NL2029737B1 - Ranging navigation method of deep sea vehicle for water surface monitoring platform - Google Patents

Ranging navigation method of deep sea vehicle for water surface monitoring platform Download PDF

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Publication number
NL2029737B1
NL2029737B1 NL2029737A NL2029737A NL2029737B1 NL 2029737 B1 NL2029737 B1 NL 2029737B1 NL 2029737 A NL2029737 A NL 2029737A NL 2029737 A NL2029737 A NL 2029737A NL 2029737 B1 NL2029737 B1 NL 2029737B1
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Prior art keywords
sea vehicle
deep sea
information
monitoring platform
time
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NL2029737A
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Dutch (nl)
Inventor
Zhang Tongwei
Wang Xiangxin
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Nat Deep Sea Ct
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Priority to NL2029737A priority Critical patent/NL2029737B1/en
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Publication of NL2029737B1 publication Critical patent/NL2029737B1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/04—Nautical

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Disclosed is a navigation method of a deep sea vehicle for a water surface monitoring platform. The assisted ranging navigation method comprises among others the following steps: acquiring the longitude and latitude information and the time information of the 5 water surface monitoring platform; transmitting the information to the deep sea vehicle; acquiring the sound velocity profile of the deep sea vehicle and the depth of the deep sea vehicle; constructing an intrinsic sound ray according to the sound velocity profile, the depth of the deep sea vehicle and the 10 propagation. time delay; obtaining a horizontal distance between the water‘ surface monitoring' platforn1 and, the deep sea vehicle according to the intrinsic sound ray and the depth of the deep sea vehicle; acquiring the inertial navigation information of the deep sea vehicle; and carrying out fusion correction on the longitude l5 and latitude information, the horizontal distance and the inertial navigation information. (+ Fig. l)

Description

P815/NLpd
RANGING NAVIGATION METHOD OF DEEP SEA VEHICLE FOR WATER SURFACE
MONITORING PLATFORM
TECHNICAL FIELD
The present disclosure relates to the field of deep sea meas- urement, in particular to a ranging navigation method of a deep sea vehicle for a water surface monitoring platform.
BACKGROUND ART
Generally, in the operation process of a deep sea vehicle close to the seabed (between several meters and two hundred me- ters), an inertial navigation system SINS and an acoustic Doppler log DVL form an inertial-based integrated navigation system, and autonomous navigation with high precision can be achieved. Howev- er, deep sea vehicles typically need to dive to several kilometers or even tens of thousands of meters of ocean sea bottom for opera- tion, and the diving and floating speeds of the deep sea vehicles are very slow, so that the floating and diving processes are very tedious and often consume several hours.
On the other hand, the DVL not only has a maximum range, but also a minimum acting distance, and once the DVL is less than the minimum acting distance, the DVL enters a velocity measurement blind area. This can also cause the SINS/DVL integrated navigation system to fail, and the SINS is in a free diverging state.
Aiming at SINS/DVL integrated navigation abnormity caused by
DVL failure, a long baseline LBL method and an ultra-short base- line USBL method are mainly adopted to solve the SINS/DVL inte- grated navigation abnormity. However, long base lines are limited by a number of factors in practical applications. An ultra-short baseline transducer array is installed at the bottom of the ship without being restricted by the factors and is convenient to use.
However, the ultra-short baseline needs to obtain high precision in deep sea, offshore calibration is needed, the installation de- viation of the transducer array needs to be corrected, a proper sea area needs to be selected for each correction, and a large amount of time and manpower and a large quantity of material re- sources are consumed. More importantly, the working mode of the ultra-short baseline is that the deep sea vehicle is positioned through a scientific research ship, then the positioning result is sent to the deep sea vehicle through underwater acoustic communi- cation, and the working mode inevitably leads to low updating rate and large delay of the deep sea vehicle in obtaining the position information of the deep sea vehicle. Therefore, a ranging naviga- tion method, system and device of a deep sea vehicle for a water surface monitoring platform are urgently needed to solve the tech- nical problem.
SUMMARY
The present disclosure aims to provide a ranging navigation method of a deep sea vehicle for a water surface monitoring plat- form, so that navigation errors can be corrected, and the naviga- tion accuracy is improved.
In order to achieve the purpose, the present disclosure pro- vides the following scheme:
An assisted ranging navigation method of a deep sea vehicle for a water surface monitoring platform comprises the following steps: acquiring the longitude and latitude information and the time information of the water surface monitoring platform in real time in a satellite positioning mode; transmitting the longitude and latitude information and the time information of the water surface monitoring platform to the deep sea vehicle in an underwater acoustic communication mode; decoding communication information through the deep sea vehi- cle, and acquiring longitude and latitude as well as time when the water surface monitoring platform transmits the communication in- formation; acquiring the time when the deep sea vehicle receives the communication information; obtaining propagation time delay according to the time when the water surface monitoring platform transmits the communication information and the time when the deep sea vehicle receives the communication information; acquiring the sound velocity profile of the deep sea vehicle and the depth of the deep sea vehicle; constructing an intrinsic sound ray according to the sound velocity profile, the depth of the deep sea vehicle and the propa- gation time delay; obtaining a horizontal distance between the water surface monitoring platform and the deep sea vehicle according to the in- trinsic sound ray and the depth of the deep sea vehicle, specifi- cally comprising: obtaining the horizontal distance between the water surface monitoring platform and the deep sea vehicle by adopting the Py- thagorean theorem according to the intrinsic sound ray and the depth of the deep sea vehicle; acquiring the inertial navigation information of the deep sea vehicle; and carrying out fusion correction on the longitude and latitude information of the water surface monitoring platform, the horizon- tal distance and the inertial navigation information to obtain in- tegrated navigation information, specifically comprising: carrying out fusion correction on the longitude and latitude information, the horizontal distance and the inertial navigation information by adopting a Kalman filtering method to obtain cor- rected navigation information, wherein the propagation time delay is obtained according to the time when the water surface monitoring platform transmits the communication information and the time when the deep sea vehicle receives the communication information, specifically comprising: determining the propagation delay of an underwater acoustic communication signal according to the moment when the water sur- face monitoring platform transmits the communication information and the moment when the deep sea vehicle receives the communica- tion information obtained by communication decoding of the deep sea vehicle.
According to the specific embodiment provided by the present disclosure, the present disclosure has the following technical ef- fects:
According to the assisted ranging navigation method of a deep sea vehicle for a water surface monitoring platform provided by the present disclosure, the method comprises the following steps: acquiring the longitude and latitude information and the time in- formation of the water surface monitoring platform in real time in a satellite positioning mode; transmitting the longitude and lati- tude information and the time information of the water surface monitoring platform to the deep sea vehicle in an underwater acoustic communication mode; decoding communication information through the deep sea vehicle, and acquiring longitude and latitude as well as time when the water surface monitoring platform trans- mits the communication information; acquiring the time when the deep sea vehicle receives the communication information; obtaining propagation time delay according to the time when the water sur- face monitoring platform transmits the communication information and the time when the deep sea vehicle receives the communication information; acquiring the sound velocity profile of the deep sea vehicle and the depth of the deep sea vehicle; constructing an in- trinsic sound ray according to the sound velocity profile, the depth of the deep sea vehicle and the propagation time delay; ob- taining a horizontal distance between the water surface monitoring platform and the deep sea vehicle according to the intrinsic sound ray and the depth of the deep sea vehicle; acquiring the inertial navigation information of the deep sea vehicle; and carrying out fusion correction on the longitude and latitude information of the water surface monitoring platform, the horizontal distance and the inertial navigation information to obtain integrated navigation information.
According to the navigation method, the absolute po- sition of the known water surface monitoring platform of the deep sea vehicle and the horizontal distance between the deep sea vehi- cle and the water surface monitoring platform, and the absolute position and the horizontal distance are subjected to information fusion with an inertial navigation/Doppler log (SINS/DVL) by adopting the Kalman filtering method, so that an assisted ranging navigation system of the water surface monitoring platform (re- garded as a mobile single beacon) for the deep sea vehicle is formed to correct navigation errors caused by the fact that the acoustic Doppler log enters a velocity measurement blind area.
BRIEF DESCRIPTION OF THE DRAWINGS
To describe the technical scheme in the embodiments of the 5 present disclosure or in the prior art more clearly, the following briefly introduces the attached figures required for describing the embodiments. Apparently, the attached figures in the following description show merely some embodiments of the present disclo- sure, and those skilled in the art may still derive other attached figures from these attached figures without creative efforts.
FIG. 1 is a flow diagram of an assisted ranging navigation method of a deep sea vehicle for a water surface monitoring plat- form in the embodiment of the present disclosure;
FIG. 2 is a structure diagram of an assisted ranging naviga- tion system of a deep sea vehicle for a water surface monitoring platform in the embodiment of the present disclosure;
FIG. 3 is a composition diagram of a water surface monitoring platform in the embodiment of the present disclosure;
FIG. 4 is a composition diagram of a deep sea vehicle in the embodiment of the present disclosure; and
FIG. 5 is a schematic diagram of assisted ranging navigation of a deep sea vehicle for a water surface monitoring platform in the embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
The following clearly and completely describes the technical scheme in the embodiments of the present disclosure with reference to the attached figures in the embodiments of the present disclo- sure. Apparently, the described embodiments are merely a part ra- ther than all of the embodiments of the present disclosure.
FIG. 1 is a flow diagram of an assisted ranging navigation method of a deep sea vehicle for a water surface monitoring plat- form in the embodiment of the present disclosure. As shown in FIG. 1, an assisted ranging navigation method of a deep sea vehicle for a water surface monitoring platform comprises the following steps: step 101, acquiring the longitude and latitude information and the time information of the water surface monitoring platform in real time in a satellite positioning mode; step 102, transmitting the longitude and latitude information and the time information of the water surface monitoring platform to the deep sea vehicle in an underwater acoustic communication mode; step 103, decoding communication information through the deep sea vehicle, and acquiring longitude and latitude as well as time when the water surface monitoring platform transmits the communi- cation information; step 104, acquiring the time when the deep sea vehicle re- ceives the communication information; step 105, obtaining propagation time delay according to the time when the water surface monitoring platform transmits the com- munication information and the time when the deep sea vehicle re- ceives the communication information; step 106, acquiring the sound velocity profile of the deep sea vehicle and the depth of the deep sea vehicle; step 107, constructing an intrinsic sound ray according to the sound velocity profile, the depth of the deep sea vehicle and the propagation time delay; step 108, obtaining a horizontal distance between the water surface monitoring platform and the deep sea vehicle according to the intrinsic sound ray and the depth of the deep sea vehicle; step 109, acquiring the inertial navigation information of the deep sea vehicle; and step 110, carrying out fusion correction on the longitude and latitude information of the water surface monitoring platform, the horizontal distance and the inertial navigation information to ob- tain integrated navigation information.
The step 105 specifically comprises the following substep: determining the propagation delay of an underwater acoustic communication signal according to the moment when the water sur- face monitoring platform transmits the communication information and the moment when the deep sea vehicle receives the communica- tion information obtained by communication decoding of the deep sea vehicle.
The step 108 specifically comprises the following substep:
obtaining the horizontal distance between the water surface monitoring platform and the deep sea vehicle by adopting the Py- thagorean theorem according to the intrinsic sound ray and the depth of the deep sea vehicle.
The step 110 specifically comprises the following substeps: carrying out fusion correction on the longitude and latitude information, the horizontal distance and the inertial navigation information by adopting a Kalman filtering method by a fusion cor- rection unit to obtain corrected navigation information.
Disclosed is an assisted ranging navigation device of a deep sea vehicle for a water surface monitoring platform. The device comprises a water surface monitoring platform part 1 and a deep sea vehicle part 2. FIG. 3 is a composition diagram of the water surface monitoring platform part in the embodiment of the present disclosure. As shown in FIG. 3, the water surface monitoring plat- form part 1 comprises a satellite positioning module 11, a first underwater acoustic communication module 12, a first atomic clock 13 and a surface sound velocity meter 14, the first underwater acoustic communication module 12 is connected with the satellite positioning module 11, the first atomic clock 13 and the surface sound velocity meter 14 respectively, and the first underwater acoustic communication module 12 is used for receiving the longi- tude and latitude information of the water surface monitoring platform acquired by the satellite positioning module 11, receiv- ing time information measured by the first atomic clock 13 and re- ceiving surface sound velocity information measured by the surface sound velocity meter 14; the satellite positioning module 11 is used for providing longitude, dimension, time and other infor- mation of the water surface monitoring platform; the first under- water acoustic communication module 12 is used for sending infor- mation such as longitude and latitude, time and surface sound ve- locity of the water surface monitoring platform to the deep sea vehicle; the first atomic clock 13 is used for providing a time reference; and the surface sound velocity meter 14 is used for measuring surface seawater sound velocity information once at in- tervals. FIG. 4 is a composition diagram of a deep sea vehicle in the embodiment of the present disclosure. As shown in FIG. 4, the deep sea vehicle part 2 comprises an information fusion module 21, a second underwater acoustic communication module 22, a ranging information processing module 23, a depth meter 24, a sound veloc- ity meter 25, an inertial navigation module 26, an acoustic Dop- pler log 27 and a second atomic clock 28, and the second underwa- ter acoustic communication module 22 is connected with the first underwater acoustic communication module 12 and used for receiving the longitude and latitude information and the time information of the water surface monitoring platform and surface acoustic veloci- ty information sent by the first underwater acoustic communication module 12; the information fusion module 21 is connected with the second underwater acoustic communication module 22, the ranging information processing module 23, the depth meter 24, the sound velocity meter 25, the inertial navigation module 26, the acoustic
Doppler log 27 and the second atomic clock 28 respectively; the information fusion module 21 is used for receiving the longitude and latitude information and the time information of the water surface monitoring platform, which are received by the second un- derwater acoustic communication module 22, as well as the surface sound velocity information, depth information measured by the depth meter 24, sound velocity profile information measured by the sound velocity meter 25, positioning information measured by the inertial navigation module 26, navigation information measured by the acoustic Doppler log 27 and time information measured by the second atomic clock 28, and determining the navigation information of the deep sea vehicle 2 according to the information.
FIG. 5 is a schematic diagram of assisted ranging navigation of a deep sea vehicle for a water surface monitoring platform in the embodiment of the present disclosure.
The updating rate of an underwater acoustic signal issued by the water surface monitoring platform is about 1 time per second and the updating rate of the SINS/DVL is more than 10 times per second. Therefore, when acoustic ranging information is not re- ceived, the information fusion unit of the deep sea vehicle per- forms SINS/DVL autonomous navigation.
Several examples are used for illustration of the principles and implementation methods of the present disclosure. The descrip-
tion of the embodiments is used to help illustrate the method and the core principles of the present disclosure; and meanwhile, those skilled in the art can make various modifications in terms of specific embodiments and scope of application in accordance with the teachings of the present disclosure.
In conclusion, the content of this specification shall not be construed as a limita- tion to the present disclosure.

Claims (1)

CONCLUSIESCONCLUSIONS 1. Ondersteunde afstandsnavigatiewerkwijze van een diepzeevoertuig voor een bewakingsplatform aan het wateroppervlak, waarbij de werkwijze de volgende stappen omvat: het verkrijgen van de lengte- en breedtegraadinformatie en de tijdinformatie van het bewakingsplatform aan het wateroppervlak in real time in een satellietpositioneringsmodus; het verzenden van de lengte- en breedtegraadinformatie en de tijdinformatie van het bewakingsplatform aan het wateroppervlak naar het diepzeevoertuig in een onderwater akoestische communica- tiemodus; het decoderen van communicatie-informatie via het diepzee- voertuig en het verkrijgen van lengte- en breedtegraad, evenals het tijdstip waarop het bewakingsplatform aan het wateroppervlak de communicatie-informatie verzendt; het verkrijgen van het tijdstip waarop het diepzeevoertuig de communicatie-informatie ontvangt; het verkrijgen van een voortplantingstijdvertraging in over- eenstemming met het tijdstip waarop het bewakingsplatform aan het wateroppervlak de communicatie-informatie verzendt en het tijdstip waarop het diepzeevoertuig de communicatie-informatie ontvangt; het verkrijgen van het geluidssnelheidsprofiel van het diep- zeevoertuig en de diepte van het diepzeevoertuig; het construeren van een intrinsieke geluidsstraal in overeen- stemming met het geluidssnelheidsprofiel, de diepte van het diep- zeevoertuig en de voortplantingstijdvertraging; het verkrijgen van een horizontale afstand tussen het bewa- kingsplatform aan het wateroppervlak en het diepzeevoertuig in overeenstemming met de intrinsieke geluidsstraal en de diepte van het diepzeevoertuig, in het bijzonder omvattende: het verkrijgen van de horizontale afstand tussen het bewa- kingsplatform aan het wateroppervlak en het diepzeevoertuig door de stelling van Pythagoras aan te nemen volgens de intrinsieke ge- luidsstraal en de diepte van het diepzeevoertuig; het verkrijgen van de traagheidsnavigatie-informatie van het diepzeevoertuig; en het uitvoeren van fusiecorrectie op de lengte- en breedte- graadgegevens van het bewakingsplatform aan het wateroppervlak, de horizontale afstand en de traagheidsnavigatie-informatie om geïn- tegreerde navigatie-informatie te verkrijgen, in het bijzonder om- vattende: het uitvoeren van fusiecorrectie op de lengte- en breedte- graad, de horizontale afstand en de traagheidsnavigatie-informatie door een Kalman-filtermethode toe te passen om gecorrigeerde navi- gatie-informatie te verkrijgen, waarbij de voortplantingstijdvertraging wordt verkregen in overeenstemming met het tijdstip waarop het bewakingsplatform aan het wateroppervlak de communicatie-informatie verzendt en het tijdstip waarop het diepzeevoertuig de communicatie-informatie ontvangt, in het bijzonder omvattende: het bepalen van de voortplantingsvertraging van een akoes- tisch onderwater communicatiesignaal in overeenstemming met het tijdstip waarop het bewakingsplatform aan het wateroppervlak de communicatie-informatie verzendt en het tijdstip waarop het diep- zeevoertuig de communicatie-informatie ontvangt die is verkregen door communicatiedecodering van het diepzeevoertuig.An assisted remote navigation method of a deep-sea vehicle for a surface surveillance platform, the method comprising the steps of: obtaining the latitude, longitude and time information of the surface surveillance platform in real time in a satellite positioning mode; transmitting the latitude and longitude information and the time information from the surface monitoring platform to the deep-sea vehicle in an underwater acoustic communication mode; decoding communication information through the deep-sea vehicle and obtaining latitude and longitude, as well as the time when the surface monitoring platform transmits the communication information; obtaining the time when the deep sea vehicle receives the communication information; obtaining a propagation time delay in accordance with the time when the surface monitoring platform transmits the communication information and the time when the deep sea vehicle receives the communication information; obtaining the sound velocity profile of the deep sea vehicle and the depth of the deep sea vehicle; constructing an intrinsic sound beam in accordance with the speed of sound profile, the depth of the deep sea vehicle and the propagation time delay; obtaining a horizontal distance between the water surface monitoring platform and the deep sea vehicle in accordance with the intrinsic sound radius and the depth of the deep sea vehicle, comprising in particular: obtaining the horizontal distance between the water surface monitoring platform and the deep-sea vehicle by assuming the Pythagorean theorem according to the intrinsic sound radius and the depth of the deep-sea vehicle; obtaining the inertial navigation information from the deep sea vehicle; and performing fusion correction on the water surface monitoring platform latitude and longitude data, horizontal range, and inertial navigation information to obtain integrated navigation information, in particular comprising: performing fusion correction on the latitude, longitude, horizontal distance and inertial navigation information by applying a Kalman filtering method to obtain corrected navigation information, where the propagation time delay is obtained in accordance with the time when the monitoring platform is at the surface of the water transmits the communication information and the time when the deep sea vehicle receives the communication information, in particular comprising: determining the propagation delay of an underwater acoustic communication signal in accordance with the time when the surface monitoring platform transmits the communication information and the time when the deep sea vehicle receives the communication information obtained by communication decoding of the deep sea vehicle.
NL2029737A 2021-11-12 2021-11-12 Ranging navigation method of deep sea vehicle for water surface monitoring platform NL2029737B1 (en)

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