CN208421225U - A kind of underwater positioning system based on image sonar - Google Patents
A kind of underwater positioning system based on image sonar Download PDFInfo
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- CN208421225U CN208421225U CN201821089463.XU CN201821089463U CN208421225U CN 208421225 U CN208421225 U CN 208421225U CN 201821089463 U CN201821089463 U CN 201821089463U CN 208421225 U CN208421225 U CN 208421225U
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Abstract
The utility model belongs to Underwater Navigation, coordinate acquiring technology field, a kind of underwater positioning system based on image sonar is provided, including image sonar equipment, two GPS, undersea detection bracket and computer, the undersea detection bracket includes the cross bar of horizontal direction and the detection bar of vertical direction, connecting rod is equipped in the middle part of cross bar, cross bar is inserted into detection boom end by connecting rod, and it is fixed by screw tightening, GPS1 and GPS2 are installed in the cross bar both ends respectively, and image sonar set is installed in the detection bar bottom.The utility model uses the underwater position fixing technique method based on image sonar, under water in operation process, can quickly obtain coordinate value of the arbitrary point in external coordinate system in certain target area, operation is simple, and system cost is low.
Description
Technical field
The utility model belongs to Underwater Navigation, coordinate acquiring technology field, and in particular to a kind of water based on image sonar
Lower positioning system.
Background technique
Existing underwater position fixing technique is mainly under-water acoustic locating technology, is to determine underwater carrier with underwater sound equipment or set
The technology in standby orientation, distance.When being reached according to the ping received from three or more acoustic transponders for constituting basic matrix
Between or phase positioned.It is divided into Long baselines positioning, short baseline positioning, ultra-short baseline positioning by transponder basic matrix baseline length.
Long-base-line system includes two parts, and a part is mounted in transceiver or underwater robot on ship, another
Part be a series of known locations the transponder being fixed on seabed, at least three or more.The distance between transponder is constituted
Baseline, length in rice up to a hundred between several kms, referred to as long-base-line system.Long-base-line system is by measurement transceiver and response
The distance between device positions target using the front or behind intersection in measurement, to obtain the three-dimensional coordinate of target.
Short baseline positioning system is made of 3 or more energy converters, and the formation of energy converter is triangle or quadrangle, composition sound
Basic matrix.The distance between energy converter is generally more than 10m, and the correlation between energy converter accurately measures, and forms acoustic array coordinate
System, basic matrix coordinate system and the correlation of ship coordinate system are determined by general measuring method.The measurement method of short-baseline system be by
One energy converter transmitting, all energy converters receive, and obtain an oblique distance observation and multiple oblique distances different from this observation
Value, fixed relationship of the system according to basic matrix with respect to ship coordinate system, is equipped with external sensor observation, as GPS, MRU, Gyro are provided
The position of ship, posture, stem to value, the geodetic coordinates of target is calculated.
The sound unit (>=3) of institute of ultra-short baseline is installed concentratedly in a transceiver, composition acoustic array, between sound unit
Mutual alignment accurately measure, form acoustic array coordinate system, the relationship between acoustic array coordinate system and the coordinate system of ship will pacify
It is accurately measured when dress, including position and posture.System determines energy converter to the side of target by the phase difference of measurement sound unit
Position (vertically and horizontally angle)；Energy converter passes through the time of measurement Acoustic Wave Propagation at a distance from target, then is corrected with Sound speed profile
Wave beam line determines distance, and then the specific coordinate value of target is determined by polar coordinates.
Existing Long baselines, short baseline, ultra-short baseline Underwater Navigation method are all by answering in surveying vessel or water-bed arrangement
Device and acoustic array are answered to realize what the coordinate of target obtained, and arranges water-bed transponder or acoustic array method complexity, cost
It is higher.Long baselines positioning system integrated operation is cumbersome, and needs to carry out calibration measurement to seabed acoustic array in detail；Short baseline positioning
In system, the correlation of positional relationship, energy converter and ship coordinate system between energy converter requires accurately to measure, complicated for operation
And error source is more；Ultra short baseline locating system needs to rely on peripheral equipment (such as compass, attitude transducer) and installs to system
The precise absolute position of target can be just obtained after calibration.Finally, these three existing Underwater Navigation methods can only obtain single-point
Coordinate information, it is difficult to realize while obtaining the demand of the coordinate information of arbitrary point in multiple spot or certain region.
Summary of the invention
The purpose of the utility model is to overcome above-mentioned deficiencies in the prior art, provide a kind of water based on image sonar
Lower positioning system can quickly obtain in certain target area arbitrary point in external coordinate system under water in operation process
Coordinate value, operation is simple, and system cost is low.
The purpose of this utility model is realized by the following technical solutions.
A kind of underwater positioning system based on image sonar, including image sonar equipment, two GPS, undersea detection bracket
And computer, the undersea detection bracket include the cross bar of horizontal direction and the detection bar of vertical direction, the company of being equipped in the middle part of cross bar
Extension bar, cross bar is inserted into detection boom end by connecting rod, and is fixed by screw tightening, and GPS1 is installed at the cross bar both ends respectively
And image sonar set is installed in GPS2, the detection bar bottom.
In the above-mentioned technical solutions, the detection bar bottom is connected with one for installing the probe of image sonar set
Cover, using rigid connection between probe cover and detection bar, mutual alignment relation is determined, anchor ear is used when image sonar equipment is installed
It is fixed, make that sonar set is integrally immovable, rotation to ensure that it is generally rigidly connected with undersea detection bracket acquires number
According to when, only image sonar equipment sonar probe rotation to realize that 360 ° are swept survey.
In the above-mentioned technical solutions, higher position is chosen near measured zone set up GPS reference station.
The utility model has the beneficial effects that: being overcome existing using the underwater position fixing technique method based on image sonar
Some Underwater Navigation methods (Long baselines positioning, the positioning of short baseline and ultra-short baseline positioning) are implemented complicated, at high cost and can only be obtained
Take the coordinate information of single-point, it is difficult to while the shortcomings that obtain the coordinate information of arbitrary point in multiple spot or certain region.This is practical new
Type under water in operation process, can quickly obtain coordinate value of the arbitrary point in external coordinate system in certain target area,
Also, as a kind of integrated system of low price, it is each can quickly to be obtained by the target above interpretation image sonar for object
The coordinate value at a position, it is also simple and easy in operation.
Detailed description of the invention
Fig. 1 is the schematic diagram of Tthe utility model system.
Wherein, 1 GPS, 2 cross bars, 3 detection bars, 4 connecting rods, 5 image sonar equipment, 6 probe covers, 7 fastening screws.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, underwater positioning system of the present embodiment based on image sonar mainly includes image sonar equipment 5, two
Platform GPS, undersea detection bracket and computer.The undersea detection bracket includes cross bar 2 and the spy of vertical direction of horizontal direction
Measuring staff 3, is equipped with connecting rod 4 in the middle part of cross bar 2, and cross bar 2 is and solid by screw tightening by the insertion detection of connecting rod 43 end of bar
Fixed, GPS1 and GPS2 are installed in 2 both ends of cross bar respectively, and 3 bottom of detection bar is connected with one for installing image sound
The probe cover 6 of equipment 5 uses anchor ear using rigid connection between probe cover 6 and detection bar 3 when image sonar equipment 5 is installed
It is fixed.Wherein, two GPS, which are mainly used for popping one's head in sonar, carries out the initially determination towards (Heading), and determines sonar
The accurate coordinate value of probe links up it with exterior coordinate system.Image sonar equipment 5 is by emitting certain frequency, one
Determine the sonar wave beam of angle of release, and pop one's head in sonar and rotated with certain speed, forms corresponding sweep under water and survey sonar data, pass through
Data line is passed to computer, ultimately forms complete sonar image.Mutual position in sonar image between various pieces, each point
It is strictly corresponding with its actual positional relationship on the spot to set relationship.By calculating each point and sonar image central point (sound
Probe) relative positional relationship, and then obtain the coordinate value of arbitrary point on sonar image.
By taking certain underwater dumped rockfill range detection as an example, by the following technical programs, to determine underwater dumped rockfill boundary coordinate:
(1) strongly professional, experienced, business the is keen-witted and capable operation team of tissue and undersea detection bracket, image are equipped with
The good detection work ship of the working performances such as sonar set, GPS and equipment are marched into the arena.Before marching into the arena, operating area is first determined
The hydrologic regimes such as the depth of water, flow velocity, wherein the depth of water cannot be less than 3 meters, and not be preferably greater than 30 meters, and flow velocity is not preferably greater than 1.5m/s.
(2) it after marching into the arena, is required according to job task, image sonar equipment, GPS etc. is debugged.First by undersea detection
Bracket is fixedly mounted on ship side board position, it is ensured that detection bar can protrude into water, and extend over floor or less.It visits under water
It surveys and two GPS and image sonar equipment is installed on bracket.Two GPS are installed on cross bar, image sound is installed in detection bar bottom
After equipment, the initial direction of sonar probe is determined, then rotary bar, GPS1 is made to be directed toward line direction and the sonar spy of GPS2
Head towards identical, then tighten screw, prevent cross bar from rotating around vertical bar.
(3) it determines detection specific location, according to the detection zone coordinate of offer, utilizes GPS positioning system, guidance detection work
Make ship Parallel to the flow direction and cast anchor to be positioned in operating area.
(4) connect equipment, carry out sweeping surveys under water, in scanning process should by adjusting gain, scanning speed, scanning angle,
Sweep radius obtains the scan image of clear and definite.In measurement operation, scanning speed 0.225m/s, sweep radius 40m are set,
Figure gain 11%, scanning range are 360 ° of full scans.Record image and every acquisition parameter are looked over one's shoulder, found the abnormal situation
Record in time.It was found that be recorded in time when water-bed barrier or special object, in case being explained to the exception of image and accurately
Degree assessment uses.
(5) whole interpretation, explication de texte are carried out to sonar image, by target mutual alignment relation, block dimension etc., known
Underwater dumped rockfill boundary in other sonar image.
(6) sonar image positioned, oriented.
(6-1) is according to two GPS antenna position coordinate (x on cross bar1, y1), (x2, y2), sonar center probe is calculated
Point plane coordinates [(x1+ x2)/2, (y1+ y2)/2], to realize positioning；
(6-2) uses GPS1 to be directed toward deflection angle of the direction azimuth of GPS2 as sonar image, acquires in sonar image
The azimuth Heading value that sonar image is arranged in software is the deflection angle, integrally rotates to sonar image, makes itself and spy
Head true bearing angle is consistent, to realize orientation；
(6-3) according to position is worked as, setting corresponds to the gauss projection band of local area inside map projection, coordinate turns
Parameter is changed, is allowed to be connected with exterior coordinate system, such as national coordinate system or world coordinate system.
(7) multiple coordinates are picked up on underwater dumped rockfill boundary line in the picture, record dependent coordinate information, it is as underwater to throw
Stone boundary.
The content being not described in detail in this specification belongs to the prior art well known to those skilled in the art.
The examples detailed above of the utility model only examples for clearly illustrating the present invention to clearly illustrate, rather than the utility model
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.Here all embodiments can not be exhaustive.It is all to belong to the utility model
Technical solution changes and variations that derived from still in the protection scope of the utility model column.
Claims (3)
1. a kind of underwater positioning system based on image sonar, it is characterised in that: including image sonar equipment, two GPS, underwater
Detect bracket and computer, the undersea detection bracket includes the cross bar of horizontal direction and the detection bar of vertical direction, in cross bar
Portion is equipped with connecting rod, and cross bar is inserted into detection boom end by connecting rod, and is fixed by screw tightening, the cross bar both ends difference
GPS1 and GPS2 is installed, image sonar set is installed in the detection bar bottom.
2. the underwater positioning system according to claim 1 based on image sonar, it is characterised in that: the detection bar is most lower
End is connected with one for installing the probe cover of image sonar set, using rigid connection, image between probe cover and detection bar
Sonar set is fixed when installing using anchor ear.
3. the underwater positioning system according to claim 1 based on image sonar, it is characterised in that: chosen in measured zone
A high position sets up GPS reference station.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821089463.XU CN208421225U (en) | 2018-07-11 | 2018-07-11 | A kind of underwater positioning system based on image sonar |
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| CN201821089463.XU CN208421225U (en) | 2018-07-11 | 2018-07-11 | A kind of underwater positioning system based on image sonar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614269A (en) * | 2018-07-11 | 2018-10-02 | 武汉长江航道救助打捞局 | A kind of underwater positioning system and its working method based on image sonar |
| CN113238234A (en) * | 2021-06-22 | 2021-08-10 | 生态环境部华南环境科学研究所 | Underwater sewage outlet identification method based on underwater sonar identification |
-
2018
- 2018-07-11 CN CN201821089463.XU patent/CN208421225U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614269A (en) * | 2018-07-11 | 2018-10-02 | 武汉长江航道救助打捞局 | A kind of underwater positioning system and its working method based on image sonar |
| CN108614269B (en) * | 2018-07-11 | 2023-07-11 | 武汉长江航道救助打捞局 | Working method of underwater positioning system based on image sonar |
| CN113238234A (en) * | 2021-06-22 | 2021-08-10 | 生态环境部华南环境科学研究所 | Underwater sewage outlet identification method based on underwater sonar identification |
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