CN103926560A - Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system - Google Patents
Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system Download PDFInfo
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- CN103926560A CN103926560A CN201410150903.8A CN201410150903A CN103926560A CN 103926560 A CN103926560 A CN 103926560A CN 201410150903 A CN201410150903 A CN 201410150903A CN 103926560 A CN103926560 A CN 103926560A
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
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Abstract
The invention provides a deep sea underwater sound integrated positioning system and a method for positioning and navigating an underwater vehicle by adopting the system, and belongs to the field of underwater sound positioning sonar equipment. According to the deep sea underwater sound integrated positioning system and the method for positioning and navigating the underwater vehicle by adopting the system, an acoustical transducer receiving and transmitting array is arranged at the tail end of an array lifting rod, the input/output end of the acoustical transducer receiving and transmitting array is connected with the output/input end of a tracking and calibrating processor which is connected with an operation and display platform, an inner cavity of a deep water pressure-resisting shell is an electronic distance measuring and positioning cabin, a deep water pressure-resisting transducer is electrically connected with the electronic distance measuring and positioning cabin through a pressure-resisting watertight cable, an electronic response release management cabin is arranged on the inner side of the deep water pressure-resisting shell, a battery pack is fixed in the electronic response release management cabin, a release mechanism is fixed at the tail of the outer side of the deep water pressure-resisting shell, and the deep water pressure-resisting transducer is fixed at the top end of the outer side of the deep water pressure-resisting shell.According to the deep sea underwater sound integrated positioning system and the method for positioning and navigating the underwater vehicle by adopting the system, the position of an underwater target is monitored in real time on the water surface, and full-sea-depth positioning accuracy is improved by more than four times compared with existing equipment.
Description
Technical field
The invention belongs to hydrolocation sonar field, relate to a kind of deep-sea underwater sound Positioning System and the location to underwater hiding-machine and air navigation aid.
Background technology
21 century is " ocean century ", and this contains the treasure-house of huge resource ocean, is more and more subject to the attention of various countries.Over nearly 20 years, " circle sea-freight is moving " of contention maritime sovereignty and Deep Sea Minerals rises, and impels the marine cause of China to enter Rapid development stage, also impels the technology and equipment relevant to ocean development to enter the fast traffic lane of development.Acoustics location is the indispensable means of the engineerings such as oceanographic survey, exploration of ocean resources, marine resources development, the construction of space station, deep-sea, and it can provide seabed to reconnoitre equipment as important location, navigation and supports of communicating by letter such as ROV and AUV.By install and lay acoustics positioning equipment additional on water surface ship, underwater carrier and operation seabed, can realize the information interaction of real-time monitoring, the water surface and the underwater platform of the water surface to submarine target position and even realize transparence, digitizing, the informationization of ocean.Traditional underwater positioning system adopts ultra-short baseline or long baseline positioning principle.Ultra short baseline locating system only can keep higher positioning accuracy on over one hundred meter of left and right Hai Shen, and along with the increase of Hai Shen, its positioning error is directly proportional to oblique distance, can not meet the requirement that accurate ocean are investigated; Long base line system positioning precision is deterioration in accuracy in the degree of depth that approaches the water surface, needs accurate, complicated seabed formation calibration, and is difficult to realize the water surface and the device of diving is located under water simultaneously within the shorter work period.The present invention is based on this job requirements, overcome original positioning system simple function, expand the integration technology between equipment of itself, having realized multi-faceted monitoring in real time neatly follows the tracks of with navigation, the dark meter level positioning precision in full sea with abundant data redundancy can be ensured to provide, following underwater operation positioning service effect will be greatly improved.
Existing underwater positioning system exists and provide to submarine target the problem that hi-Fix precision is low under Quan Haishen.
Summary of the invention
The present invention provides to submarine target the problem that hi-Fix precision is low in order to solve existing underwater positioning system existence under Quan Haishen, and has proposed a kind of deep-sea underwater sound Positioning System.The present invention also aims to provide a kind of this system that adopts to realize location and the air navigation aid to underwater hiding-machine.
Deep-sea underwater sound Positioning System, it comprises, and subsystem is followed the tracks of and demarcated to the water surface, dive device range finding and positioning subsystem and the comprehensive transponder subsystem of multiple underwater sound,
The water surface is followed the tracks of with demarcating subsystem and is arranged on water surface ocean investigation operation ship, and the device range finding of diving is arranged on deep sea diving device with positioning subsystem, and the comprehensive transponder of multiple underwater sounds is laid on seabed,
Described water surface tracking comprises acoustic transducer transmitting-receiving basic matrix, basic matrix elevating lever with demarcation subsystem, follows the tracks of demarcation processor, operation display platform,
Acoustic transducer transmitting-receiving basic matrix is arranged on the end of basic matrix elevating lever, the driving signal input of acoustic transducer transmitting-receiving basic matrix is connected with the driving signal output part of following the tracks of demarcation processor, the feedback signal output terminal of acoustic transducer transmitting-receiving basic matrix is connected with the feedback signal input end of following the tracks of demarcation processor, follows the tracks of demarcation processor and is connected with operation display platform by data bus;
Described latent device range finding comprises the first deep water overpressure resistant transducer, deep water overpressure resistant housing and withstand voltage watertight cable with positioning subsystem,
Inside deep water overpressure resistant housing, cavity is range finding and positioning electronic cabin, electric signal in deep water overpressure resistant transducer and range finding and positioning electronic cabin is realized electrical connection by withstand voltage watertight cable alternately, in range finding and positioning electronic cabin, be provided with signal driver module and signal resolution module, the driving signal output part of described signal driver module connects the driving signal input of deep water overpressure resistant transducer, the feedback signal input end of described signal resolution module connects the feedback signal output terminal of deep water overpressure resistant transducer
The comprehensive transponder subsystem of the described underwater sound comprises the second deep water overpressure resistant transducer, deep water overpressure resistant housing, replys release management electronic compartment, electric battery, releasing mechanism,
Inside deep water overpressure resistant housing, cavity is for replying release management electronic compartment, electric battery is fixed on this and replys in release management electronic compartment, releasing mechanism is fixed on the outside afterbody of deep water overpressure resistant housing, deep water overpressure resistant transducer is fixed on deep water overpressure resistant hull outside top, reply and in release management electronic compartment, be provided with signal driver module, signal resolution module and release management module, the driving signal output part of described signal driver module connects the driving signal input of deep water overpressure resistant transducer, the feedback signal input end of described signal resolution module connects the feedback signal output terminal of deep water overpressure resistant transducer, the release signal output terminal of described release management module is connected with releasing mechanism.
The comprehensive transponder subsystem of underwater sound stationary arrangement forms transponder basic matrix in the bottom.
The comprehensive transponder subsystem of the underwater sound has three at least, and the comprehensive transponder subsystem of underwater sound stationary arrangement forms transponder basic matrix in the bottom.
Location and air navigation aid based on deep-sea underwater sound Positioning System to underwater hiding-machine, according to the answer-mode of device range finding with positioning subsystem setting of diving, the track and localization of water surface ocean investigation operation ship to deep sea diving device: deep-sea underwater sound Positioning System is in each locating periodically, first followed the tracks of by the water surface and demarcate subsystem transmitting inquiry instruction, launching answer signal after receiving this signal by the device range finding of diving with the deep water overpressure resistant transducer in positioning subsystem; This answer signal is simultaneously as the inquiry instruction of the comprehensive transponder subsystem of the underwater sound, and the deep water overpressure resistant transducer of the comprehensive transponder subsystem of the underwater sound is launched answer signal after receiving signal; The device range finding of diving receives the long baseline positioning principle of answer signal utilization with positioning subsystem and completes self poisoning navigation, and the water surface is followed the tracks of and utilized ultra-short baseline positioning principle to realize water surface ocean after the answer signal of range finding and positioning subsystem to investigate the track and localization of operation ship to deep sea diving device with demarcating subsystem and receive simultaneously.
Location and air navigation aid based on deep-sea underwater sound Positioning System to underwater hiding-machine:
According to the utonomous working pattern of device range finding with positioning subsystem setting of diving, the device range finding of diving completes self poisoning navigation with positioning subsystem: under deep sea diving device, before water, carry out the water surface and follow the tracks of and demarcation subsystem and the latent device clock that aligns with positioning subsystem of finding range, deep-sea underwater sound Positioning System is in each locating periodically, first by latent device range finding and positioning subsystem transmitting inquiry instruction, the water surface utilizes ultra-short baseline positioning principle to realize the track and localization of water surface ocean investigation operation ship to deep sea diving device after following the tracks of and receiving this signal with demarcation subsystem, the comprehensive transponder subsystem of the underwater sound is launched answer signal after receiving inquiry instruction, the device range finding of diving receives the long baseline positioning principle of answer signal utilization with positioning subsystem and completes self poisoning navigation.
Water surface ocean investigation operation ship is to before the track and localization of deep sea diving device, first complete the water surface and follow the tracks of the alignment error of eliminating acoustic transducer transmitting-receiving basic matrix with the system calibration of demarcating subsystem: lay a comprehensive responder system of the underwater sound in seabed, the water surface is followed the tracks of with demarcation subsystem and is replied with it continuously in the comprehensive responder system sinking of underwater sound process, transfer overall process by the comprehensive transponder subsystem of the ultra-short baseline positioning principle monitoring underwater sound, after the comprehensive responder system of the underwater sound touches the end and stablizes, investigation operation ship in water surface ocean is around the comprehensive transponder subsystem navigation of the underwater sound, hold acknowledge in navigation process, measure and record the position of the comprehensive responder system of the underwater sound, completing the water surface follows the tracks of and the system calibration of demarcating subsystem.
The present invention also comprises the terrestrial coordinate that utilizes the water surface to follow the tracks of and demarcate the comprehensive responder system of the subsystem demarcation underwater sound, this process is: lay many comprehensive responder systems of the underwater sound by water surface ocean investigation operation ship and form transponder basic matrix, first utilize the water surface to follow the tracks of the terrestrial coordinate of directly locating transponder basic matrix middle distance two comprehensive transponder subsystems of the underwater sound farthest with demarcation subsystem, the water surface is followed the tracks of with the acoustic transducer transmitting-receiving basic matrix of demarcating subsystem and is surveyed battle array instruction to a comprehensive transponder subsystem transmitting of the underwater sound, the comprehensive transponder subsystem of this underwater sound starts the battle array pattern of surveying, and to the comprehensive responder system transmitting of other underwater sounds inquiry instruction, the comprehensive transponder subsystem of other underwater sounds receives after inquiry instruction, to acoustic transducer transmitting-receiving basic matrix transmitting return signal, operation display platform records the time delay value of the comprehensive transponder subsystem of all underwater sounds of this process, the comprehensive transponder subsystem of the underwater sound of surveying after completing in battle array pattern is got back to answer-mode automatically, until every comprehensive transponder subsystem of the underwater sound all entered the battle array pattern of surveying, follow the tracks of the relative distance of demarcating each the comprehensive transponder subsystem of the underwater sound of the whole time delay values calculating of processor utilization, and together with the terrestrial coordinate of every comprehensive transponder subsystem of the underwater sound in the Geodetic Coordinate Calculation transponder basic matrix of acquired two comprehensive transponder subsystems of the underwater sound, this coordinate figure is bound into the water surface to be followed the tracks of and demarcates in subsystem and the range finding of latent device and positioning subsystem.
Beneficial effect of the present invention is:
The present invention is that deep-sea underwater sound Positioning System is followed the tracks of and demarcated subsystem by the water surface, the transmitting inquiry instruction between device range finding and positioning subsystem and the comprehensive transponder subsystem of the underwater sound of diving, and the reception answer signal of reply each other, realize the water surface Real-Time Monitoring carried out in submarine target position, under Quan Haishen positioning precision on year-on-year basis existing equipment improved more than 4 times.The present invention is particularly useful for underwater position fixing technique field, is more suitable for positioning at Quan Haishen.
Brief description of the drawings
Fig. 1 is the principle schematic of the deep-sea underwater sound Positioning System described in embodiment one;
Fig. 2 is the system calibration principle schematic of deep-sea underwater sound Positioning System;
Fig. 3 is the calibration principle schematic diagram of deep-sea underwater sound Positioning System;
Fig. 4 is the water surface ocean investigation operation ship initiator formula work schematic diagram of deep-sea underwater sound Positioning System;
Fig. 5 is that the deep sea diving device of deep-sea underwater sound Positioning System is initiated mode work schematic diagram;
Fig. 6 is that deep-sea underwater sound Positioning System is realized location and the air navigation aid to underwater hiding-machine.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
Embodiment mono-, in conjunction with Fig. 1, present embodiment is described, the deep-sea underwater sound Positioning System described in the present embodiment, it comprise the water surface follow the tracks of with demarcate subsystem 1, dive device range finding and positioning subsystem 2 and the comprehensive transponder subsystem 3 of multiple underwater sound,
The water surface is followed the tracks of with demarcating subsystem 1 and is arranged on water surface ocean investigation operation ship, and the device range finding of diving is arranged on deep sea diving device with positioning subsystem 2, and the comprehensive transponder 3 of multiple underwater sounds is laid on seabed,
Described water surface tracking comprises acoustic transducer transmitting-receiving basic matrix 4, basic matrix elevating lever 5 with demarcation subsystem 1, follows the tracks of demarcation processor 6, operation display platform 7,
Acoustic transducer transmitting-receiving basic matrix 4 is arranged on the end of basic matrix elevating lever 5, the driving signal input of acoustic transducer transmitting-receiving basic matrix 4 is connected with the driving signal output part of following the tracks of demarcation processor 6, the feedback signal output terminal of acoustic transducer transmitting-receiving basic matrix 4 is connected with the feedback signal input end of following the tracks of demarcation processor 6, follows the tracks of demarcation processor 6 and is connected with operation display platform 7 by data bus;
Described latent device range finding comprises the first deep water overpressure resistant transducer 8-1, deep water overpressure resistant housing 9 and withstand voltage watertight cable 10 with positioning subsystem 2,
Deep water overpressure resistant housing 9 inner side cavitys are range finding and positioning electronic cabin 11, electric signal in deep water overpressure resistant transducer 8-1 and range finding and positioning electronic cabin 11 is realized electrical connection by withstand voltage watertight cable 10 alternately, in range finding and positioning electronic cabin 11, be provided with signal driver module and signal resolution module, the driving signal output part of described signal driver module connects the driving signal input of deep water overpressure resistant transducer 8-1, the feedback signal input end of described signal resolution module connects the feedback signal output terminal of deep water overpressure resistant transducer 8-1
The comprehensive transponder subsystem 3 of the described underwater sound comprises the second deep water overpressure resistant transducer 8-2, deep water overpressure resistant housing 12, replys release management electronic compartment 13, electric battery 14, releasing mechanism 15,
Deep water overpressure resistant housing 12 inner side cavitys are for replying release management electronic compartment 13, electric battery 14 is fixed on this and replys in release management electronic compartment 13, releasing mechanism 15 is fixed on the outside afterbody of deep water overpressure resistant housing 12, deep water overpressure resistant transducer 8-2 is fixed on deep water overpressure resistant housing 12 tops, outside, reply and in release management electronic compartment 13, be provided with signal driver module, signal resolution module and release management module, the driving signal output part of described signal driver module connects the driving signal input of deep water overpressure resistant transducer 8-2, the feedback signal input end of described signal resolution module connects the feedback signal output terminal of deep water overpressure resistant transducer 8-2, the release signal output terminal of described release management module is connected with releasing mechanism 15.
In the present embodiment, acoustic transducer transmitting-receiving basic matrix 4 is inquired instructions for finding range to latent device with positioning subsystem 2 or comprehensive transponder subsystem 3 transmittings of the underwater sound, and receives the answer signal of reply.Basic matrix elevating lever 5 is installed in the vertical shaft of water surface ocean investigation operation ship, leans out hull for acoustic transducer being received and dispatched to basic matrix 4 when the operation, acoustic transducer is received and dispatched to basic matrix 4 after the end of job and is regained.Follow the tracks of and demarcate processor 6 for water surface tracking and the dry chamber device of demarcating subsystem 1, follow the tracks of and mode of operation and the parameter state of demarcating subsystem 1 for controlling the water surface, resolve answer signal, complete to the comprehensive transponder calibrated and calculated of the underwater sound and to the device range finding of diving and follow the tracks of with the location of positioning subsystem 2.Operation display platform 7 is the dry chamber device of water surface tracking and demarcation subsystem 1, for intuitively showing the result of tracking demarcation processor 6, and passes user's operation and controlling command information for 6 times to tracking demarcation processor.
In the present embodiment, the device range finding of diving indicates self-position with positioning subsystem 2 for investigate operation ship to water surface ocean, and replys and autonomous two kinds of mode of operations by completing alternately the location navigation to self with the comprehensive transponder 3 of the underwater sound, having.
Deep water overpressure resistant transducer 8, for launching inquiry instruction and receive answer signal to transponder basic matrix, receives the inquiry instruction of water surface tracking and the transmitting of demarcation subsystem and launches answer signal, completes the mutual conversion between acoustical signal and electric signal.Range finding and positioning electronic cabin 11 are for controlling the work of whole latent device range finding and positioning subsystem 2: under answer-mode, the inquiry instruction of subsystem 1 and the answer signal of the comprehensive transponder subsystem 3 of the underwater sound are followed the tracks of and demarcated to the water surface that Check processing receives; The answer signal of the comprehensive transponder subsystem 3 of the Check processing underwater sound only under autonomous mode.Resolve the position of device range finding and positioning subsystem 2 of diving, and calculation result is passed to deep sea diving device.
The comprehensive transponder 3 of the underwater sound has dormancy, replys, surveys three kinds of mode of operations of battle array.
In the present embodiment, deep water overpressure resistant transducer 8 is followed the tracks of and is demarcated the inquiry instruction that subsystem 1 or latent device are found range and positioning subsystem 2 is launched and launch answer signal for receiving the water surface, completes the mutual conversion between acoustical signal and electric signal.Reply release management electronic compartment 13 for control subsystem work: under answer-mode, reply the 13 Check processings inquiry instructions of release management electronic compartment and release order, control and reply acoustical signal and reply, response is released order; Survey under battle array pattern, Check processing is surveyed battle array instruction and is surveyed battle array signal, and battle array instruction is surveyed in response; Under park mode, the comprehensive transponder subsystem 3 of the management underwater sound is powered, and detects and responds and wake instruction up.
The difference of the deep-sea underwater sound Positioning System described in embodiment bis-, the present embodiment and embodiment mono-is, the comprehensive transponder subsystem 3 of the underwater sound is multiple, and comprehensive transponder subsystem 3 stationary arrangement of the plurality of underwater sound form transponder basic matrix in the bottom.
The difference of the deep-sea underwater sound Positioning System described in embodiment tri-, the present embodiment and embodiment mono-is, the comprehensive transponder subsystem 3 of the underwater sound has three at least, and comprehensive transponder subsystem 3 stationary arrangement of these at least three underwater sounds form transponder basic matrix in the bottom.
Embodiment tetra-, adopt the deep-sea underwater sound Positioning System described in embodiment mono-to realize location and the air navigation aid to underwater hiding-machine, one of two kinds below of this location and air navigation aid employings, referring to Fig. 6:
Method one, the answer-mode of setting according to dive device range finding and positioning subsystem 2, the track and localization of water surface ocean investigation operation ship to deep sea diving device: deep-sea underwater sound Positioning System is in each locating periodically, first follow the tracks of and demarcate subsystem 1 and launch inquiry instruction by the water surface, launch answer signal after receiving this signal by the device range finding of diving with the deep water overpressure resistant transducer 8-1 in positioning subsystem 2; This answer signal is simultaneously as the inquiry instruction of the comprehensive transponder subsystem 3 of the underwater sound, and the deep water overpressure resistant transducer 8-2 of the comprehensive transponder subsystem 3 of the underwater sound launches answer signal after receiving signal; The device range finding of diving receives the long baseline positioning principle of answer signal utilization with positioning subsystem 2 and completes self poisoning navigation, after the answer signal of water surface tracking simultaneously and the 1 reception range finding of demarcation subsystem and positioning subsystem 2, utilize ultra-short baseline positioning principle to realize water surface ocean and investigate the track and localization of operation ship to deep sea diving device, referring to Fig. 4;
Method two, the utonomous working pattern of setting according to dive device range finding and positioning subsystem 2, the device range finding of diving completes self poisoning navigation with positioning subsystem 2: under deep sea diving device, before water, carry out the water surface and follow the tracks of and demarcation subsystem 1 and the latent device clock that aligns with positioning subsystem 2 of finding range, deep-sea underwater sound Positioning System is in each locating periodically, first launch inquiry instruction by latent device range finding with positioning subsystem 2, the water surface utilizes ultra-short baseline positioning principle to realize the track and localization of water surface ocean investigation operation ship to deep sea diving device after following the tracks of and receiving this signal with demarcation subsystem 1, after receiving inquiry instruction, the comprehensive transponder subsystem 3 of the underwater sound launches answer signal, the device range finding of diving receives the long baseline positioning principle of answer signal utilization with positioning subsystem 2 and completes self poisoning navigation, referring to Fig. 5.
In the present embodiment, deep sea diving device completes behind location, optionally transponder basic matrix is carried out to dormancy or recovery, this process is: when dormancy, followed the tracks of with demarcation subsystem 1 and launched dormancy instruction to the comprehensive transponder subsystem 3 of each the underwater sound in transponder basic matrix by the water surface, the comprehensive transponder subsystem 3 of the underwater sound enters park mode; When recovery, followed the tracks of with demarcating subsystem 1 and released order to comprehensive transponder subsystem 3 transmittings of each the underwater sound in transponder basic matrix one by one by the water surface, the water surface is followed the tracks of and the floating-upward process of demarcating subsystem 1 and locate the comprehensive transponder subsystem 3 of the underwater sound.
Embodiment five, the present embodiment is the further restriction to the location described in embodiment tetra-and air navigation aid, in the present embodiment, water surface ocean investigation operation ship is to before the track and localization of deep sea diving device, first complete the water surface and follow the tracks of the alignment error of eliminating acoustic transducer transmitting-receiving basic matrix 4 with the system calibration of demarcating subsystem 1: lay a comprehensive responder system 3 of the underwater sound in seabed, the water surface is followed the tracks of with demarcation subsystem 1 and is replied with it continuously in the comprehensive responder system 3 sinking processes of the underwater sound, transfer overall process by the comprehensive transponder subsystem 3 of the ultra-short baseline positioning principle monitoring underwater sound, after the comprehensive responder system 3 of the underwater sound touches the end and stablizes, water surface ocean investigation operation ship navigates by water around the comprehensive transponder subsystem 3 of the underwater sound, hold acknowledge in navigation process, measure and record the position of the comprehensive responder system 3 of the underwater sound, completing the water surface follows the tracks of and the system calibration of demarcating subsystem 1, referring to Fig. 2.
Embodiment six, the present embodiment is the further restriction to the location described in embodiment tetra-and air navigation aid, location also comprises and utilizes the water surface to follow the tracks of the terrestrial coordinate of demarcating the comprehensive responder system 3 of the underwater sound with demarcation subsystem 1 with air navigation aid, this process is: lay many comprehensive responder systems 3 of the underwater sound by water surface ocean investigation operation ship and form transponder basic matrix, first utilize the water surface to follow the tracks of and demarcate the directly terrestrial coordinate of location transponder basic matrix middle distance two comprehensive transponder subsystems 3 of the underwater sound farthest of subsystem 1, the water surface is followed the tracks of with the acoustic transducer transmitting-receiving basic matrix 4 of demarcating subsystem 1 and is surveyed battle array instruction to comprehensive transponder subsystem 3 transmittings of the underwater sound, the comprehensive transponder subsystem of this underwater sound starts the battle array pattern of surveying, and to the comprehensive responder system 3 transmitting inquiry instructions of other underwater sounds, the comprehensive transponder subsystem 3 of other underwater sounds receives after inquiry instruction, launch return signal to acoustic transducer transmitting-receiving basic matrix 4, operation display platform 7 records the time delay value of the comprehensive transponder subsystem 3 of all underwater sounds of this process, the comprehensive transponder subsystem 3 of the underwater sound of surveying after completing in battle array pattern is got back to answer-mode automatically, until every comprehensive transponder subsystem 3 of the underwater sound all entered the battle array pattern of surveying, following the tracks of demarcation processor 6 utilizes whole time delay values to calculate the relative distance of each the comprehensive transponder subsystem 3 of the underwater sound, and together with the terrestrial coordinate of every comprehensive transponder subsystem 3 of the underwater sound in the Geodetic Coordinate Calculation transponder basic matrix of acquired two comprehensive transponder subsystems 3 of the underwater sound, this coordinate figure is bound into water surface tracking and demarcates in subsystem 1 and the range finding of latent device and positioning subsystem 2, referring to Fig. 3.
Claims (7)
1. a deep-sea underwater sound Positioning System, comprises that subsystem (1) is followed the tracks of and demarcated to the water surface, dive device range finding and positioning subsystem (2) and the comprehensive transponder subsystem of the underwater sound (3), it is characterized in that:
The water surface is followed the tracks of with demarcating subsystem (1) and is arranged on water surface ocean investigation operation ship, and the device range finding of diving is arranged on deep sea diving device with positioning subsystem (2), and the comprehensive transponder of the underwater sound (3) is laid on seabed,
The described water surface is followed the tracks of with demarcation subsystem (1) and is comprised that acoustic transducer is received and dispatched basic matrix (4), basic matrix elevating lever (5), processor (6), operation display platform (7) are demarcated in tracking,
Acoustic transducer transmitting-receiving basic matrix (4) is arranged on the end of basic matrix elevating lever (5), the driving signal input of acoustic transducer transmitting-receiving basic matrix (4) is connected with the driving signal output part of following the tracks of demarcation processor (6), the feedback signal output terminal of acoustic transducer transmitting-receiving basic matrix (4) is connected with the feedback signal input end of following the tracks of demarcation processor (6), follows the tracks of demarcation processor (6) and is connected with operation display platform (7) by data bus;
Described latent device range finding comprises the first deep water overpressure resistant transducer (8-1), deep water overpressure resistant housing (9) and withstand voltage watertight cable (10) with positioning subsystem (2),
Deep water overpressure resistant housing (9) inner side cavity is range finding and positioning electronic cabin (11), electric signal in deep water overpressure resistant transducer (8-1) and range finding and positioning electronic cabin (11) is realized electrical connection by withstand voltage watertight cable (10) alternately, in range finding and positioning electronic cabin (11), be provided with signal driver module and signal resolution module, the driving signal output part of described signal driver module connects the driving signal input of deep water overpressure resistant transducer (8-1), the feedback signal input end of described signal resolution module connects the feedback signal output terminal of deep water overpressure resistant transducer (8-1),
The comprehensive transponder subsystem of the described underwater sound (3) comprises the second deep water overpressure resistant transducer (8-2), deep water overpressure resistant housing (12), replys release management electronic compartment (13), electric battery (14), releasing mechanism (15),
Deep water overpressure resistant housing (12) inner side cavity is for replying release management electronic compartment (13), electric battery (14) is fixed on this and replys in release management electronic compartment (13), releasing mechanism (15) is fixed on the outside afterbody of deep water overpressure resistant housing (12), deep water overpressure resistant transducer (8-2) is fixed on top, deep water overpressure resistant housing (12) outside, reply in release management electronic compartment (13) and be provided with signal driver module, signal resolution module and release management module, the driving signal output part of described signal driver module connects the driving signal input of deep water overpressure resistant transducer (8-2), the feedback signal input end of described signal resolution module connects the feedback signal output terminal of deep water overpressure resistant transducer (8-2), the release signal output terminal of described release management module is connected with releasing mechanism (15).
2. deep-sea according to claim 1 underwater sound Positioning System, is characterized in that: the comprehensive transponder subsystem of the underwater sound (3) stationary arrangement forms transponder basic matrix in the bottom.
3. deep-sea according to claim 1 underwater sound Positioning System, is characterized in that: the comprehensive transponder subsystem of the underwater sound (3) has three at least, and the comprehensive transponder subsystem of the underwater sound (3) stationary arrangement forms transponder basic matrix in the bottom.
4. location and the air navigation aid to underwater hiding-machine based on deep-sea underwater sound Positioning System, is characterized in that:
According to the answer-mode of device range finding with positioning subsystem (2) setting of diving, the track and localization of water surface ocean investigation operation ship to deep sea diving device: deep-sea underwater sound Positioning System is in each locating periodically, first followed the tracks of by the water surface and demarcate subsystem (1) transmitting inquiry instruction, launching answer signal after receiving this signal by the device range finding of diving with the deep water overpressure resistant transducer (8-1) in positioning subsystem (2); This answer signal is simultaneously as the inquiry instruction of the comprehensive transponder subsystem of the underwater sound (3), and the deep water overpressure resistant transducer (8-2) of the comprehensive transponder subsystem of the underwater sound (3) is launched answer signal after receiving signal; The device range finding of diving receives the long baseline positioning principle of answer signal utilization with positioning subsystem (2) and completes self poisoning navigation, and the water surface is followed the tracks of and utilized ultra-short baseline positioning principle to realize water surface ocean after the answer signal of range finding and positioning subsystem (2) to investigate the track and localization of operation ship to deep sea diving device with demarcating subsystem (1) and receive simultaneously.
5. location and the air navigation aid to underwater hiding-machine based on deep-sea underwater sound Positioning System, is characterized in that:
According to the utonomous working pattern of device range finding with positioning subsystem (2) setting of diving, the device range finding of diving completes self poisoning navigation with positioning subsystem (2): under deep sea diving device, before water, carry out the water surface and follow the tracks of and demarcation subsystem (1) and the latent device clock that aligns with positioning subsystem (2) of finding range, deep-sea underwater sound Positioning System is in each locating periodically, first by latent device range finding and positioning subsystem (2) transmitting inquiry instruction, the water surface utilizes ultra-short baseline positioning principle to realize the track and localization of water surface ocean investigation operation ship to deep sea diving device after following the tracks of and receiving this signal with demarcation subsystem (1), the comprehensive transponder subsystem of the underwater sound (3) is launched answer signal after receiving inquiry instruction, the device range finding of diving receives the long baseline positioning principle of answer signal utilization with positioning subsystem (2) and completes self poisoning navigation.
According to a kind of described in claim 4 or 5 based on the deep-sea underwater sound Positioning System location and the air navigation aid to underwater hiding-machine, it is characterized in that: water surface ocean investigation operation ship is to before the track and localization of deep sea diving device, first complete the water surface and follow the tracks of the alignment error of eliminating acoustic transducer transmitting-receiving basic matrix (4) with the system calibration of demarcating subsystem (1): lay a comprehensive responder system of the underwater sound (3) in seabed, the water surface is followed the tracks of with demarcation subsystem (1) and is replied with it continuously in the comprehensive responder system of the underwater sound (3) sinking process, transfer overall process by the ultra-short baseline positioning principle monitoring comprehensive transponder subsystem of the underwater sound (3), after the comprehensive responder system of the underwater sound (3) touches the end and stablizes, water surface ocean investigation operation ship navigates by water around the comprehensive transponder subsystem of the underwater sound (3), hold acknowledge in navigation process, measure and record the position of the comprehensive responder system of the underwater sound (3), completing the water surface follows the tracks of and the system calibration of demarcating subsystem (1).
According to claim 6 a kind of based on the deep-sea underwater sound Positioning System location and the air navigation aid to underwater hiding-machine, it is characterized in that: also comprise and utilize the water surface to follow the tracks of and the terrestrial coordinate of demarcating subsystem (1) the demarcation comprehensive responder system of the underwater sound (3), this process is: lay many comprehensive responder systems of the underwater sound (3) by water surface ocean investigation operation ship and form transponder basic matrix, first utilize the water surface to follow the tracks of the terrestrial coordinate of directly locating the transponder basic matrix middle distance comprehensive transponder subsystems of two underwater sounds (3) farthest with demarcation subsystem (1), the water surface is followed the tracks of with the acoustic transducer transmitting-receiving basic matrix (4) of demarcating subsystem (1) and is surveyed battle array instruction to a comprehensive transponder subsystem of the underwater sound (3) transmitting, the comprehensive transponder subsystem of this underwater sound starts the battle array pattern of surveying, and to the comprehensive responder system of other underwater sounds (3) transmitting inquiry instruction, the comprehensive transponder subsystems of other underwater sounds (3) receive after inquiry instruction, to acoustic transducer transmitting-receiving basic matrix (4) transmitting return signal, operation display platform (7) records the time delay value of the comprehensive transponder subsystems of all underwater sounds of this process (3), the comprehensive transponder subsystem of the underwater sound (3) of surveying after completing in battle array pattern is got back to answer-mode automatically, until every comprehensive transponder subsystem of the underwater sound (3) all entered the battle array pattern of surveying, following the tracks of demarcation processor (6) utilizes whole time delay values to calculate the relative distance of each the comprehensive transponder subsystems of the underwater sound (3), and together with the terrestrial coordinate of every comprehensive transponder subsystem of the underwater sound (3) in the Geodetic Coordinate Calculation transponder basic matrix of the acquired comprehensive transponder subsystems of two underwater sounds (3), this coordinate figure is bound into water surface tracking and demarcates in subsystem (1) and the range finding of latent device and positioning subsystem (2).
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