KR102218582B1 - System for underwater localization - Google Patents

Abstract

Provided is an underwater position recognizing system. According to one embodiment of the present invention, the underwater position recognizing system comprises: a first water node positioned on a water surface, transmitting a distance measuring signal using sound waves, and receiving a response signal; and an underwater moving object moved in water to receive the distance measuring signal, and transmitting the response signal. The response signal includes depth information on a place where the underwater moving object is positioned and angle information on a moving path. When the underwater moving object is moved, a horizontal distance between the first water node and the underwater moving object is calculated at two points using the distance measuring signal and the response signal. A planar movement position of the underwater moving object is calculated on a plane using the angle information after projecting the horizontal distance between two points onto one plane, and a spatial movement position of the underwater moving object is recognized by using the depth information and the planar movement position on the plane. According to the present invention, the underwater position of the underwater moving object is effectively tracked.

Description

Underwater location recognition system {SYSTEM FOR UNDERWATER LOCALIZATION}

The present invention relates to underwater location recognition technology, and more particularly, to a technology for tracking the location of an underwater vehicle.

Technologies for recognizing the underwater location of an underwater vehicle include USBL that tracks the location of an underwater vehicle using a hydrophone array, and inertial navigation using a gyro sensor and accelerometer attached to the underwater vehicle.

The location recognition method using USBL has a problem in that the complexity and cost of the technology are increased as the array of several hydrophones must be used. In addition, the inertial navigation position recognition method using the internal sensor of the underwater vehicle has a disadvantage that the GPS signal must be acquired to set the initial position, and the underwater vehicle must periodically rise above the water surface and receive the GPS signal to reset the position.

As a prior document of the present invention, there is Korean Patent Publication No. 2015-0059191.

The present invention effectively determines the underwater position of an underwater vehicle by using distance information on a plane obtained through distance measurement based on underwater sound wave communication and depth measurement using a water pressure sensor, and angle information detected by a gyroscope, a geomagnetic sensor, and an acceleration sensor. It is to provide a tracking underwater location recognition system.

According to an aspect of the present invention, a first aquatic node located on the surface of the water and transmitting a distance measurement signal using sound waves and receiving a response signal, and an underwater mobile body moving underwater and receiving a distance measurement signal and transmitting the response signal Including, and the response signal includes depth information of the location where the underwater vehicle is located and angle information on the movement path, and when the underwater vehicle moves, the first water node and the first water node at two points using the distance measurement signal and the response signal Calculate the horizontal distance between underwater moving objects, project the horizontal distances of two points on one plane, and calculate the planar moving position of the underwater moving object on the plane using angle information, and calculate the depth information and the planar moving position on the plane. An underwater location recognition system is provided to determine the spatial movement location of an underwater vehicle by using.

According to another aspect of the present invention, first and second floating nodes located at different places on the surface of the water and each transmitting a distance measurement signal using sound waves and receiving a response signal, and moving in water and receiving the distance measurement signal And an underwater mobile body that transmits the response signal, and the response signal includes depth information of a location where the underwater mobile body is located and angle information on a movement path, and when the underwater mobile body moves, the response signal is used. When calculating a first horizontal distance between the first floating node and the underwater vehicle at two points and a second horizontal distance between the second floating node and the underwater vehicle, respectively, and when the underwater vehicle moves between the two points The horizontal distance of the first horizontal distance and the second horizontal distance is determined, the horizontal distance of which the distance is increased from the two points is projected onto one plane, and the angle information is used on the plane. There is provided an underwater position recognition system for calculating a planar movement position of an underwater moving object, and identifying a spatial movement position of the underwater moving object using the depth information and the planar moving position on the plane.

According to another aspect of the present invention, the first aquatic node is located on the water and has a sound wave communication unit that transmits a distance measurement signal using sound waves and receives a response signal, and moves in the water and receives the distance measurement signal. A sound wave communication unit that transmits the response signal, a water pressure sensor, a gyro sensor, and an underwater moving body including a geomagnetic sensor, and the response signal includes a measured value of the water pressure sensor, the gyro sensor, and the geomagnetic sensor, and the first 1 The aquatic node is provided with an underwater location recognition system for determining a spatial movement position of an underwater vehicle using the time difference between the distance measurement signal and the response signal and the response signal.

According to the present invention, it is possible to track the position of the underwater vehicle even if the underwater vehicle does not rise above the water surface for GPS signal reception.

In addition, according to the present invention, it is possible to reduce the implementation cost of the underwater location recognition system by tracking the location of the underwater vehicle without using a hydrophone arrangement.

1 is a diagram illustrating an underwater location recognition system according to an embodiment of the present invention.
2 is a diagram illustrating a water node of an underwater location recognition system according to an embodiment of the present invention.
3 is a diagram illustrating an underwater moving body of the underwater location recognition system according to an embodiment of the present invention.
4 is a flowchart illustrating a process of recognizing an underwater location by an underwater location recognition system according to an embodiment of the present invention.
5 to 8 are views specifically illustrating a method of calculating a horizontal distance and a planar movement position in an underwater position recognition system according to an embodiment of the present invention.
9 is a diagram illustrating an underwater location recognition system according to another embodiment of the present invention.
10 is a flowchart illustrating a process of recognizing an underwater location by an underwater location recognition system according to another embodiment of the present invention.
11 is a diagram specifically exemplifying a method of calculating a horizontal distance and a planar movement position in an underwater position recognition system according to another embodiment of the present invention.

In the present invention, various modifications may be made and various embodiments may be provided. Specific embodiments are illustrated in the drawings and will be described in detail through detailed description. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

1 is a diagram illustrating an underwater location recognition system according to an embodiment of the present invention.

Referring to FIG. 1, an underwater location recognition system according to an embodiment of the present invention includes a first floating node 110 and an underwater moving body 130.

The first floating node 110 communicates with the underwater moving object 130 located on the surface of the water and located underwater using sound waves. The first floating node 110 may transmit a distance measurement signal to the underwater mobile 130 and receive a response signal from the underwater mobile 130.

2 is a diagram illustrating a water node of an underwater location recognition system according to an embodiment of the present invention.

Referring to FIG. 2, the first floating node 110 includes a sound wave communication unit 111 for performing sound wave communication with the underwater mobile body 130, and a wireless communication unit 112 for wireless communication with another floating node or other device. can do. In addition, a control unit 113 for controlling the sound wave communication unit 111 and the wireless communication unit 112 may be further included. In this case, the controller 113 may store predetermined location information of the first floating node 110 in advance, or may calculate the location information of the first floating node 110 through a separate GPS receiving module.

The underwater vehicle 130 is a device that moves underwater, and communicates with the underwater vehicle 130 located on the water surface using sound waves. Upon receiving the distance measurement signal, the underwater mobile 130 may transmit a response signal to the floating node that has sent the distance measurement signal. In particular, the response signal includes depth information of a location where the underwater moving object 130 is located and angle information of a movement path.

3 is a diagram illustrating an underwater moving object of the underwater location recognition system according to an embodiment of the present invention.

Referring to FIG. 3, the underwater mobile body 130 may include a sound wave communication unit 131 that performs sound wave communication with the first floating node 110. The sound wave communication unit 121 may receive a distance measurement signal from the first floating node 110 and transmit a response signal to the first floating node 110.

In addition, the underwater moving body 130 may include a water pressure sensor 133. The depth information of the response signal is a measured value of the water pressure sensor 133, from which the depth of the underwater moving body 130 may be calculated.

In addition, the underwater moving body 130 may include at least one of a gyro sensor 134 and a geomagnetic sensor 135. The angle information of the response signal may include measured values of the gyro sensor 134 and the geomagnetic sensor 135.

In addition, the underwater moving body 130 may include an acceleration sensor 132. The response signal may include a measurement value of the acceleration sensor 132.

In addition, the underwater moving body 130 may further include a sound wave communication unit 111 and a control unit 136 that controls the above-described sensors. When the sound wave communication unit 131 receives the distance measurement signal, the control unit 136 may generate a response signal having measured values of the above-described sensors.

As described above, the underwater location recognition system according to an embodiment of the present invention may be composed of a single floating node 110 located on the surface of the water and an underwater moving body 130 located underwater, and the following description steps Through this, the position of the underwater moving body 130 can be specified.

4 is a flowchart illustrating a process of recognizing an underwater location by an underwater location recognition system according to an embodiment of the present invention.

Referring to Figure 4, the underwater location recognition system according to an embodiment of the present invention, when the underwater moving body 130 moves, using a distance measurement signal and a response signal, each of the first water node 110 at two points It is possible to calculate the horizontal distance between the and the underwater moving body 130. For example, the 1-1 horizontal distance may be calculated from the first point, and the 1-2 horizontal distance may be calculated from the second point after the underwater vehicle 130 moves.

Next, after transferring the horizontal distance of the point of 2 to one plane, using the angle information between the two points, calculate the planar movement position of the underwater moving object 130 moved on one plane, and the depth information By adding and generating location information, it is possible to grasp the spatial movement location of the underwater moving object 130.

5 to 8 are views specifically exemplifying a method of calculating a horizontal distance and a planar movement position in an underwater position recognition system according to an embodiment of the present invention.

에 위치할 경우,

에 위치한 제1 수상 노드(110)는 음파통신을 통하여 제1 수상 노드(110)와 수중 이동체(130) 간의 거리

을 획득할 수 있다. 구체적으로, 거리측정 신호와 응답 신호의 시간 차를 이용하여 제1 수상 노드(110)와 수중 이동체(130)의 거리를 산출할 수 있다. 또한, 제1 수상 노드(110)는 수중 이동체(130)의 수압 센서(133)가 측정한 수심

정보도 전달받을 수 있다. 이 때, 피타고라스 공식을 활용하여 수중평면 1로 투영한 제1 수상 노드(110)와 수중 이동체(130) 간의 거리

을 산출할 수 있다. 즉, 첫 번째 위치에서 제1 수상 노드(110)와 수중 이동체(130) 간의 수평거리를 산출할 수 있다 (상술한 제1 지점에서 제1-1 수평거리를 산출에 해당한다).5, the underwater moving body 130 is on the underwater plane 1

If located in,

The first floating node 110 located at is the distance between the first floating node 110 and the underwater mobile body 130 through sound wave communication

Can be obtained. Specifically, the distance between the first floating node 110 and the underwater vehicle 130 may be calculated using a time difference between the distance measurement signal and the response signal. In addition, the first floating node 110 is the water depth measured by the water pressure sensor 133 of the underwater moving body 130

Information can also be delivered. At this time, the distance between the first floating node 110 and the underwater moving object 130 projected onto the underwater plane 1 using the Pythagorean formula

Can be calculated. That is, the horizontal distance between the first floating node 110 and the underwater moving object 130 at the first position may be calculated (corresponding to calculating the 1-1 horizontal distance from the first point described above).

에서 제2 지점인

으로 이동할 수 있다. 여기서,

은 수심이

인 수중평면 1에 위치하고

은 수심이

인 수중평면 2에 위치한다. 이 때, 제1 수상 노드(110)와 수중 이동체(130)(

) 간의 거리

와 수심

정보를 활용하여, 제1 수상 노드(110)와 수중 이동체(130) 간의 거리

를 산출할 수 있다. 즉, 두 번째 위치에서 제1 수상 노드(110)와 수중 이동체(130) 간의 수평거리를 산출할 수 있다(상술한 제2 지점에서 제1-2 수평거리를 산출에 해당한다).6, the underwater moving body 130 is the first point

The second branch in

You can move to. here,

The depth is

Is located in the underwater plane 1

The depth is

It is located in underwater plane 2. At this time, the first floating node 110 and the underwater moving body 130 (

) Between

And depth

Using the information, the distance between the first floating node 110 and the underwater vehicle 130

Can be calculated. That is, the horizontal distance between the first floating node 110 and the underwater vehicle 130 at the second position may be calculated (corresponding to calculating the 1-2 horizontal distance from the second point described above).

과

를 나타낸다.Next, the horizontal distance of the two points can be transferred to one plane and displayed. In this example, two horizontal distances to the underwater plane 1

and

Represents.

)를 얻을 수 있고, 이를 통해

인

도 얻을 수 있다. Referring to FIG. 7, using the measured value of the gyro sensor 134 or the geomagnetic sensor 135 received from the underwater moving body 130, the angle information (Yaw,

), and through this

sign

Can also be obtained.

에 대해 제2코사인법칙을 적용하면 다음의 식 (1)을 얻으며, 이를 풀면 식 (2)의 해를 구할 수 있다.At this time, the triangle

If the second cosine law is applied to, the following equation (1) is obtained, and by solving it, the solution of equation (2) can be obtained.

(1)

(One)

(2)

(2)

를 특정하기 위한 충분조건으로써 두 개의 실근을 가지면서도 한 개의 양수 근과 한 개의 음수 근을 갖기 위해서는 다음의 식 (3)과 (4)를 동시에 만족해야 한다.On the other hand, Equation (2) can have two real roots, two false roots, or one median root.

In order to have two real roots and one positive root and one negative root as a sufficient condition to specify the following equations (3) and (4) must be satisfied at the same time.

(3)

(3)

(4)

(4)

If equations (3) and (4) are summarized, it can be expressed by equations (5) and (6), and equation (7) that satisfies both equations at the same time can be obtained by taking the square of equations (5) and (6). .

(5)

(5)

(6)

(6)

(7)

(7)

At this time, equation (7) is further simplified to equation (9) through equation (8).

(8)

(8)

(9)

(9)

의 조건을 만족한다면, 식 (3)의

을 이동거리

로 특정할 수 있다. 따라서, 초기위치

을 알고 있을 때,

,

,

를 식 (3)에 대입하여 산출한 이동거리

와 각도정보

를 활용하여

의 위치를 도출한 후, 수심정보

를 적용하면 수중평면 2 상의

의 위치를 파악할 수 있다.In conclusion

If the condition of is satisfied,

Moving distance

It can be specified as Therefore, the initial position

When you know

,

,

The travel distance calculated by substituting in equation (3)

And angle information

Using

After deriving the location of the water depth information

When applied to the underwater plane 2

Can determine the location of.

In addition, when the underwater vehicle 130 moves in a direction in which the distance between the first aquatic node 110 and the underwater vehicle 130 increases on a plane, the above-described steps are repeated to determine a new position of the underwater vehicle 130. You can keep track of it.

In the present embodiment, the control unit 113 of the first floating node 110 may perform the above-described calculation method using a distance measurement signal and a response signal. Meanwhile, the above-described calculation may be performed in a device other than the first floating node 110, and a distance measurement signal and a response signal may be transmitted to another device through the wireless communication unit 112.

The above-described embodiment is useful for a method of determining a location when the underwater moving object 130 moves in a direction in which the distance on the plane increases with respect to the first floating node 110.

Hereinafter, an embodiment in which two or more floating nodes are arranged and information is shared with each other through wireless communication between the floating nodes, so that the underwater location of the underwater mobile 130 can be determined at any time will be described.

9 is a diagram illustrating an underwater location recognition system according to another embodiment of the present invention.

Referring to FIG. 9, the underwater location recognition system according to the present embodiment may further include a second floating node 120 compared to the above-described embodiment. In this case, the second floating node 120 may have a similar configuration to the above-described first floating node 110 and perform a similar function. In addition, for wireless communication between the floating nodes 110 and 120, the first and second floating nodes 110 and 120 may each include a wireless communication unit 112.

10 is a flowchart illustrating a process of recognizing an underwater location by an underwater location recognition system according to another embodiment of the present invention.

Referring to FIG. 10, when the underwater mobile body 130 moves, the first horizontal distance (1-1 horizontal distance and 1-2 horizontal distance) between the first floating node 110 and the underwater mobile body 130 at two points. Distance) and a second horizontal distance (a 2-1 horizontal distance and a 2-2 horizontal distance) between the second floating node 120 and the underwater vehicle 130 may be calculated, respectively.

Next, when the underwater moving body 130 moves between the two points (moving from the first point to the second point), it may be determined from which water node the horizontal distance increases. That is, it may be determined which of the first horizontal distance and the second horizontal distance increases the distance. In this case, the second floating node 120 may transmit information calculated in a relationship with the underwater mobile body 130 including the second horizontal distance to the first floating node 110 through wireless communication. That is, the first floating node 110 may determine which side of the floating node increases the horizontal distance.

When it is determined that the floating node with an increased horizontal distance is determined, the spatial movement position of the underwater moving object 130 may be determined by the method of the above-described embodiment. That is, after transferring the horizontal distance of the increased distance to one plane, the planar movement position of the underwater vehicle 130 on the plane may be calculated using the angle information. In addition, by using the depth information and the planar movement position on the plane, the spatial movement position of the underwater moving object 130 may be identified.

11 is a diagram specifically illustrating a method of calculating a horizontal distance and a planar movement position in an underwater position recognition system according to another embodiment of the present invention.

Referring to FIG. 11, in the case of tracking the position of the underwater moving object 130 using two water nodes 110, 120, if the underwater moving object 130 moves in a direction closer to any one water node, another It moves away from one floating node. In this case, the position of the underwater moving object 130 can be tracked by applying the method of the above-described embodiment of the present invention based on the water node whose distance is increasing. Hereinafter, the calculation method of the present embodiment will be described in detail.

에 위치할 경우에, 상술한 실시예의 방법에 따라, 수중평면 1로 투영한 제1 수상 노드(110,

에 위치)와 수중 이동체(130) 간의 거리

를 계산할 수 있다. 또한, 수중평면 1로 투영한 제2 수상 노드(120,

에 위치)와 수중 이동체(130) 간의 거리

도 산출할 수 있다.First, the underwater moving body 130 is in the initial state on the underwater plane 1

When located at, according to the method of the above-described embodiment, the first water node 110 projected onto the underwater plane 1,

The distance between the underwater vehicle (130)

Can be calculated. In addition, the second floating node 120 projected onto the underwater plane 1,

The distance between the underwater vehicle (130)

Can also be calculated.

에서 수중평면 2 상의

로 이동한 경우에, 상술한 실시예의 방법에 따라, 수중평면 1로 투영된 제1 수상 노드(110)와 수중 이동체(130,

에 위치) 간의 거리

를 산출하고, 수중평면 1로 투영된 제2 수상 노드(120)와 수중 이동체(130)간의 거리

를 산출할 수 있다. Next, the underwater moving body 130 is on the underwater plane 1

Underwater plane 2 top

In the case of moving to, according to the method of the above-described embodiment, the first aquatic node 110 and the underwater moving body 130 projected to the underwater plane 1,

Distance between locations)

And the distance between the second floating node 120 and the underwater moving body 130 projected onto the underwater plane 1

Can be calculated.

>

를 만족한다면, 제1 수상 노드(110)를 기준으로

,

,

를 이용하여, 상술한 실시예의 방법에 따라,

의 위치를 산출할 수 있다. 한편,

>

를 만족한다면 제2 수상 노드(120)를 기준으로

,

,

를 이용하여, 상술한 실시예의 방법에 따라,

의 위치를 산출할 수 있다.Next, it is possible to check whether the horizontal distance is increased at each floating node.

>

If satisfied, based on the first award node 110

,

,

Using, according to the method of the above-described embodiment,

You can calculate the position of. Meanwhile,

>

If it is satisfied, based on the second award node 120

,

,

Using, according to the method of the above-described embodiment,

You can calculate the position of.

In addition, when the underwater vehicle 130 has moved again, the above-described process may be repeatedly applied to continuously grasp a new position of the underwater vehicle 130.

In this embodiment, the control unit 113 of the first floating node 110 calculates and determines the location as a whole by using the distance measurement signal and the response signal, and receiving the information calculated from the second floating node 120 Method can be carried out. Meanwhile, the above-described calculation method may be performed in a device other than the first floating node 110, and a distance measurement signal, a response signal, and calculation information may be transmitted to another device through the wireless communication unit 112.

As described in the above-described embodiment, the present invention can track the location of the underwater vehicle even if the underwater vehicle does not rise above the water surface for GPS signal reception. In addition, it is possible to reduce the implementation cost of the underwater location recognition system by tracking the location of the underwater vehicle without using a hydrophone array.

So far, the present invention has been looked at centering on the embodiment. Many embodiments other than the above-described embodiments exist within the scope of the claims of the present invention. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

110, 120: floating node
111: sound wave communication unit
112: wireless communication unit
130: underwater vehicle
131: sound wave communication unit
133: water pressure sensor
134: gyro sensor
135: geomagnetic sensor

Claims (9)

A first floating node located on the water surface and transmitting a distance measurement signal using sound waves and receiving a response signal; And
An underwater moving body that moves underwater, receives the distance measurement signal, and transmits the response signal,
The response signal includes depth information of a place where the underwater moving object is located and angle information of a movement path,
When the underwater vehicle moves, calculate a horizontal distance between the first floating node and the underwater vehicle at two points using the distance measurement signal and the response signal,
After projecting the horizontal distances of the two points onto one plane, the angle information is used when the underwater mobile body moves in a direction in which the distance between the first floating node and the underwater mobile body increases on the plane. To calculate the planar movement position of the underwater moving object on the plane,
An underwater position recognition system for identifying a spatial movement position of the underwater moving object by using the depth information and the planar movement position on the plane.
The method of claim 1,
The distance between the first floating node and the underwater moving object is calculated using a time difference between the distance measurement signal and the response signal,
The underwater moving body includes a water pressure sensor, and calculates the water depth information using a measured value of the water pressure sensor,
An underwater location recognition system that calculates a horizontal distance between the first floating node and the underwater vehicle using the distance between the first floating node and the underwater vehicle and the depth information.
The method of claim 1,
The underwater moving body includes at least one of a gyro sensor and a geomagnetic sensor,
The angle information is an underwater position recognition system including the measured values of the gyro sensor and the geomagnetic sensor
First and second floating nodes located at different places on the water surface, each transmitting a distance measurement signal using sound waves and receiving a response signal; And
An underwater moving body that moves underwater, receives the distance measurement signal, and transmits the response signal,
The response signal includes depth information of a place where the underwater moving object is located and angle information of a movement path,
When the underwater vehicle moves, a first horizontal distance between the first floating node and the underwater vehicle and a second horizontal distance between the second floating node and the underwater vehicle are calculated at two points using the response signal, and ,
When the underwater moving body moves between the two points, determining a horizontal distance in which a distance increases among the first horizontal distance and the second horizontal distance,
After projecting the horizontal distance increased by the distance from the two points onto one plane, the planar movement position of the underwater moving object on the plane is calculated using the angle information,
An underwater position recognition system for identifying a spatial movement position of the underwater moving object by using the depth information and the planar movement position on the plane.
The method of claim 4,
Using a time difference between the distance measurement signal and the response signal, each of the distances between the water node and the underwater mobile is calculated,
The response signal includes water pressure information, and the water depth information is calculated using the water pressure information,
An underwater location recognition system that calculates a horizontal distance between each of the aquatic nodes and the underwater vehicle using distances between each of the aquatic nodes and the underwater vehicle and the depth information.
The method of claim 4,
The underwater moving body includes at least one of a gyro sensor and a geomagnetic sensor,
The angle information is an underwater position recognition system including the measured values of the gyro sensor and the geomagnetic sensor.
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