic matrix unit
The distance between 212 and the initial position of response unit 211 information and angle information, the i.e. position this moment of underwater vehicle with it is underwater
The distance between submariner device initial position information and orientation angles information, the position of underwater vehicle this moment with diving under water herein
The distance between boat device initial position information and orientation angles information are the positions without the correction process of control process module 140
Information, i.e. second place information.
Preferably, on the basis of above-mentioned technical proposal, locating module 120 can be d GPS locating module or its
Its related location technology, including the Beidou navigation global position system of China, american global positioning system, Russian Global are led
Satellite system of the navigating location technology related to European galileo navigation system etc..
Preferably, on the basis of above-mentioned technical proposal, as shown in Figure 3 a, inertia measuring module 130 is examined including acceleration
Survey unit 331, angular velocity detection unit 332, depth detection unit 333 and course detection unit 334.Acceleration detecting unit
A 3-axis acceleration sensor is comprised at least on 331, for obtaining the line movable information of underwater vehicle, such as underwater submariner
The line movable information of device can be the three-dimensional acceleration of underwater vehicle；One three is comprised at least on angular velocity detection unit 332
Axis angular rate sensor, for obtaining the angular movement information of underwater vehicle, such as the angular movement information of underwater vehicle can be with
It is the three-dimensional angular velocity of underwater vehicle；Depth detection unit 333 comprises at least a depth detection sensor, for obtaining water
The submerged depth information of lower submariner device；Course detection unit 334 comprises at least a magnetic compass, for obtaining underwater vehicle
Course information, and the angular movement information that correction angle speed detection unit 332 obtains.The line obtained according to inertia measuring module 130
Angular movement information after movable information, angular movement information, submerged depth information, course information, correction is as the 3rd data output
To control process module 140, control process module 140 is used to be believed according to the line movable information, angular movement information, submerged depth
Angular movement information after breath, course information, correction is handled, determine the line motion state of underwater vehicle, angular movement state,
Diving stations and course state.
Preferably, on the basis of above-mentioned technical proposal, as shown in Figure 3 a, control process module 140 includes data fusion
Unit 341 and control unit 342, wherein, data fusion unit 341, for entering to the first data, the second data and the 3rd data
Row resolves, fusion corrects and filtering process, obtains first position information；Control unit 341, for control data integrated unit
341 receive the first data, the second data and the 3rd data, and the first position information after the processing of output data integrated unit 341.
Preferably, on the basis of above-mentioned technical proposal, as shown in Figure 3 b, control of the control process module 140 to data
Processing specifically includes：The control data integrated unit 341 of control unit 342 receives the first data, the second data and the 3rd number first
According to.Such as first data can be that different transducers receive response units in the basic matrix unit 212 that acoustic feature measurement module 110 obtains
Phase information and basic matrix unit 211 between the answer signal of 211 transmittings, which launch request signal and receive response unit 211, to be sent out
The temporal information for the answer signal penetrated；Second data can be locating module 120 obtain buoy relaying 100 range information and
The range information and velocity information of velocity information, i.e. response unit 211；3rd data can be that inertia measuring module 130 obtains
The line movable information of underwater vehicle, angular movement information, submerged depth information, the angular movement information after course information and correction
Deng.Secondly the position computation subunit 3411 in data fusion unit 341 and Attitude Calculation subelement 3413 are according to acoustic measurement
The first data that module 110 obtains calculate the angle information and range information between basic matrix unit 212 and response unit 211, i.e.,
The distance between 100 information and angle information between underwater vehicle and buoy relaying, and combine what locating module 120 obtained
Second data further calculate the second place information of underwater vehicle, i.e., the underwater vehicle that acoustic feature measurement module 110 obtains
Relative position information and attitude information between position and underwater vehicle initial position this moment；Data fusion unit 341 simultaneously
In position computation subunit 3411 and Attitude Calculation subelement 3413 can also according to inertia measuring module 130 obtain the 3rd
Data calculate the velocity information of underwater vehicle, and the initial position for combining the underwater vehicle that locating module 120 obtains enters one
Step calculates the distance between underwater vehicle and underwater vehicle initial position information and angle information, and then determines underwater submariner
The underwater vehicle that 3rd positional information of device, i.e. inertia measuring module 130 obtain position and underwater vehicle initial bit this moment
Relative position information and attitude information between putting；Then the position correction subelement 3412 and appearance in data fusion unit 341
State correction subelement 3414 receives second place information and the 3rd positional information, and to second place information and the 3rd positional information
Fusion correction is carried out, the positional information after being corrected；Finally by the filtering process subelement in data fusion unit 341
Positional information after 3415 pairs of corrections is filtered processing, and then obtains first position information and export to control unit 342.Example
Is obtained as filtering process subelement 3415 can be filtered processing using Kalman filtering method to the positional information after correction
One positional information；First position information includes underwater vehicle position and the underwater vehicle this moment after control process resume module
Relative position information and attitude information between initial position, underwater vehicle is specifically included this moment at the beginning of position and underwater vehicle
Range information, angle information, submerged depth information, course information and attitude information between beginning position.
Wherein, second place information includes being dived under water according to acoustic feature measurement module 110 and the described of the acquisition of locating module 120
Navigate the distance between device and the underwater vehicle initial position information, angle information and depth information；3rd positional information bag
Include the underwater vehicle obtained according to inertia measuring module 130 and the distance between underwater vehicle initial position information,
Angle information, depth information, attitude information and course information；First position information is included according to the control process module 140
The distance between the underwater vehicle and the underwater vehicle initial position after processing information, angle information, dive are deep
Spend the relative position information and attitude information of information, attitude information and course information, i.e. underwater vehicle.
Embodiment two
Fig. 4 is the system structure diagram for the observation underwater vehicle relative position that the utility model embodiment two provides,
The system of the door observation underwater vehicle relative position of the present embodiment is applicable to observation directly perceived to underwater vehicle be present relatively
Position and the situation of posture.
As shown in figure 4, the system of observation underwater vehicle relative position, including communication module, interactive controlling module, display
Module and outside input module, in addition to the observation underwater vehicle relative position that the utility model any embodiment is provided
Device；Wherein, acoustic feature measurement module 110, locating module 120, inertia measuring module 130 and control process module 140, wherein：
Acoustic feature measurement module 110, for detecting the position of underwater vehicle, and export the first data；Locating module 120, it is arranged on floating
On mark relaying, for determining the position of buoy relaying, and the second data are exported；Inertia measuring module 130, submariner under water is set
On device, for detecting the motion state of underwater vehicle, and the 3rd data are exported；Control process module 140, surveyed with the acoustics
Amount module 110, the locating module 120 connect with the output end of the inertia measuring module 130, for receiving first number
According to, second data and the 3rd data, and the data of reception are handled, obtain first position information；Communicate mould
Block 150 is connected with the output end of control process module 140, for receiving underwater vehicle relative to underwater vehicle initial position
The relative position information and appearance of range information, angle information, depth information, attitude information and course information, i.e. underwater vehicle
State information, and export the mutual control module 160 of best friend；Interactive controlling module 160 is connected with the input of display module 170, is used for
The relative position information and attitude information of the underwater vehicle that communication module 150 exports are received, and is shown by display module 170
The relative position and posture of underwater vehicle；Interactive controlling module 160 is also connected with outside input module 180 simultaneously, for leading to
Cross outside input module 180 and input control instruction, and control instruction is sent to communication module 150, be further conveyed to control
Processing module 140, the motion of underwater vehicle is controlled by control process module 140.
Specifically, underwater vehicle detects the positional information of the underwater vehicle by acoustic feature measurement module 110, and
The first data are exported to control process module 140.Such as the positional information of the underwater vehicle can be range information and side
Position angle information etc..Locating module 120 is arranged on a buoy relaying, can be by the positioning function of locating module to buoy
The position of relaying is determined, and then obtains the positional information of buoy relaying, and exports the second data to control process module
140.Such as the positional information of buoy relaying can be move distance information and velocity information of buoy relaying etc..It is floating when determining
When marking the positional information of relaying, the positional information of other units, module and part for being arranged on buoy relaying etc. can also be true
It is fixed, and then buoy relaying can be used as a reference position.Underwater vehicle also detects water by inertia measuring module 130 simultaneously
The motion state of lower submariner device, the movable information of underwater vehicle is obtained, and export the 3rd data to control process module 140.
Such as the movable information of underwater vehicle can be line movable information, angular movement information, submerged depth information and course information etc.,
Can be specifically three-dimensional acceleration, three-dimensional angular velocity, submerged depth and navigation direction etc..Control process module 140 can be micro-
Control processor, such as microcontrol processor chip of STM32 series etc., for receiving the first data, the second data and the 3rd
Data are handled, and export first position information.Such as first position information can be that underwater vehicle is dived relative to underwater
The relative position and posture of boat device initial position, can be specially further that underwater vehicle is initial relative to underwater vehicle
Distance, angle, submerged depth and posture of position etc..Communication module 150 is used to receive the first of the output of control process module 150
Positional information, and first position information is exported into the mutual control module 160 of best friend.Such as communication module 150 can be wireless blue tooth
Module, wireless WIFI module etc., communication module can include first communication module and second communication module, and the first module is arranged on
It is connected on buoy relaying 100 and by communicating hawser with control process module 140, is used for the transmission into row positional information.Interaction
Control module 160 is connected with the input of display module 170, the phase of the underwater vehicle for receiving the output of communication module 150
To positional information and attitude information, and pass through the relative position and posture of the display underwater vehicle of display module 170；Interaction simultaneously
Control module 160 is also connected with outside input module 180, for inputting control instruction by outside input module 180, and will control
Instruction processed is sent to communication module 150, is further conveyed to control process module 140, and water is controlled by control process module 140
The motion of lower submariner device.
The system for the observation underwater vehicle relative position that the present embodiment provides, by observing underwater vehicle relative position
Device output underwater vehicle relative position information and attitude information, and by the relative position information and appearance of underwater vehicle
State information transfer is intuitively shown solve underwater vehicle after water is entered to display module, and operator can not be in water
The problem of underwater vehicle present position and posture are intuitively observed on face, has reached accurate and has easily exported underwater vehicle
The effect of relative position and attitude information.
Preferably, on the basis of above-mentioned each embodiment, as shown in Figure 5 a, observation underwater vehicle relative position is
The communication mode of communication module can partly have cable mode in system.Partly there is cable mode i.e. underwater vehicle 190 by communicating hawser
200 are connected with buoy relaying 100, for being transmitted the positional information of underwater vehicle to buoy relaying by communicating hawser 200
100, while wireless communication module is arranged on buoy relaying 100, is then connected with communication 300 and interactive controlling module
Connect, and positional information is wirelessly transmitted to switching control module, and then transmit to display module 170 and shown.
Preferably, on the basis of above-mentioned each embodiment, as shown in Figure 5 b, observation underwater vehicle relative position is
The communication mode of communication module can have cable mode in system.Have cable mode i.e. underwater vehicle 190 by communicate hawser 200 with
Interactive controlling module 160 connects, and positional information is directly transferred to interactive controlling by underwater vehicle 190 by communicating hawser 200
Module 160, and then transmit to display module 170 and shown.
Preferably, on the basis of above-mentioned each embodiment, as shown in Figure 5 c, observation underwater vehicle relative position is
The communication mode of communication module can be untethered mode in system.Untethered mode is that underwater vehicle 190 passes through communication
300 are connected with interactive controlling module 160, and positional information is directly transferred to by underwater vehicle 190 by communication 300
Interactive controlling module 160, and then transmit to display module 170 and shown.
Preferably, on the basis of above-mentioned each embodiment, the relative position information of underwater vehicle give relative to
The positional information of underwater vehicle initial position, including range information, orientation angles information, submerged depth information, posture
Attitude information including underwater vehicle.As shown in Figure 6 a, display module uses the phase of 2D figure shows underwater vehicles position 620
For the position relationship of underwater vehicle initial position 610, i.e. the distance between underwater vehicle and initial position and angle, lead to
Cross restriction to show radius 630 (determining engineer's scale) correctly to show relative position, while water can be shown in display module
Lower submariner device position 620 relative to underwater vehicle initial position 610 submerged depth information.As shown in Figure 6 b, display module
Using 2D figure shows underwater vehicles position 620 relative to underwater vehicle initial position 610 position relationship when, can be with
Multi-scale is set preferably to show relative position by setting multiple display radiuses in the range of display radius 630, it is more
The display radius of engineer's scale includes display radius 640 and display radius 650, such as the radius of display radius 640 is 500 meters, is shown
The radius for showing radius 650 is 100 meters.
Preferably, on the basis of above-mentioned each embodiment, as shown in Figure 7a, display module is underwater using 3D figure shows
During submariner device relative position, display module is sat by 3D graphic plottings mode using initial position as the origin of coordinates according to relative position
The relative position of underwater vehicle processed is marked and drawed, i.e. the relative position of underwater vehicle is underwater vehicle (x, y, z).Such as Fig. 7 b institutes
Show, give underwater vehicle initial heading information, record is responsible in this course by underwater vehicle, for example, being removed by unlocking operation
Method underwater vehicle records current course as initial heading.In posture running is adjusted, appearance is sent by underwater vehicle
State information can be by the relative of initial heading correction to interactive controlling module 160 and display module 170, wherein course information
Course (can be directly used for showing) or the original course of transmission simultaneously while send initial heading (by data fusion unit 341
Shown after correction).Attitude information is drawn and shown by 3D graphic plotting attitude informations by display module 170 with 3D graphic forms
Show, posture under real display robot water directly perceived.
Preferably, on the basis of above-mentioned each embodiment, 3D draws the plan thing form that mode is not limited to Fig. 7 b,
Can using it is more abstract or with more technology sense by the way of, but its be at all intuitively characterized using 3D plotting modes it is underwater latent
Boat device posture.At given initial heading, if underwater vehicle course, with operating terminal towards identical, operating personnel can be with
Intuitively by head in 3D figures towards judging that underwater vehicle is remote or Proximity operation terminal.And in operation eventually
After end is moved towards, underwater vehicle virtual course can be corrected by giving initial heading again.
Embodiment three
The utility model embodiment three provides a kind of method for observing underwater vehicle relative position, and this method can adopt
The device of the observation underwater vehicle relative position provided with the utility model any embodiment performs, and this method includes：
Detect according to acoustic feature measurement module 110, locating module 120 and the inertia measuring module 130 and obtain first respectively
Data, the second data and the 3rd data；
Control process module 140 receives the first data, second and the 3rd data, and by data fusion unit 341 to the
One data, the second data and the 3rd data are resolved, merge correction and filtering process, the first position letter after being handled
Breath.
The method for the observation underwater vehicle relative position that the present embodiment provides can obtain the relative position of underwater vehicle
Confidence cease and posture letter, solve underwater vehicle after water is entered, operator can not obtain underwater vehicle present position and
The problem of posture, reach accurate and easily exported underwater vehicle relative position and the effect of attitude information.
Pay attention to, above are only preferred embodiment of the present utility model and institute's application technology principle.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, can carried out for a person skilled in the art various bright
Aobvious change, readjust and substitute without departing from the scope of protection of the utility model.Therefore, although passing through above example
The utility model is described in further detail, but the utility model is not limited only to above example, is not departing from
In the case that the utility model is conceived, other more equivalent embodiments can also be included, and the scope of the utility model is by appended
Right determine.
Claims (8)
1. it is a kind of observe underwater vehicle relative position device, it is characterised in that including acoustic feature measurement module, locating module,
Inertia measuring module and control process module, wherein：
The acoustic feature measurement module, for detecting the position of underwater vehicle, and export the first data；
The locating module, it is arranged on buoy relaying, for determining the position of buoy relaying, and exports the second data；
The inertia measuring module, is arranged on underwater vehicle, for detecting the motion state of underwater vehicle, and exports the
Three data；
The control process module, the output with the acoustic feature measurement module, the locating module and the inertia measuring module
End connection, for receiving first data, second data and the 3rd data, and to the data of reception at
Reason, obtains first position information.
2. device according to claim 1, it is characterised in that the acoustic feature measurement module includes response unit and basic matrix list
Member, wherein：
The basic matrix unit, including at least three transducers, are arranged on underwater vehicle, for launching request signal and reception
The answer signal of the response unit transmitting；
The response unit, it is arranged on buoy relaying, for receiving the request signal and launching the answer signal；
Wherein, the different transducers receive the phase difference between the answer signal and the basic matrix unit transmitting inquiry
Signal simultaneously receives the time of the answer signal as first data.
3. device according to claim 2, it is characterised in that：
The locating module is d GPS locating module, while is arranged on the response unit on the buoy relaying；
Wherein, the initial position of the buoy relaying is the initial position of the underwater vehicle, the position that the buoy relays
Information and velocity information are as second data.
4. device according to claim 1, it is characterised in that the inertia measuring module include acceleration detecting unit,
Angular velocity detection unit, depth detection unit and course detection unit, wherein：
The acceleration detecting unit, including at least one 3-axis acceleration sensor, for obtaining the underwater vehicle
Line movable information；
The angular velocity detection unit, including at least one three axis angular rate sensor, for obtaining the underwater vehicle
Angular movement information；
The depth detection unit, including at least one depth detection sensor, for obtaining the dive of the underwater vehicle
Depth information；
The course detection unit, including at least one magnetic compass, for obtaining the course information of the underwater vehicle, and school
Just described angular movement information；
Wherein, the acceleration detecting unit is additionally operable to correct the angular movement information of the underwater vehicle, the line motion letter
Angular movement information after breath, angular movement information, submerged depth information, course information, correction is as the 3rd data；
Accordingly, the control process module is used for according to the line movable information, angular movement information, submerged depth information, boat
Handled to the angular movement information after information, correction, determine the line motion state of the underwater vehicle, angular movement state,
Diving stations and course state.
5. device according to claim 2, it is characterised in that the control process module includes data fusion unit and control
Unit processed, wherein：
The data fusion unit, for being resolved, being melted to first data, second data and the 3rd data
Correction and filtering process are closed, obtains first position information；
Described control unit, for controlling the data fusion unit to receive first data, second data and described
3rd data, and export the first position information after the data fusion cell processing.
6. device according to claim 5, it is characterised in that the processing of the data fusion unit is used for：
According to underwater submariner described in the phase difference calculating between the different transducer receptions answer signal in first data
The orientation angles information of device and the response unit, the basic matrix unit transmitting inquiry letter in first data
Number and receive time of the answer signal and calculate the range information of the underwater vehicle and the response unit, then in conjunction with
Second data further calculate second place information of the underwater vehicle relative to initial position；
According to line movable information, angular movement information, submerged depth information, the heading device of underwater vehicle in the 3rd data
Angular movement information after breath, correction calculates the velocity information of the underwater vehicle, further calculates the underwater vehicle phase
For the range information and angle information of initial position, the 3rd positional information of the underwater vehicle is determined；
Fusion correction is carried out to the second place information and the 3rd positional information being calculated, then filtering process renewal described the
One positional information；
Wherein, the second place information includes the underwater vehicle phase obtained according to acoustic feature measurement module and locating module
For range information, angle information and the depth information of the underwater vehicle initial position；3rd positional information includes
According to range information of the underwater vehicle that inertia measuring module obtains relative to the underwater vehicle initial position, angle
Spend information, depth information, attitude information and course information；The first position information is included at according to the data fusion unit
The underwater vehicle after reason relative to the range information of the underwater vehicle initial position, angle information, depth information,
Attitude information and course information.
7. a kind of system for observing underwater vehicle relative position, including communication module, interactive controlling module, display module and outer
Portion's input module, include a kind of device of any described observation underwater vehicle relative positions of claim 1-6；Wherein,
The communication module, it is connected with the control process module output end, for receiving the relative position of the underwater vehicle
Confidence breath and attitude information simultaneously export；
The interactive controlling module, it is connected with the communication module output end, for receiving the relative of the communication module output
Positional information and attitude information, and transmit to the display module to enter the relative position and/or posture of the underwater vehicle
Row display；
The interactive controlling module, also it is connected with the outside input module, is controlled for being inputted by the outside input module
System instruction, and control instruction is sent to communication module, the control process module is further conveyed to, at the control
Manage module control underwater vehicle motion.
8. system according to claim 7, it is characterised in that the display mode of the display module includes：
The display module shows the relative position of underwater vehicle using 2D graphics modes, and specially display module shows radius
Mode show the relative position of underwater vehicle；And/or
The display module shows the relative position and posture of underwater vehicle using 3D graphics modes, and specially display module leads to
Cross the relative position that 3D graphic plottings mode draws underwater vehicle using initial position as the origin of coordinates according to relative position coordinates
And posture；
Wherein, the relative position information includes distance of the underwater vehicle relative to the underwater vehicle initial position
Information, angle information, depth information and course information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720804331.XU CN207181664U (en) | 2017-07-04 | 2017-07-04 | A kind of device and system for observing underwater vehicle relative position |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720804331.XU CN207181664U (en) | 2017-07-04 | 2017-07-04 | A kind of device and system for observing underwater vehicle relative position |
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| CN201720804331.XU Withdrawn - After Issue CN207181664U (en) | 2017-07-04 | 2017-07-04 | A kind of device and system for observing underwater vehicle relative position |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109490928A (en) * | 2018-11-07 | 2019-03-19 | 河海大学 | Bathyscaph high-accuracy position system and method under adaptive movable type water |
| CN111637918A (en) * | 2020-05-07 | 2020-09-08 | 浙江大学 | Miniature low-power consumption drift buoy and ocean thing networking buoy system of constituteing by it |
| WO2023010262A1 (en) * | 2021-08-03 | 2023-02-09 | 广东高驰运动科技有限公司 | Underwater environment detection apparatus and method, fishing rod, and storage medium |
-
2017
- 2017-07-04 CN CN201720804331.XU patent/CN207181664U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107192983B (en) * | 2017-07-04 | 2023-11-17 | 深圳潜行创新科技有限公司 | Device, method and system for observing relative position of underwater vehicle |
| CN109490928A (en) * | 2018-11-07 | 2019-03-19 | 河海大学 | Bathyscaph high-accuracy position system and method under adaptive movable type water |
| CN111637918A (en) * | 2020-05-07 | 2020-09-08 | 浙江大学 | Miniature low-power consumption drift buoy and ocean thing networking buoy system of constituteing by it |
| WO2023010262A1 (en) * | 2021-08-03 | 2023-02-09 | 广东高驰运动科技有限公司 | Underwater environment detection apparatus and method, fishing rod, and storage medium |
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