CN101246215A - Method and system for implementing underwater locating based on GPS system - Google Patents
Method and system for implementing underwater locating based on GPS system Download PDFInfo
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- CN101246215A CN101246215A CNA200810065754XA CN200810065754A CN101246215A CN 101246215 A CN101246215 A CN 101246215A CN A200810065754X A CNA200810065754X A CN A200810065754XA CN 200810065754 A CN200810065754 A CN 200810065754A CN 101246215 A CN101246215 A CN 101246215A
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Abstract
The invention relates to the field of communication, which provides a method for realizing underwater position which is based on GPS system and system thereof. The method includes the following steps: A. underwater receiver touches sonar device to send sonar signal to GPS main machine; B. GPS main machine obtains the self positioning data, according to the sonar signal, relative position of underwater position is calculated, and the self positioning data and relative location data to the control center are sent; C. control center treats the said self positioning data and relative location data and relative position data with data fusion treatment, for obtaining position of underwater objective in detection system. According to the invention, the GPS main machine sends the obtained self positioning data and relative location data acquired from sonar signal to the control center, at last the control center treats the data with data confusion process, for location of obtaining underwater objective, which improves the precision of positioning.
Description
Technical field
The present invention relates to the communications field, more particularly, relate to a kind of method and system that realization is located based on gps system under water.
Background technology
GPS (Global Positioning System, GPS) be to be familiar with a notion only again to people, automobile, steamer, aircraft etc. and the location and the relevant vehicles that navigate are as long as be equipped with GPS navigation device, the ground of the syllabus of just can freely travelling.But because the GPS employing is radiowave, it can't be penetrated under water, even if one millimeter water layer also can't penetrate, therefore for zones such as wide ocean, rivers, lakes, satellite positioning tech can not directly be used
And in underwater position fixing technique in the past, be to adopt radar to survey sound, calculate the relative position of submarine target then according to the delay of sound.Because the density in different waters, the degree of depth, temperature etc. all can affect to sound transmission, so very easily there is error in this mode aspect the location, and is accurate inadequately.
Therefore the method that needs a kind of new realization to locate under water reduces error, improves the accuracy of location.
Summary of the invention
The object of the present invention is to provide a kind of system of locating of realizing under water, be intended to solve the prior art low problem of accuracy that exists of aspect, location under water.
The present invention also aims to provide a kind of method of locating of realizing under water, to solve the above-mentioned problems in the prior art better.
In order to realize goal of the invention, described system comprises control center, obtains the GPS main frame of self locator data, and the submarine receiving set that carries out data interaction with control center, and described system also comprises sonar equipment;
Described sonar equipment links to each other with the GPS main frame, is used to receive the signal that submarine receiving set sends, and sends sonar signal to the GPS main frame, forwards it to control center by the latter;
Described control center carries out Data Fusion according to self poisoning data and sonar signal that the GPS main frame obtains, obtains the positional information of submarine target.
Preferably, described GPS main frame further comprises GPS positioning unit, data processing unit, information transmit-receive unit;
Described GPS positioning unit is used to receive gps satellite signal, obtains self locator data and is forwarded to data processing unit;
Described data processing unit is used for calculating the submarine target relative position according to sonar signal, and the self poisoning data of itself and GPS main frame are sent into the information transmit-receive unit in the lump;
Described information transmit-receive unit and data processing unit carry out data interaction, are used for the data after the data processing unit processing are sent to control center.
Preferably, described sonar equipment links to each other by hardware interface with the GPS main frame.
In order to realize said method comprising the steps of goal of the invention better:
A. submarine receiving set touches sonar equipment transmission sonar signal to the GPS main frame;
The B.GPS main frame obtains self locator data, calculates the relative position of submarine target according to sonar signal, and described self poisoning data and station-keeping data are sent to control center;
C. control center carries out Data Fusion to described self poisoning data and station-keeping data, obtains the position of submarine target in the measurement system.
Preferably, described method is the method for following the tracks of submarine target, and then steps A further comprises:
A1. submarine receiving set is forwarded to sonar equipment with the positioning request signal that control center sends, and touches sonar equipment and sends sonar signal to the GPS main frame.
Preferably, described method is the method that submarine target is navigated, and then steps A further comprises:
A1 '. submarine receiving set sends the navigation requests signal to control center, touches sonar equipment simultaneously and sends sonar signal to the GPS main frame.
Preferably, the GPS main frame calculates the submarine target relative position according to the time delay of sonar signal among the described step B.
Preferably, the Data Fusion among the described step C is meant: according to described self poisoning data and station-keeping data, utilize difference algorithm to calculate the position of submarine target in the measurement system.
The present invention sends to control center by the GPS main frame with the self poisoning data obtained and according to the station-keeping data that sonar signal obtains, and carries out Data Fusion by control center at last, obtain the position of submarine target, the accuracy of the location of having improved.
Description of drawings
Fig. 1 realizes the system construction drawing of location under water among the present invention;
Fig. 2 realizes the method flow diagram of location under water among the present invention;
Fig. 3 is a method sequential chart of following the tracks of submarine target in one embodiment of the present of invention;
Fig. 4 is the method sequential chart that in the another embodiment of the present invention submarine target is navigated.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The present invention passes through sonar equipment and GPS host binding waterborne, the shake-up sonar equipment sends sonar signal and submarine receiving set according to circumstances (is followed the tracks of the or navigation), " the self poisoning data " that to obtain by the GPS main frame and send to control center according to " station-keeping data " that sonar signal obtains, carry out Data Fusion by control center at last, obtain the exact position of submarine target.This mode is for the method that traditional dependence sound positions, and accuracy is improved.
Fig. 1 shows and realizes the system architecture of location under water among the present invention, and this system comprises control center 100, submarine receiving set 200, sonar equipment 300 and GPS main frame 400.Should be noted that the annexation between each equipment is the needs of explaining its information interaction and control procedure for clear in all diagrams of the present invention, therefore should be considered as annexation in logic, and should not only limit to physical connection.Wherein:
(1) control center 100 carries out data interaction respectively with submarine receiving set 200 and GPS main frame 400, be used to receive self poisoning data and the described submarine target relative position that GPS main frame 400 sends, the line data fusion treatment of going forward side by side, thus the exact position of submarine target in measuring system obtained.
(2) submarine receiving set 200 is installed on the submarine target, and itself and control center 100 carry out data interaction, comprising: receive the instruction that control center 100 sends, and for example under the tracking situation, " positioning request signal " that control center 100 initiatively sends to submarine target; Last photos and sending messages is given control center 100, and for example, under the navigation situation, submarine receiving set 200 sends " navigation requests signal " to control center 100.
(3) sonar equipment 300 is connected with GPS main frame 400, is used to receive the signal that submarine receiving set 200 sends, and sends sonar signal to GPS main frame 400.
(4) GPS main frame 400 carries out data interaction with sonar equipment 300, and it is positioned at water surface top, and quantity can be a plurality of, is determined on a case-by-case basis.In one embodiment, have the external hardware interface on the GPS main frame 400, can directly link to each other with sonar equipment 300.This GPS main frame 400 can further comprise GPS positioning unit 401, data processing unit 402, information transmit-receive unit 403, and wherein: GPS positioning unit 401 is used to receive gps satellite signal, obtains self locator data and is forwarded to data processing unit 402; Data processing unit 402 is used for calculating the submarine target relative position according to sonar signal, and the self poisoning data of itself and GPS main frame 400 are sent into information transmit-receive unit 403 in the lump; Information transmit-receive unit 403 carries out data interaction with data processing unit 402, is used for the data after the data processing unit processing are sent to control center 100.
Fig. 2 shows among the present invention and to realize the method flow of location under water, and this method flow is based on figure ... shown in system architecture, detailed process is as follows:
In step S201, submarine receiving set 200 touches sonar equipment 300 and sends sonar signal to GPS main frame 400.The startup of above-mentioned steps has multiple situation.
In an exemplary scenario, if submarine target is carried out track and localization initiatively, then the implementation of this step is: the positioning request signal that control center 100 sends is to submarine receiving set 200, submarine receiving set 200 is forwarded to sonar equipment 300 with this positioning request signal, sends sonar signal to GPS main frame 400 thereby touch sonar equipment 300.
In another exemplary scenario, if submarine target is navigated, then the implementation of this step is: submarine receiving set 200 sends the navigation requests signal to control center 100, touches sonar equipment 300 simultaneously and sends sonar signal to GPS main frame 400.
In step S202, GPS main frame 400 obtains self locator data, calculates the relative position of submarine target according to sonar signal, and described self poisoning data and station-keeping data are sent to control center 100.In an exemplary scenario, the implementation of this step comprises: GPS main frame 400 utilizes its inner GPS positioning unit 401 to receive gps satellite signal, and calculates self longitude and latitude and sea level elevation, realizes the location of self; A plurality of GPS main frames 400 waterborne are receiving after submarine target issues the signal of sonar equipment 300 respectively, and the signal that self poisoning data and sonar equipment 300 are received sends to control center 100.
In step S203,100 pairs of described self poisoning data of control center and station-keeping data carry out Data Fusion, obtain the position of submarine target in the measurement system.In an exemplary scenario, the implementation of this step comprises: after control center 100 receives the data that a plurality of GPS main frame 400 waterborne sends, because it is different that the signal that submarine receiving set 200 sends arrives the time of each sonar equipment 300, therefore according to the self poisoning data of difference algorithm, just can calculate the positional information of submarine target in conjunction with GPS main frame 400.
Fig. 3 shows one embodiment of the present of invention, promptly at the position fixing process of following the tracks of under the situation of submarine target, comprising:
1. control center 100 sends " positioning request signal " to submarine receiving set 200.
2. submarine receiving set 200 is transmitted and is somebody's turn to do " positioning request signal " to sonar equipment 300.
3. sonar equipment 300 sends sonar signal to GPS main frame 400.
Thereby obtain self locator data 4.GPS main frame 400 receives gps satellite signal, and calculate the relative position of submarine target according to sonar signal.
5.GPS main frame 400 transmission self poisoning data and submarine target station-keeping data are to control center 100.
6. control center 100 carries out data fusion, draws the exact position of submarine target.
Fig. 4 is an another embodiment of the present invention, i.e. position fixing process under the situation that submarine target is navigated comprises:
1. submarine receiving set 200 sends the navigation requests signal to sonar equipment 300.
2. sonar equipment 300 sends sonar signal to GPS main frame 400.
Thereby obtain self locator data 3.GPS main frame 400 receives gps satellite signal, and calculate the relative position of submarine target according to sonar signal.
4.GPS main frame 400 transmission self poisoning data and submarine target station-keeping data are to control center 100.
5. control center 100 carries out data fusion, draws the exact position of submarine target.
6. control center 100 sends to submarine target with the exact position, thereby realizes navigation.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1, a kind of system that realization is located under water based on gps system, comprise control center, obtain the GPS main frame of self locator data, reach the submarine receiving set that carries out data interaction with control center, it is characterized in that, described system also comprises the sonar equipment that links to each other with the GPS main frame, is used to send sonar signal to the GPS main frame;
Described GPS main frame calculates the submarine target relative position according to sonar signal, and described control center carries out Data Fusion to self poisoning data and the described submarine target relative position that the GPS main frame sends, and obtains the positional information of submarine target.
2, the system that realization is located under water based on gps system according to claim 1 is characterized in that described GPS main frame further comprises GPS positioning unit, data processing unit, information transmit-receive unit;
Described GPS positioning unit is used to receive gps satellite signal, obtains self locator data and is forwarded to data processing unit;
Described data processing unit is used for calculating the submarine target relative position according to sonar signal, and the self poisoning data of itself and GPS main frame are sent into the information transmit-receive unit in the lump;
Described information transmit-receive unit and data processing unit carry out data interaction, are used for the data after the data processing unit processing are sent to control center.
3, the system that realization is located under water based on gps system according to claim 1 and 2 is characterized in that described sonar equipment links to each other by hardware interface with the GPS main frame.
4, a kind of method that realization is located under water according to the described system of claim 1 is characterized in that, said method comprising the steps of:
A. submarine receiving set touches sonar equipment transmission sonar signal to the GPS main frame;
The B.GPS main frame obtains self locator data, calculates the relative position of submarine target according to sonar signal, and described self poisoning data and station-keeping data are sent to control center;
C. control center carries out Data Fusion to described self poisoning data and station-keeping data, obtains the position of submarine target in the measurement system.
5, the realization according to claim 4 method of locating under water is characterized in that, described method is the method for following the tracks of submarine target, and then steps A further comprises:
A1. submarine receiving set is forwarded to sonar equipment with the positioning request signal that control center sends, and touches sonar equipment and sends sonar signal to the GPS main frame.
6, the realization according to claim 4 method of locating under water is characterized in that described method is the method that submarine target is navigated, and then steps A further comprises:
A1 '. submarine receiving set sends the navigation requests signal to control center, touches sonar equipment simultaneously and sends sonar signal to the GPS main frame.
7, the method for locating under water according to the described realization of arbitrary claim in the claim 4 to 6 is characterized in that, the GPS main frame calculates the submarine target relative position according to the time delay of sonar signal among the described step B.
8, the method for locating under water according to the described realization of arbitrary claim in the claim 4 to 6, it is characterized in that, Data Fusion among the described step C is meant: according to described self poisoning data and station-keeping data, utilize difference algorithm to calculate the position of submarine target in the measurement system.
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| CNA200810065754XA CN101246215A (en) | 2008-02-29 | 2008-02-29 | Method and system for implementing underwater locating based on GPS system |
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| CNA200810065754XA CN101246215A (en) | 2008-02-29 | 2008-02-29 | Method and system for implementing underwater locating based on GPS system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566691B (en) * | 2009-05-11 | 2012-07-18 | 华南理工大学 | Method and system for tracking and positioning underwater target |
| CN103823229A (en) * | 2014-02-28 | 2014-05-28 | 上海交通大学 | Underwater positioning and navigation system and method based on DGPS |
| CN104267643A (en) * | 2014-09-27 | 2015-01-07 | 江苏华宏实业集团有限公司 | Target positioning recognition system of underwater robot |
| CN104777455A (en) * | 2015-04-27 | 2015-07-15 | 大连海事大学 | Water falling container rapid detection positioning device and method based on water sound signal detection |
| CN105548999A (en) * | 2016-02-26 | 2016-05-04 | 大连海事大学 | Submerged container detecting and locating method and system based on time-frequency addressing |
| CN107340531A (en) * | 2017-08-08 | 2017-11-10 | 南京中探海洋物联网有限公司 | A kind of positioner and method of underwater passive basic point |
| CN108562907A (en) * | 2018-04-13 | 2018-09-21 | 河海大学 | A kind of underwater fish tracking system and method based on Big Dipper positioning |
-
2008
- 2008-02-29 CN CNA200810065754XA patent/CN101246215A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566691B (en) * | 2009-05-11 | 2012-07-18 | 华南理工大学 | Method and system for tracking and positioning underwater target |
| CN103823229A (en) * | 2014-02-28 | 2014-05-28 | 上海交通大学 | Underwater positioning and navigation system and method based on DGPS |
| CN103823229B (en) * | 2014-02-28 | 2016-10-19 | 上海交通大学 | A kind of Underwater Navigation navigation system based on DGPS buoy and method |
| CN104267643A (en) * | 2014-09-27 | 2015-01-07 | 江苏华宏实业集团有限公司 | Target positioning recognition system of underwater robot |
| CN104267643B (en) * | 2014-09-27 | 2016-08-31 | 江苏华宏实业集团有限公司 | Underwater robot target positioning identification system |
| CN104777455A (en) * | 2015-04-27 | 2015-07-15 | 大连海事大学 | Water falling container rapid detection positioning device and method based on water sound signal detection |
| CN104777455B (en) * | 2015-04-27 | 2017-09-26 | 大连海事大学 | Overboard container quick detection positioner and method based on UNDERWATER ACOUSTIC SIGNAL DETECTION |
| CN105548999A (en) * | 2016-02-26 | 2016-05-04 | 大连海事大学 | Submerged container detecting and locating method and system based on time-frequency addressing |
| CN105548999B (en) * | 2016-02-26 | 2018-03-06 | 大连海事大学 | A kind of overboard container detecting and positioning method and system based on time-frequency addressing |
| CN107340531A (en) * | 2017-08-08 | 2017-11-10 | 南京中探海洋物联网有限公司 | A kind of positioner and method of underwater passive basic point |
| CN108562907A (en) * | 2018-04-13 | 2018-09-21 | 河海大学 | A kind of underwater fish tracking system and method based on Big Dipper positioning |
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Application publication date: 20080820 |