NL2032139B1 - Ultra-short baseline underwater acoustic positioning system for simulation based on digitized models and debugging method - Google Patents

Ultra-short baseline underwater acoustic positioning system for simulation based on digitized models and debugging method Download PDF

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NL2032139B1
NL2032139B1 NL2032139A NL2032139A NL2032139B1 NL 2032139 B1 NL2032139 B1 NL 2032139B1 NL 2032139 A NL2032139 A NL 2032139A NL 2032139 A NL2032139 A NL 2032139A NL 2032139 B1 NL2032139 B1 NL 2032139B1
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positioning
underwater acoustic
digitized
ship
ultra
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NL2032139A
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Dutch (nl)
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Wang Juncheng
Wang Dongming
Qi Suiping
Li Yunzhou
Wang Zhongqiu
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Inst Oceanographic Instr Shandong Academy Of Sciences
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    • 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
    • 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
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
    • G06F11/0706—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment
    • G06F11/0736—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function
    • G06F11/0739—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation the processing taking place on a specific hardware platform or in a specific software environment in functional embedded systems, i.e. in a data processing system designed as a combination of hardware and software dedicated to performing a certain function in a data processing system embedded in automotive or aircraft systems
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • General Engineering & Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

UITTREKSEL The present invention discloses an ultra—short baseline underwater acoustic positioning system. for simulation based on digitized models and a debugging method. The positioning system is used for positioning a ship and is characterized by including a digitized 5 GPS model providing GPS positioning data for the ship; a digitized gyrocompass model providing gyrocompass data of the ship to correct a positioning result of the ship; and, a digitized, MRU model providing pitch and roll parameters of the ship to correct the positioning result of the ship. According to the present 10 invention, environmental parameter data may be respectively provided, for a positioning process based, on the digitized, GPS model, gyrocompass model and MRU model, thereby facilitating simulation of the positioning process and analysis under various environmental conditions and achieving high flexibility; and 15 actual sensors are avoided from being used, and thus, the hardware input cost is reduced. (+ Fig.)

Description

P1386 /NLpd
ULTRA-SHORT BASELINE UNDERWATER ACOUSTIC POSITIONING SYSTEM FOR
SIMULATION BASED ON DIGITIZED MODELS AND DEBUGGING METHOD
TECHNICAL FIELD
The present invention relates to the technical field of ship positioning, in particular to an ultra-short baseline underwater acoustic positioning system based on digitized environmental pa- rameter models and a debugging method.
BACKGROUND ART
At present, underwater acoustic positioning technologies based on sound waves have been widely applied to engineering fields such as underwater operation and deep sea development. If the underwater acoustic positioning technologies are classified according to a length of a baseline of a sound wave receiving ar- ray, they may be divided into three technologies including a long baseline underwater acoustic positioning technology, a short base- line underwater acoustic positioning technology and an ultra-short baseline underwater acoustic positioning technology. The long baseline underwater acoustic positioning technology and the short baseline underwater acoustic positioning technology are high in positioning precision and long in distance, but are difficult in mounting and deployment due to the longer baselines. The ultra- short baseline underwater acoustic positioning technology has the advantages of small equipment volume and rapidness in deployment due to the small baseline length which is generally several centi- meters only, thereby being widely applied to the fields such as underwater operation and deep sea development.
When an ultra-short baseline underwater acoustic positioning system operates, in an underwater acoustic positioning process, problems to be solved are embodied in two aspects: on one hand, the ultra-short baseline underwater acoustic positioning system is mounted on a ship or other offshore engineering operation plat- forms, the platforms may inevitably roll, pitch and deviate the heading under the affects of wind, waves, flows, etc. on the sea surface when the platforms operate on the sea surface, and there- fore, positioning calculation errors and offsets caused by posture instability of the above-mentioned ship to the positioning process need to be eliminated in the underwater acoustic positioning pro- cess; on the other hand, a reference positioning origin point of the underwater acoustic positioning process is a transponder thrown to the sea floor, local positioning reference coordinates relative to the underwater origin point may be calculated only in the underwater acoustic positioning process, if it is desired that the local coordinate system is converted into global positioning information, GPS positioning information is further required, and by means of conversion of the both, a positioning result under the local coordinate system is converted into a global coordinate sys- tem, and then, the ship may be positioned in a global reference system.
In an actual ultra-short baseline underwater acoustic posi- tioning system, sensors for acquiring environmental parameters in- clude a GPS sensor, a gyrocompass sensor and a MRU (motion refer- ence unit ) sensor, wherein the GPS sensor is used for acquiring
GPS positioning information of the ship; the gyrocompass sensor serves as an instrument providing a direction reference and may automatically and continuously provide a heading signal of the ship and transmit the heading signal to all parts, needing the heading signal, of the ship by means of a heading transmitting de- vice; the MRU sensor is a relatively complicated sensor, internal- ly integrates various functions (such as MEMS (Micro-Electro-
Mechanical System), IMU (Inertial Measurement Unit} and depth measurement), and is used for acquiring three-dimensional posture data (such as roll, pitch and heave); and environmental parameter data acquired by these sensors is used as auxiliary parameters for the ultra-short baseline underwater acoustic positioning process, so that the positioning accuracy of the ship is achieved.
For a single ultra-short baseline underwater acoustic posi- tioning system, a working process and a working status of mounting it on the ship needs to be simulated for simulation operation or fault detection and debugging; if actual sensors are equipped, the system is expensive; if a certain specific measurement result is used as input data, the flexible is poor; moreover, the environ- mental parameters may not be manually adjusted and controlled, and therefore, environmental conditions are limited during simulation.
SUMMARY
One of purposes of embodiments of the present invention is to provide an ultra-short baseline underwater acoustic positioning system based on digitized models, by which environmental parameter data may be respectively provided for a positioning process based on a digitized GPS model, gyrocompass model and MRU model, thereby facilitating simulation of the positioning process and analysis under various environmental conditions and achieving high flexi- bility; and actual sensors are avoided from being used, and thus, the hardware input cost is reduced.
In order to achieve the above-mentioned inventive purpose, the present invention is implemented by adopting the following technical solutions.
The present application relates to an ultra-short baseline underwater acoustic positioning system for simulation based on digitized models. The ultra-short baseline underwater acoustic po- sitioning system is used for positioning a ship, wherein the ul- tra-short baseline underwater acoustic positioning system in- cludes: a digitized GPS model providing GPS positioning data for the ship; a digitized gyrocompass model providing gyrocompass data of the ship to correct a positioning result of the ship; and a digitized MRU model providing pitch and roll parameters of the ship to correct the positioning result of the ship.
For the ultra-short baseline underwater acoustic positioning system based on digitized models in the present invention, the digitized GPS model, gyrocompass model and MRU model respectively provide the GPS positioning data, the gyrocompass data and the pitch and roll parameters for the positioning process, thereby fa- cilitating simulation under various environmental conditions; ac- tual sensors for acquiring the environmental parameters are avoid- ed from being used, and thus, the hardware input cost is reduced;
and it is beneficial to the positioning of a fault point when a fault is detected.
In the present application, the digitized GPS model includes: a determination unit used for determining initial longitude and latitude coordinates (EF, N) of the ship and the current time; a setting unit used for setting a heading and a navigation speed of the ship at the current time and a positioning time in- terval; a calculation unit used for calculating a navigation distance of the ship from the previous positioning time to positioning time and acquiring new longitude and latitude coordinates (E,, Nt) at the positioning time according to the longitude and latitude coor- dinates (E, N) at the previous positioning time and the navigation distance; and an output unit used for outputting the PGS positioning data according to a plurality of groups of longitude and latitude coor- dinates (FE, N) at a plurality of positioning time.
In the present application, the new longitude and latitude coordinates (FE,, N;) acquired at the positioning time according to the longitude and latitude coordinates (EF, N) at the previous po- sitioning time and the navigation distance are specifically ex- pressed as:
JE = Ee Lp GITE) Lg wp pe ¥spcsing
IN, wo Nb Lad 0 00001 B06) Loy a Foxy we ERE ’ ; wherein Ls represents a component of the navigation distance in the direction of due east E, Ly represents a component of the navigation distance in the direction of due north N, Vy represents a speed component of the navigation speed V in the direction of due east E, Vy represents a speed component of the navigation speed
V in the direction of due north N, t represents the positioning time interval, and ¢ represents an included angle between the heading and the due north N.
In the present application, the GPS positioning data is in a format of GPGGA, and a first field, a second field and a fourth field of the corresponding GPS positioning data are written-in ac-
cording to the longitude and latitude coordinates (FE, N) and the corresponding current time; and the remaining fields are kept same as the corresponding fields of the GPS positioning data of the ship on the initial lon- 5 gitude and latitude coordinates.
In the present application, the gyrocompass model includes: an acquisition unit acquiring a manually-set heading value of the ship; a reading unit reading the heading value and converting the heading value into the gyrocompass data.
In the present invention, the ultra-short baseline underwater acoustic positioning system further includes: a human-computer interaction interface, wherein the heading value is manually input via the human-computer interaction inter- face.
In the present application, the digitized MRU model includes: a first calculation relational expression expressing a rela- tion between a wind speed and a wave height; a second calculation relational expression expressing a rela- tion between the wave height and a wave period; and a pitch and roll parameter calculation unit receiving the wind speed and the wave period corresponding to the wind speed and calculating pitch and roll parameters at the wind speed.
In the present application, the first calculation relational expression is specifically expressed as:
Hh, = 000348 BY + 003997 W+ 03834 + 003367 Ws 6Smd th = 0.00630 W7+ 0.12802 1 + 032950 W > 6.5m , wherein W represents the wind speed, and h, represents the wave height at the wind speed Ww; the second calculation relational expression is specifically expressed as:
To 438 = ® , wherein T, represents the wave period at the wave height hs; and the pitch and roll parameter calculation unit calculates the pitch and roll parameters and is specifically expressed as:
Firehi=A, 54 cost) 7, i Te A ae
Roll = 5, x ost) #, ay
T, : = ‚ Wherein Ag, By, To, Tp and Ty respec- tively represent a pitch amplitude constant, a roll ampli- tude constant, a pitch and roll period proportion constant, a pitch period constant and a roll period constant at a certain wind speed, and t represents pitch and roll duration.
In the present application, the ultra-short baseline underwa- ter acoustic positioning system is provided with a first virtual communication serial port receiving the GPS positioning data, a second virtual communication serial port receiving the gyrocompass data and a third virtual communication serial port receiving the pitch and roll parameters; and the ultra-short baseline underwater acoustic positioning sys- tem is further reserved with physical communication serial ports respectively connected with a GPS sensor, a gyrocompass sensor and a MRU sensor.
The present application further relates to a debugging method for the ultra-short baseline underwater acoustic positioning sys- tem , including: receiving the GPS positioning data from the digitized GPS model, the gyrocompass data from the digitized gyrocompass model and the pitch and roll parameters from the digitized MRU model, performing an underwater acoustic positioning process, and affirm- ing that an underwater acoustic positioning function and a commu- nication interface are normal; cutting off communication with the digitized GPS model, the digitized gyrocompass model and the digitized MRU model, receiving the data measured by the GPS sensor, the gyrocompass sensor and the MRU sensor, and monitoring whether there is a fault in the un- derwater acoustic positioning process; and if there is the fault in the underwater acoustic positioning process, checking a position where the fault occurs.
Other characteristics and advantages of the present invention will become clearer after the specific implementations of the pre- sent invention are read with reference to the accompanying draw- ings.
BRIEF DESCRIPTION OF THE DRAWINGS
In order to describe the technical solutions in the embodi- ments of the present invention more clearly, the accompanying drawings required for describing the embodiments will be briefly introduced as follows. Apparently, the accompanying drawings that are described below are some embodiments of the present invention, and those of ordinary skill in the art may further obtain other accompanying drawings according to these accompanying drawings without paying creative work.
FIG. 1 shows a structural diagram of an embodiment of an ul- tra-short baseline underwater acoustic positioning system provided by the present invention;
FIG. 2 shows a calculation process diagram of a GPS model in an embodiment of the ultra-short baseline underwater acoustic po- sitioning system provided by the present invention;
FIG. 3 shows a curve of pitch duration within 20 s acquired in a MRU model in an embodiment of the ultra-short baseline under- water acoustic positioning system provided by the present inven- tion; and
FIG. 4 shows a curve of roll duration within 20 s acquired in a MRU model in an embodiment of the ultra-short baseline underwa- ter acoustic positioning system provided by the present invention.
DETAILED DESCRIPTION OF THE EMBODIMENTS
The technical solutions in the embodiments of the present in- vention will be described clearly and completely below with refer- ence to the accompanying drawings in the embodiments of the pre- sent invention. Apparently, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments.
Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without paying creative work shall fall within the protection scope of the present invention. In the descriptions of the present invention, it should be noted that the terms “mounted”, “connected” and “con- nection” should be understood in a broad sense unless otherwise specified and defined, for example, it may be fixed connection or detachable connection or an integral connection. For those of or- dinary skill in the art, the specific meanings of the above- mentioned terms in the present invention may be understood accord- ing to specific situations. In the descriptions of the above- mentioned implementations, the specific features, structures, ma- terials or characteristics may be combined in any one or more em- bodiments or examples in an appropriate manner.
The terms "first" and "second" are for descriptive purposes only, and cannot be understood as indicating or implying the rela- tive importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality of" may be at least two, unless it may be specifi- cally defined otherwise.
An ultra-short baseline underwater acoustic positioning sys- tem serves for a common underwater acoustic positioning process, and in an underwater acoustic positioning process, GPS positioning data, gyrocompass data and MRU data (mainly referring to a pitch parameter and a roll parameter) are required for assisting in a positioning process of a ship.
In order to simulate various environmental conditions in the positioning process, the GPS positioning data, the gyrocompass da- ta and the pitch and roll parameters are respectively acquired by a digitized GPS model instead of an actual GPS sensor, a digitized gyrocompass model instead of an actual gyrocompass sensor and a digitized MRU model instead of an actual MRU sensor, thereby as- sisting in the underwater acoustic positioning process.
Environmental parameters may be manually adjusted and con- trolled by means of the digitized GPS model, gyrocompass model and
MRU model, thereby achieving simulated positioning under various environmental conditions and achieving high flexibility; and actu-
al sensors are avoided from being used, and thus, the hardware in- put cost is reduced.
Each of the digitized GPS model, the digitized gyrocompass model and the digitized MRU model will be specifically described below.
Digitized GPS Model
A GPS positioning data stream within a specific route section is generated according to a relation among initial longitude and latitude coordinates, a heading and a navigation speed of a ship.
The GPS positioning data stream forms a historical GPS rec- orded positioning data stream file or is sent to a terminal user.
Simulated positioning under the condition that no satellite signals are provided may be completely achieved by calculating the navigation speed and the heading of the ship and converting navi- gation distance information of the ship within a certain time into longitude and latitude coordinate information under a geodetic co- ordinate system.
Moreover, any fixed point on the earth may be represented by a determined longitude and latitude.
In the present application, the digitized GPS model includes a determination unit, a setting unit, a calculation unit and an output unit.
The digitized GPS model will be specifically introduced below with reference to a calculation process in FIG. 2.
S21: initial longitude and latitude coordinates (E, N) are determined.
A ship starts from a certain coordinate point in Shanghai, at the moment, the determination unit determines initial longitude and latitude coordinates (E, N) of the ship.
S22: the current time is acquired.
The determination unit acquires the current time while deter- mining the initial longitude and latitude coordinates (E, N) of the ship.
S23: a heading, a navigation speed and a positioning time in- terval for GPS positioning are set.
At the current time, the setting unit sets a heading and a navigation speed V of the ship and a positioning time interval t.
At the moment, the current status of the ship has been af- firmed.
The positioning time interval t means that GPS positioning is performed after the time t, the GPS positioning time after the time t is called as positioning time.
S24: a navigation distance of the ship at the positioning time after the time t is calculated.
After the heading and the navigation speed V are determined in S823, components in two directions of east longitude and north latitude are resolved by using the following formula (1) according to a speed vector, and then, a component Lz of the navigation dis- tance of the ship in the direction of due east E and a component Ly of the navigation distance of the ship in the direction of due north N after the positioning time interval t are respectively calculated.
Le sos 1Foxxsing
Ls = Fond = x Freon (1) wherein Vz represents a speed component of the navigation speed V in the direction of due east E, Vy represents a speed com- ponent of the navigation speed V in the direction of due north N, and ¢ represents an included angle between the heading and the due north N.
Moreover, the heading and navigation speed at the current time may also be calculated according to components Ls: and Ly of the navigation distance of the ship.
S25: new longitude and latitude coordinates (E,, N:) of the ship at the positioning time after the time t are calculated.
Every 1 m displacement at the current dimension is calculated and converted into longitude and latitude information.
In a longitude direction, every 1 m displacement is converted into 1.1097E-05°; and in a latitude direction, every 1 m displace- ment is converted into 9.00901E-06°.
The longitude and latitude coordinates (E., N.} of the ship at the current positioning time may be calculated according to the following formula (2).
JE = E+ Lp 4110978457)
TAs Ms Ly%g0.0000 1 8-067) (2).
Therefore, the longitude and latitude coordinates (EZ, MN) at the positioning time may be acquired by accumulation in the direc- tions of east longitude and north latitude starting from the ini- tial longitude and latitude coordinates (E, N).
The above-mentioned processes of S24 and S25 are both per- formed by the calculation unit.
S26: the GPS positioning data is output according to the lon- gitude and latitude coordinates (E., NM).
The output unit is used for receiving the longitude and lati- tude coordinates (EE, NM) and outputting communication data which is suitable for communication and corresponds to the GPS position- ing data.
In the present application, the GPS positioning data is gen- erally in a format of GPGGA, and a standard transmission format of the GPS positioning information in the format is defined as:
SGPG-
GA, <1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>, <12>*hh<CR><L
E>.
In the definition, SGPGGA represents a start guiding symbol, * represents a statement ending marker, and hh represents XOR checkout of all ASCII codes from $ to *.
All data bits are defined as follows: <1> represents UTC time in a format of hhmmss.sss (hour, mi- nute, second); <2> represents a latitude in a format of ddmm.mmmn (namely dd®, mm.mmmm’) (it will be still transmitted even if the first bit is 0); <3> represents a latitude hemisphere expressed as N (north latitude) or S (south latitude); <4> represents a longitude in a format of dddmm.mmmm (namely ddd®, mm.mmmm’) {it will be still transmitted even if the first bit is 0): <5> represents a longitude hemisphere expressed as E (east longitude) or W (west longitude);
<6> represents a GPS status: 0 represents non-positioning, 1 represents non-differential positioning, 2 represents differential positioning, 3 represents invalid PPS, 4 represents a fixed solu- tion, 5 represents a floating point solution, 6 represents esti- mating, 7 represents a manually-input fixed value, 8 represents a simulation mode, and 9 represents a WAAS difference; <7> represents the number of used satellites from 00 to 12 {it will be still transmitted even if the first bit is 0); <8> represents an HDOP, namely horizontal dilution of preci- sion, and it ranges from 0.5 to 99.9; <9> represents an altitude ranging from -9999.9 to 99999.9;
M refers to a unit of meter; <10> represents a height of an ellipsoid surface of the earth relative to a geoidal surface, and it ranges from -9999.9 to 99999.9;
M refers to a unit of meter; <11> represents differential time (the time expressed as sec- ond started from the time when a differential signal is received last time, and if positioning is not the differential positioning, it will be null); <12> represents a differential reference base station numeral ranging from 0000 to 1023 {it will be still transmitted even if the first bit is 0, and if positioning is not the differential po- sitioning, it will be null). <CR> represents a carriage return symbol as an ending marker. <LF> represents a line break as an ending marker.
A complete GPS positioning transmission data in a format of a row of GPGGA is shown as follows:
SGPGGA,014919.000,3958.8052,N,11629.9022,E,1,15,0.86,56.3,M, - 5.7,M,,*41.
The digitized GPS model simulates the GPS positioning data of the ship in an actual navigation process. Since GPS mounting pa- rameters are constant, when the ship travels to a position near a certain small sea area, data in the items <3>, <5>, <6> and <12> may be regarded to be basically unchanged or not required to be changed; and the change of the GPS positioning data of the ship during navigation may be simulated by only acquiring data in the three items <1>, <2> and <4> in the positioning data.
The GPS positioning data may be output in the above-mentioned format of GPGGA by means of the longitude and latitude coordinates (E., Ne) in S25. 327: a plurality of GPS positioning data is acquired by cir- cularly repeating the processes from S24 to S26 according to a plurality of required positioning time, thereby forming a GPS po- sitioning data stream file.
The speed is resolved into the due east and the due north ac- cording to the navigation speed and the heading which are initial- ly set, a new position information of GPS positioning is calculat- ed once every time t and is continuously calculated for several time (such as 110 s), and 324 to 326 are iterated to obtain a his- torical GPS positioning data file stream.
That is, longitude and latitude coordinates and GPS position- ing data obtained from the initial time to 10 s, 20 s, 30 s, ...110 s are calculated.
A longitude and latitude coordinate point {(120.315671,36.043479) in a sea area near Qingdao is acquired from a network Baidu map, and it is assumed that the point is an ini- tial position point of a certain ship.
The longitude 120.315671 in the initial longitude and lati- tude coordinate point (120.315671,36.043479) is in a form of ddd.dddd, and the latitude 36.043479 is in a form of dd.dddd.
The latitude in the item <2> in the format of GPGGA is in a format of ddmm.mmmm; and the longitude in the item <4> is in the format of dddmm.mmmm.
In computer or GPS data presentation, a data system among de- gree, minute and second is sexagesimal.
A conversion process of 120.315671° is that: the degree is 120°, and the minute is 0.315671*60=18.9403'.
A conversion process of 36.043479° is that: the degree is 36°, and the minute is 0.043479*60=2.6087'.
Therefore, the item <4>, corresponding to the longitude 120.315671, in the format of GPGGA is 12018.9403, and the item <4>, corresponding to the latitude 36.043479, in the format of
GPGGA is 3602.6087.
Therefore, initial GPS positioning data corresponding to the above-mentioned initial longitude and latitude coordinates is ac- quired:
SGPGGA,134741.150,3602.6087,N,12018.9403,E,1,15,0.86,56.3,M,- 5.7,M,,*43.
If the time is 142321.3¢0, that is, it is 14:23:21.360 in the afternoon, the basic information of the ship is initially set to include: the heading relative to the due north is 35°, and the navigation speed is 4 knots.
Iterative calculation is performed for 110 s according to the above-mentioned calculation manner to form a historical GPS posi- tioning data stream shown as the following table. longitude and
Time | latitude coordi-
GPS positioning data result t/s nates (E, N)
SGPG- 120.315933,36.0 10 GA,142321.360,3602.6179,N,12018.9481,E,1,15,0.86,56.3,M,- 43783 5.7,M,,*48 $GPG- 120.316064,36.0
GA,142321.360,3602.6270,N,12018.9560,E,1,15,0.86,56.3,M,- 43935 5.7,.M,,*4F
SGPG- 120.316195,36.0
GA,142321.360,3602.6361,N,12018.9638,E,1,15,0.86,56.3,M,- 44086 5.7,M,,*40
SGPG- 120.316326,36.0
GA,142321.360,3602.6452,N,12018.9717,E,1,15,0.86,56.3,M,- 44238 5.7,M,,*4B $GPG- 120.316457,36.0
GA,142321.360,3602.6543,N,12018.9796,E,1,15,0.86,56.3,M,- 44390 5.7,M,,%43
SGPG- 120.316588,36.0
GA,142321.360,3602.6634,N,12018.9874,E,1,15,0.86,56.3,M,- 44542 5.7,M,,*43
SGPG- 120.316719,36.0 70 GA,142321,360,3602.6725,N,12018.9953,E,1,15,0.86,56.3,M,- 44694 5.7,M,,*46
SGPG- 120.316850,36.0
GA,142321.360,3602.6816,N,12019.0031,E,1,15,0.86,56.3,M,- 44846 5.7,M,,*4C $GPG- 120.316981,36.0 90 GA,142321.360,3602.6908,N,12019.0110,E,1,15,0.86,56.3,M,- 44998 5.7,M,,%40
SGPG- 120.317112,36.0 100 GA,142321.360,3602.6999,N,12019.0189,E,1,15,0.86,56.3,M,- 45149 5.7,M,,*48
SGPG- 120.317243,36.0 110 GA,142321.360,3602.7089,N,12019.0267,E,1,15,0.86,56.3,M,- 45301 5.7,M,, “42
Digitized Gyrocompass Model
In ultra-short baseline underwater acoustic positioning, a gyrocompass sensor is sensing equipment for measuring a traveling direction of a ship.
During ultra-short baseline underwater acoustic positioning, the gyrocompass sensor detects a heading of the current ship and transmits the heading to an ultra-short baseline underwater acous- tic positioning system in a specific communication format to cor- rect an underwater acoustic positioning result.
The heading range of the ship measured by the gyrocompass sensor is 0° to 360°.
In practice, the determination of the heading is set by steering personnel and is measured by using the gyrocompass sen- sor, and therefore, in the present application, the digitized gy- rocompass model is based on simulated manual driving.
In the present application, the digitized gyrocompass model includes an acquisition unit and a reading unit.
The heading of the ship is manually operated by simulation, a heading value is manually set within the range of 0° to 360°, and a default heading value is a value of an included angle between the heading and the direction of due north.
The acquisition unit is used for acquiring the manually-set heading value of the ship.
In the present application, the heading value is manually set via a human-computer interaction interface.
Of course, the heading value may also be set in a software writing-in manner, a keyboard input manner or a rotary knob ad- justment manner.
After the heading value is set, the reading unit reads the heading value and converts the heading value into gyrocompass da- ta.
In the present application, the gyrocompass data generates a gyrocompass data stream in a standard data communication format.
Specifically, common gyrocompass data transmission protocol formats include NMEA, Yokogawa, SKR, STL, etc., wherein NMEA is a general international standard protocol format, and the format is adopted as an example for description.
A standard statement format of a transmission protocol in a format of NMEA S**HDT is:
S**HDT, <heading>, T*<check sum> CRLF; wherein $ represents a starting transmission identifier; ** represents a specific character transmitted by gyrocompass equipment; the position of <heading> represents gyrocompass data of which the format may be two-bit valid data such as “000.00” ac- cording to setting; and <check sum> represents a result obtained by by-bit check of all characters from “$7 to “*<”,
CRLF represents a new line.
By simulating human-computer interaction of the digitized gy- rocompass model, the heading is set as 35°, a signal communication transmission data stream of the gyrocompass model generated ac- cording to the format of NMEA $**HDT is S$HEHDT,035.00,T*23, and if the heading is unchanged, the digitized gyrocompass model regular- ly transmits a communication transmission data stream to a termi- nal user.
Gyrocompass communication data transmitted by the digitized gyrocompass model under different heading values is shown as the fellowing table.
Heading setting
Gyrocompass communication data
SHEHDT,048.69,T*1C 72.34 SHEHDT,072.34,T*1D
SHEHDT,096.52,T*17
SHEHDT,143.21,T*1A 195.48 SHEHDT,195.48,T*1E
Digitized MRU Model
An unconstrained ship does six-degree-of-freedom swing motion under a relatively complicated sea condition. The ship may be re- garded as a rigid body. the six-degree-of-freedom motion is rota- tion, namely roll, pitch and yaw, surrounding three coordinate ax- es and displacement, namely surge, sway and heave, along the three coordinate axes under the action of sea waves.
In the above-mentioned six-degree-of-freedom swing motion of the ship, the roll, the pitch and the heave greatly affect the safety operation of the ship and the effective exertion of the de- sign capability of equipment of the ship.
Parameters measured by MRU serial motion posture sensors in the ultra-short baseline underwater acoustic positioning system are the three parameters of the roll, the pitch and the heave.
In the present application, the roll parameter (including a roll peak and period) and the pitch parameter (including a pitch peak and period) are mainly acquired.
Generally, the generation of waves is correlated to wind to a certain extent. According to a statistic rule, when the wind is very weak, the sea surface is kept quiet; however, when the wind speed reaches 0.25-1 m/s, capillary waves are generated;the capil- lary waves may continuously develop with the increment of wind power; when the wind speed reaches a critical wind speed of 0.7- 1.3 m/s, aeolian waves may be initially formed; and the aeolian waves are caused by wind energy, and the wind energy is trans-
ferred to waves by means of a positive pressure and a shearing stress of wind acting on windward surfaces of the waves.
In the present application, the digitized MRU model for simu- lation based on wind field coupling is used for simulating a MRU sensor to measure pitch and roll posture parameters which are used as inputs to support the correction for a positioning result in an ultra-short baseline underwater acoustic positioning process.
The digitized MRU model for simulation is mainly used for simulating a pitch and roll variation result generated when wind waves act on a hull.
A pitch and roll time sequence model is established by using a peak and a period of historical pitch and roll data of the ship by adopting a time sequence analysis method, the peak and the pe- riod of the pitch and roll time sequence model are weighted by coupling of a wind field on sea waves and coupling of the sea waves on pitch and roll, and then, a pitch and roll angle varia- tion model of the ship within a future pitch and roll period is established.
In the present application, the digitized MRU model includes a first calculation relational expression, a second calculation relational expression and a pitch and roll parameter calculation unit.
The first calculation relational expression expresses a rela- tion between a wind speed and a wave height and is used for ac- quiring influences of a wind field to the wave height.
It should be noted that the above-mentioned wave height re- fers to a significant wave height.
The second calculation relational expression expresses a re- lation between the wave height and a wave period and is used for acquiring influences of a wind field to the wave period.
The pitch and roll parameter calculation unit is used for weighting the peak and the period of the pitch and roll time se- quence model according to the influences of the wind field to the wave height and the wave period to obtain the pitch and roll angle variation model at the wind speed.
Within a pitch and roll period, it may be simply regarded that pitch and roll variation is approximate to a sine/cosine curve, and therefore, the acquisition of the pitch and roll param- eters is mainly acquisition of pitch and roll peaks and periods.
The pitch and roll peaks and periods are weighted according to an initial status (including a pitch peak, a pitch period, a roll peak and a roll period) at a specific wind speed and influ- ences of the wind field on the wave height and the wave period, and then, the digitized MRU model with the wind field being cou- pled within a period is established.
According to Ship Design Instruction Manual (Overall Fasci- cule) (hereinafter referred to as “Design Manual”, the wave height corresponding to the wind speed in the Design Manual is adopted as a mapping relation between the wind speed and the wave height, and thus, the relation between the wind speed and the wave height is acquired.
Specifically, according to data in the Design Manual, there is a section of major fluctuation on a variation curve of the wind speed and the corresponding wave height when the wind speed is lo- cated on the section of 4-6 m/s, the point at 6.5 m/s is used as a breaking point, and therefore, the first calculation relational expression as shown in the following formula (3) is acquired by fitting a sectional wind speed-wave height curve equation by means of the data, and thus, the relation between the wind speed and the wave height is acquired.
That is, the data of the wind speed lower than or equal to 6.5 m/s is fitted into a three-order polynomial, and a data seg- ment of the wind speed higher than 6.5 m/s is fitted into a two- order polynomial. a, = (LOGIS IF + 003007 H+ QURAN + 03367 Wasa i = (00630 #7 + LI2802 BF + 032950 Wo» 6, Sns (3) wherein W represents the wind speed, and h represents the wave height corresponding to the wind speed W.
Therefore, the wave height at a certain wind speed may be ac- quired according to the formula (3).
The second calculation relational expression is a formula (namely an empirical formulae for wind wave calculation in the
Putian test station) based on Specifica- tion for Levee Project Construction (GB-50286-98), it describes a relational expression between the wave period and the wave height so as to calculate the wave period according to the wave height, referring to the following formula (4).
T, =4438h5" (4) wherein h, represents the wave height corresponding to the wind speed, and T, represents the wave period corresponding to the wind speed.
As mentioned above, within a pitch and roll period, it may be simply regarded that pitch and roll variation is approximate to a sine/cosine function, a amplitude and period of the function are in direct proportion to a wave height and a wave period of a wave, and therefore, the pitch and roll parameter calculation unit may acquire influences of the wind speed and the wave period to a peak and a period within single pitch and roll period according to the following formula (5), thereby constructing a coupling and weighting model for a MRU to measure pitch and roll.
Pireh=A, 4 cost) ; 0 ZET t ws A eg
Roll = B, 2 cost 2
T 8 ° (5) wherein A, By, Ty, Ts and Ty respectively represent a pitch amplitude constant, a roll amplitude constant, a pitch and roll period proportion constant, a pitch period constant and a roll pe- riod constant at a certain air speed, and t represents pitch and roll duration.
Moreover, As, By, Tq, Ts and Ty as mentioned above may be re- spectively acquired in an initial status (including a pitch peak, a pitch period, a roll peak and a roll period) at a specific wind speed.
Therefore, for example, when the wind speed W is randomly generated, the wave period T, corresponding to the wind speed W may be calculated according to the formulae (3) and (4).
The wave period T, corresponding to the wind speed W is sub- stituted into the formula (5) to acquire a pitch parameter Pitch {including a pitch peak (namely a pitch angle peak) and a pitch period) and a roll parameter Roll (including a roll peak (namely a roll angle peak) and a roll period).
For example, when the wind speed of 20.46 m/s is randomly generated under the action of a random wind field, the correspond- ing wave height h,=5.58m is acquired according to the formula (3), and the wave period T,/10.48s is acquired according to the formula (4).
If a duration value of the single pitch and roll period is expressed as: the pitch peak is 0.03°, the pitch period is 6.8 s, the roll peak is 0.15°, and the roll period is 10.4 s, the dura- tion value of the single pitch and roll period is used as initial data.
Correction results Pitch and Roll of new pitch and roll pa- rameters are acquired according to the wave height h,=5.58 m and the wave period T=10.48 s calculated at the random wind speed of 20.46 m/s as well as the formula (5). For example, a correction value of the pitch peak is 3.84°, a correction value of the pitch period is 10.16 s, a correction value of the roll peak is 19.2°, and a correction value of the roll period is 15.55s.
FIG. 3 shows a curve of pitch duration within 20 s output by a digitized MRU model under the action of a wind speed W=20.46 m/s.
FIG. 4 shows a curve of pitch duration within 20 s output by a digitized MRU model under the action of a wind speed W=20.46 m/s.
It should be noted that A;, By, Ts, Te and Tx need to be calcu- lated in advance by means of the initial data when the correction results of the new pitch and roll parameters are calculated ac- cording to the formula (5).
A MRU sensor communicates in a manner of a serial port
RS232/422, communication data is in a format of EM3000, the commu- nication data is defined to be in a format of 10-byte fixed-length data, and three forms including a single-byte unsigned integer type, a double-byte unsigned integer type and two's complement of an integer are adopted. For example, the communication format of two's complement of the integer is specifically defined as the following table. 1 Status EM3000 format: 90h: valid data, full-precision 91h-99h: valid data, lowered precision 9Ah-9Fh: invalid data, common operation
AOh-AFh: error wm 3,4 Roll Ish, msb +179.99deg, the positive represents that a Portboard is upward, and the negative is represented by two's complement 5,6 Pitch Isb, msb +179.99deg, the positive represents that a bow is upward, and the negative is represented by two's complement 7,8 Heave Ish, msb 19.99m, the positive represents that a hull is upward, and the negative is represented by two's comple- ment
The above-mentioned pitch and roll parameters are correspond- ingly written into corresponding bytes in the communication data format EM3000.
For example, when Roll=2.0 and Pitch=-2.0,
The EM3000 communication data is 9090 C800 38FF 5900 963C.
A GPS communication data stream acquired by the digitized GPS model, a gyrocompass communication data stream acquired by the digitized gyrocompass model and a pitch and roll parameter commu- nication data stream acquired by the digitized MRU model are adopted for assisting in underwater acoustic positioning of a ul- tra-short baseline underwater acoustic positioning process.
The digitized GPS model, the digitized gyrocompass model and the digitized MRU model have to communicate with the ultra-short baseline underwater acoustic positioning system via a digital in-
terface to access the data streams obtained by all the models to the system, thereby simulating the ultra-short baseline underwater acoustic positioning process.
The system operates in an industrial control computer system without the support of hardware of other auxiliary communication equipment, and therefore, simulated hardware communication in software is achieved by constructing communication channels of virtual communication serial ports in the system by means of vir- tual serial port software, and then, data transmission from the above-mentioned three digitized models to the ultra-short baseline underwater acoustic positioning system is achieved. Its architec- ture refers to FIG. 1.
In order to ensure that actual sensors are accessed, the sys- tem is further reserved with physical communication serial ports (referring to a dotted box in FIG. 1) which may be directly and externally connected with actual environmental parameter sensors, namely, a GPS sensor, a gyrocompass sensor and a MRU sensor as re- quired to directly acquire real environmental parameter data.
After the data streams generated by the above-mentioned dig- itized GPS model, the digitized gyrocompass model and the digit- ized MRU model are corrected by the respective models, results are transmitted to the virtual communication serial ports according to a standard communication protocol, and a process that an actual sensing system transmits the sensed results to the ultra-short baseline underwater acoustic positioning system is simulated, and thus, simulation of the underwater acoustic positioning process of the ultra-short baseline underwater acoustic positioning system is supported. Comunication configuration parameters and communica- tion modes of the virtual communication serial ports are complete- ly consistent with those of the physical communication serial ports.
The ultra-short baseline underwater acoustic positioning sys- tem may be debugged while simulating underwater acoustic position- ing.
Firstly, simulation environment sensing parameters including a GPS positioning parameter, a gyrocompass heading parameter and a pitch and roll parameter of a MRU are transmitted to the ultra-
short baseline underwater acoustic positioning system by the dig- itized models, the operation of the ultra-short baseline underwa- ter acoustic positioning process is simulated, and it is affirmed that the current single-computer function and communication inter- face configuration are normal; secondly, the environmental parameters received by the ultra- short baseline underwater acoustic positioning system are changed to be received by the physical communication serial ports, data measured by the actual GPS sensor, the gyrocompass sensor and the
MRU sensor is received, and it is monitored whether there is an abnormality or alarm fault, such as positioning information loss, heading loss and no data in the MRU, in the ultra-short baseline underwater acoustic positioning process; and thirdly, the corresponding actual sensors are checked accord- ing to fault information, and parts where the fault may occur are checked one by one according to the parameter configuration of a receiving terminal interface, the wiring of the physical communi- cation serial ports, cable connection, a working state of trans- mitting terminal equipment and parameter configuration of a trans- mitting terminal interface.
The digitized models may be switched once more in fault cor- recting and debugging processes, and it is compared whether posi- tioning results of the ultra-short baseline underwater acoustic positioning system supported by the digitized models and the actu- al sensors are identical, thereby detecting whether there are faults in parameter configuration and equipment operation of phys- ical circuits, interfaces and sensors.
The digitized models are utilized to debug the ultra-short baseline underwater acoustic positioning system, so that reference information is provided for debugging the system, the system is convenient to debug, and convenience is provided for a user to de- bug the system. Moreover, the digitized models and the actual sen- sors are switched, thereby facilitating positioning a faulted po- sition, facilitating finding a fault rapidly and improving the use experience of the user.
The above-mentioned embodiments are merely used to describe the technical solutions of the present invention, rather than to limit them.
Although the present invention has been described in detail with reference to the above-menticned embodiments, it should be understood by the ordinary skill in the art that the technical solutions recorded in all the above-mentioned embodi-
ments may still be modified, or parts of the technical features may be equivalently replaced; and these modifications or replace- ments do not make the essences of the corresponding technical so- lutions depart from the spirit and scope of the technical solu- tions as claimed in the present invention.

Claims (10)

CONCLUSIESCONCLUSIONS 1. Ultrakort onderwater akoestisch basislijn positioneringssysteem voor simulatie op basis van gedigitaliseerde modellen, waarbij het ultrakorte onderwater akoestische basislijn positioneringssysteem wordt gebruikt voor het positioneren van een schip, waarbij het ultrakorte onderwater akoestische basislijn positioneringssysteem omvat: een gedigitaliseerd GPS-model dat GPS-positiegegevens voor het schip levert; een gedigitaliseerd gyrokompasmodel dat gyrokompasgegevens van het schip levert om een positioneringsresultaat van het schip te cor- rigeren; en een gedigitaliseerd MRU-model dat stamp- en rolparameters van het schip levert om het positioneringsresultaat van het schip te cor- rigeren.1. Ultra-short underwater acoustic baseline positioning system for simulation based on digitized models, wherein the ultra-short underwater acoustic baseline positioning system is used for positioning a ship, wherein the ultra-short underwater acoustic baseline positioning system includes: a digitized GPS model that contains GPS position data for the ship delivers; a digitized gyrocompass model that provides ship gyrocompass data to correct a ship positioning result; and a digitized MRU model that provides ship pitch and roll parameters to correct the ship positioning result. 2. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 1, waarbij het gedigitaliseerde GPS-model omvat: een bepalingseenheid die wordt gebruikt voor het bepalen van de initiële lengte- en breedtegraadcoördinaten (E, N) van het schip en de huidige tijd; een insteleenheid die wordt gebruikt voor het instellen van een koers en een navigatiesnelheid van het schip op de huidige tijd en een positioneringstijdsinterval; een rekeneenheid die wordt gebruikt voor het berekenen van een navigatie-afstand van het schip vanaf de vorige positioneringstijd tot positioneringstijd en voor het verwerven van nieuwe lengte- en breedtegraadcoördinaten (Ey, N.) op de positioneringstijd volgens de lengte- en breedtegraadcoördinaten (E, N) op de vorige posi- tioneringstijd en de navigatieafstand; en een uitvoereenheid die wordt gebruikt voor het uitvoeren van de PGS-positioneringsgegevens volgens meerdere groepen van lengte- en breedtegraadcoördinaten (E, N) op meerdere positioneringstijden.The ultra-short underwater acoustic baseline positioning system of claim 1, wherein the digitized GPS model comprises: a determination unit used to determine the ship's initial latitude and longitude coordinates (E, N) and the current time; a setting unit used to set a course and a navigation speed of the ship at the current time and a positioning time interval; an arithmetic unit used for calculating a navigation distance of the ship from the previous positioning time to positioning time and for acquiring new latitude and longitude coordinates (Ey, N.) at the positioning time according to the latitude and longitude coordinates (E, N) on the previous positioning time and the navigation distance; and an output unit used to output the PGS positioning data according to multiple groups of latitude and longitude coordinates (E, N) at multiple positioning times. 3. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 2, waarbij de nieuwe lengte- en breedte-3. Ultra-short underwater acoustic baseline positioning system according to claim 2, wherein the new longitudinal and lateral graadcoördinaten (E., Nt) verkregen op het positioneringstijdstip volgens de lengte- en breedtegraadcoördinaten (E, N) op het vorige positioneringstijdstip en de navigatieafstand specifiek wordt uitgedrukt als: JE = Ev Le #097057) Ly pos Popsing i IN, = NP LAKS OOI BET) | Lam Fons I xpseosg waarbij Lz staat voor een component van de navigatieafstand in de richting van het werkelijke oosten E, Ly staat voor een component van de navigatieafstand in de richting van het werkelijke noorden N, Vy staat voor een snelheidscomponent van de navigatiesnelheid V in de richting van het werkelijke oosten E , Vy staat voor een snelheidscomponent van de navigatiesnelheid V in de richting van het werkelijke noorden N, t staat voor het positioneringstijdsin- terval en 8 staat voor een ingesloten hoek tussen de koers en het werkelijke noorden N.degree coordinates (E., Nt) obtained at the positioning time according to the latitude and longitude coordinates (E, N) at the previous positioning time and the navigation distance is specifically expressed as: JE = Ev Le #097057) Ly pos Popsing i IN, = NP LAKS OOI BET) | Lam Fons I xpseosg where Lz represents a component of the navigation distance in the direction of true east E, Ly represents a component of the navigation distance in the direction of true north N, Vy represents a speed component of the navigation speed V in the direction of true east E , Vy represents a velocity component of the navigation speed V in the direction of true north N, t represents the positioning time interval and δ represents an included angle between the heading and true north N. 4. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 2 of 3, waarbij: de GPS-positioneringsgegevens zijn in een formaat van GPGGA, en een eerste veld, een tweede veld en een vierde veld van de corre- sponderende GPS-positioneringsgegevens zijn geschreven in overeenstemming met de lengte- en breedtegraadcoördinaten (E, N) en de bijbehorende huidige tijd ; en de overige velden blijven hetzelfde als de corresponderende velden van de GPS-positiegegevens van het schip op de initiële lengte- en breedtegraadcoördinaten.An ultra-short underwater acoustic baseline positioning system according to claim 2 or 3, wherein: the GPS positioning data is in a format of GPGGA, and a first field, a second field and a fourth field of the corresponding GPS positioning data are written in accordance with with the latitude and longitude coordinates (E, N) and the corresponding current time; and the remaining fields remain the same as the corresponding fields of the ship's GPS position data at the initial latitude and longitude coordinates. 5. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 1, waarbij het gyrokompasmodel omvat: eeri acquisitie-eenheid die een handmatig ingestelde koerswaarde van het schip verkrijgt; een leeseenheid die de koerswaarde leest en de koerswaarde omzet in de gyrokompasgegevens.The ultra-short underwater acoustic baseline positioning system of claim 1, wherein the gyrocompass model comprises: an acquisition unit that obtains a manually set heading value from the ship; a reading unit that reads the heading value and converts the heading value into the gyrocompass data. 6. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 5, waarbij het ultrakort onderwater akoestisch basislijn positioneringssysteem verder omvat: een mens-computer-interactie-interface, waarbij de koerswaarde handmatig wordt ingevoerd via de mens-computer-interactie- interface.The ultra-short underwater acoustic baseline positioning system of claim 5, wherein the ultra-short underwater acoustic baseline positioning system further comprises: a human-computer interaction interface, wherein the heading value is manually entered via the human-computer interaction interface. 7. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 1, waarbij het gedigitaliseerde MRU-model omvat: een eerste relationele rekenexpressie die een relatie uitdrukt tussen een windsnelheid en een golfhoogte; een tweede reken-relationele uitdrukking die een relatie uitdrukt tussen de golfhoogte en een golfperiode; en een eenheid voor het berekenen van de stamp- en rolparameter die de windsnelheid en de golfperiode ontvangt die overeenkomen met de windsnelheid en die de parameters voor stampen en rollen bij de windsnelheid berekent.The ultra-short underwater acoustic baseline positioning system of claim 1, wherein the digitized MRU model comprises: a first relational calculation expression expressing a relationship between a wind speed and a wave height; a second arithmetic-relational expression expressing a relationship between the wave height and a wave period; and a pitch and roll parameter calculating unit that receives the wind speed and wave period corresponding to the wind speed and calculates the pitch and roll parameters at the wind speed. 8. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 7, waarbij de eerste relationele berekeningsex- pressie specifiek wordt uitgedrukt als: Ph, = 0.00348 #7 + 0.03997 W+ 0008340 + 0.03367 Ws6Smb Th = 0.00630 W's 0.12802 IF + 032950 WF > 6.300 ’ waarin W staat voor de windsnelheid, en h, staat voor de golfhoogte bij de windsnelheid W; de tweede relationele uitdrukking voor berekening wordt specifiek uitgedrukt als: D= 44387 , : ® , waarin T, staat voor de golfperiode op de golfhoogte hm; en de berekeningseenheid voor de stamp en rol parameter de stamp en rol parameters berekent en specifiek wordt uitgedrukt als:The ultra-short underwater acoustic baseline positioning system of claim 7, wherein the first relational calculation expression is specifically expressed as: Ph, = 0.00348 #7 + 0.03997 W+ 0008340 + 0.03367 Ws6Smb Th = 0.00630 W's 0.12802 IF + 032950 WF > 6.300 ' in which W stands for the wind speed, and h, stands for the wave height at wind speed W; the second relational expression for calculation is specifically expressed as: D= 44387 , : ® , where T, represents the wave period at the wave height hm; and the pitch and roll parameter calculation unit calculates the pitch and roll parameters and is specifically expressed as: ì Fitehi=A w cost TH Sy 9 3 T a Wo dar F Roll = B — cosi) Hey ro * © ‚ Waarin As, Bg, Ts, Tr en Tp re- spectievelijk een stamp-amplitudeconstante, een rolamplitudecon- stante, een stamp- en rolperiodeverhoudingsconstante, een stamp- periodeconstante en een rolperiodeconstante vertegenwoordigen bij een bepaalde windsnelheid, en t staat voor stamp- en rolduur.ì Fitehi=A w cost TH Sy 9 3 T a Wo dar F Roll = B — cosi) Hey ro * © ‚ Where As, Bg, Ts, Tr and Tp are respectively a pitch amplitude constant, a roll amplitude constant, a pitch and roll period ratio constant, a pitch period constant and a roll period constant at a certain wind speed, and t represents pitch and roll period. 9. Ultrakort onderwater akoestisch basislijn positioneringssysteem volgens conclusie 1, waarbij: het ultrakorte onderwater akoestisch basislijn positionerings- systeem is voorzien van een eerste virtuele seriële communicatie- poort die de GPS-positioneringsgegevens ontvangt, een tweede vir- tuele seriële communicatiepoort die de gyrokompasgegevens ontvangt en een derde virtuele seriële communicatiepoort die de stamp- en rolparameters ontvangt; en waarbij het ultrakorte onderwater akoestisch basislijn positioner- ingssysteem verder is voorzien van fysieke communicatie-seriéle poorten die respectievelijk zijn verbonden met een GPS-sensor, een gyrokompassensor en een MRU-sensor.The ultra-short underwater acoustic baseline positioning system of claim 1, wherein: the ultra-short underwater acoustic baseline positioning system includes a first virtual serial communications port that receives the GPS positioning data, a second virtual serial communications port that receives the gyrocompass data, and a third virtual serial communications port that receives the pitch and roll parameters; and wherein the ultra-short underwater acoustic baseline positioning system further includes physical communications serial ports connected to a GPS sensor, a gyrocompass sensor and an MRU sensor, respectively. 10. Werkwijze voor het opsporen van fouten voor het ultrakorte onderwater akoestisch basislijn positioneringssysteem volgens een van de conclusies 1 tot 9, omvattende: het ontvangen van de GPS-positioneringsgegevens van het gedigital- iseerde GPS-model, de gyrokompasgegevens van het gedigitaliseerde gyrokompasmodel en de stamp en rol -parameters van het gedigital- iseerde MRU-model, het uitvoeren van een akoestisch onder water positioneringsproces, en het bevestigen dat een akoestisch onder- water positioneringsproces en een communicatie-interface normaal zijn; het afsnijden van de communicatie met het gedigitaliseerde GPS- model, het gedigitaliseerde gyrokompasmodel en het gedigital-An error detection method for the ultra-short underwater acoustic baseline positioning system according to any one of claims 1 to 9, comprising: receiving the GPS positioning data from the digitized GPS model, the gyro compass data from the digitized gyro compass model and the pitch and roll parameters of the digitized MRU model, performing an underwater acoustic positioning process, and confirming that an underwater acoustic positioning process and a communication interface are normal; cutting off communication with the digitized GPS model, the digitized gyro compass model and the digitized iseerde MRU-model, het ontvangen van de gegevens gemeten door de GPS-sensor, de gyrokompassensor en de MRU-sensor, en het con- troleren of er een fout is in het akoestisch onderwater posi- tioneringsproces; en als er een fout is in het akoestisch onderwater positioneringspro- ces, het controleren van een positie waar de fout optreedt.the MRU model, receiving the data measured by the GPS sensor, the gyrocompass sensor and the MRU sensor, and checking whether there is an error in the underwater acoustic positioning process; and if there is an error in the underwater acoustic positioning process, checking a position where the error occurs.
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