CN107192983A - A kind of device, method and system for observing underwater vehicle relative position - Google Patents
A kind of device, method and system for observing underwater vehicle relative position Download PDFInfo
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- CN107192983A CN107192983A CN201710536532.0A CN201710536532A CN107192983A CN 107192983 A CN107192983 A CN 107192983A CN 201710536532 A CN201710536532 A CN 201710536532A CN 107192983 A CN107192983 A CN 107192983A
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- 238000000034 method Methods 0.000 title claims abstract description 64
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 238000005259 measurement Methods 0.000 claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 32
- 238000012937 correction Methods 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 19
- 230000004927 fusion Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 15
- 230000002452 interceptive effect Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 9
- 230000009189 diving Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 230000036544 posture Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of device, method and system for observing underwater vehicle relative position.The device includes acoustic feature measurement module, the position for detecting underwater vehicle, and exports the first data；Locating module, is arranged on buoy relaying, the position for determining buoy relaying, and exports the second data；Inertia measuring module, is arranged on underwater vehicle, the motion state for detecting underwater vehicle, and exports the 3rd data；Control process module, it is connected with the output end of the acoustic feature measurement module, the locating module and the inertia measuring module, for receiving first data, second data and the 3rd data, and the data of reception are handled, obtain first position information.Underwater vehicle is solved after water is entered, the problem of operator can not quick and precisely obtain underwater vehicle present position and posture has reached and accurately and easily exported underwater vehicle relative position and the effect of attitude information.
Description
Technical field
The present embodiments relate to electronic equipment location technology, more particularly to a kind of underwater vehicle relative position of observing
Device, method and system.
Background technology
Underwater vehicle after water is entered, operator can not intuitively be observed on the water surface underwater vehicle present position and
Posture, therefore effectively underwater vehicle can not be operated to be moved to desired location.
Due to radio wave signal can not be propagated in the seawater and acoustic signals in water have good propagation characteristic,
Current technology is that multiple sound wave auxiliary locators are disposed in certain working region, forms positioning network, then calculates
Distance between target object and positioner, then depth data, angle-data fusion are calculated, so as to obtain target object
Relative position in positioning network.
But, in the prior art, the method for obtaining relative position based on sound wave needs deployment auxiliary equipment, locking work
Region, integrated level is low and price is higher.
The content of the invention
The present invention provides a kind of device, method and system for observing underwater vehicle relative position, to realize that operator can
With the relative position of accurate measurement and observation underwater vehicle on the water surface, while reducing the price of measuring apparatus and improving equipment
Integrated level.
In a first aspect, the embodiments of the invention provide a kind of device for observing underwater vehicle relative position, including acoustics
Measurement module, locating module, inertia measuring module and control process module, wherein：
The acoustic feature measurement module, the position for detecting underwater vehicle, and export the first data；
The locating module, is arranged on buoy relaying, the position for determining buoy relaying, and exports the second data；
The inertia measuring module, is arranged on underwater vehicle, the motion state for detecting underwater vehicle, and defeated
Go out the 3rd data；
The control process module, with the acoustic feature measurement module, the inertia measuring module and the locating module
Output end is connected, and is carried out for receiving first data, second data and the 3rd data, and to the data of reception
Processing, obtains first position information.
Second aspect, the embodiments of the invention provide a kind of system for observing underwater vehicle relative position, including communication
Module, interactive controlling module, display module and outside input module, in addition to the observation water that any embodiment of the present invention is provided
The device of lower submariner device relative position；Wherein,
The communication module, is connected with the control process module output end, the phase for receiving the underwater vehicle
To positional information and attitude information and export；
The interactive controlling module, is connected with the display module input, for receiving the communication module output
Relative position information and attitude information, and transmit relative position and/or appearance to the display module to the underwater vehicle
State is shown；
The interactive controlling module, is also connected with the outside input module, for defeated by the outside input module
Enter control instruction, and control instruction is sent to communication module, be further conveyed to the control process module, pass through the control
Processing module control underwater vehicle motion processed.
The third aspect, the embodiments of the invention provide a kind of method for observing underwater vehicle relative position, applied to this
The device for the observation underwater vehicle relative position that invention any embodiment is provided, methods described includes：
First number is obtained according to the acoustic feature measurement module, the locating module and the inertia measuring module respectively
According to, second data and the 3rd data；
The control process module reception first data, described second and the 3rd data, and pass through the number
First data, second data and the 3rd data are resolved according to integrated unit, merged at correction and filtering
Reason, the first position information after being handled；Wherein, the first position information includes the relative position of the underwater vehicle
Information and attitude information.
The device for the observation underwater vehicle relative position that the embodiment of the present invention is provided, solves underwater vehicle and is entering
After water, operator can not intuitively observe underwater vehicle present position and posture on the water surface, it is impossible to effectively operate under water
Submariner device to desired location move the problem of, realize accurate and easily display control underwater vehicle relative position and posture
Effect.
Brief description of the drawings
Fig. 1 is the apparatus structure schematic diagram of observation underwater vehicle relative position in the embodiment of the present invention one.
Fig. 2 is acoustic feature measurement module and the positioning of the device of observation underwater vehicle relative position in the embodiment of the present invention one
Modular structure schematic diagram.
Fig. 3 a are the inertia measuring module structures of the device of observation underwater vehicle relative position in the embodiment of the present invention one
Schematic diagram.
Fig. 3 b are the control process modular structures of the device of observation underwater vehicle relative position in the embodiment of the present invention one
Schematic diagram.
Fig. 4 is the system structure diagram of observation underwater vehicle relative position in the embodiment of the present invention two.
Fig. 5 a are the communication mode structural representations of the system of observation underwater vehicle relative position in the embodiment of the present invention two
Figure.
Fig. 5 b are the communication mode structural representations of the system of observation underwater vehicle relative position in the embodiment of the present invention two
Figure.
Fig. 5 c are the communication mode structural representations of the system of observation underwater vehicle relative position in the embodiment of the present invention two
Figure.
Fig. 6 a are the 2D figure shows of the system of observation underwater vehicle relative position in the embodiment of the present invention two with respect to position
The structural representation put.
Fig. 6 b are the 2D figure shows of the system of observation underwater vehicle relative position in the embodiment of the present invention two with respect to position
The structural representation put.
Fig. 7 a are the 3D figure shows of the system of observation underwater vehicle relative position in the embodiment of the present invention two with respect to position
The structural representation put.
Fig. 7 b are the 3D figure shows postures of the system of observation underwater vehicle relative position in the embodiment of the present invention two
Structural representation.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is the apparatus structure schematic diagram for the observation underwater vehicle relative position that the embodiment of the present invention one is provided, this reality
Apply the observation underwater vehicle relative position of example device be applicable to exist it is directly perceived to underwater vehicle observation relative position and
The situation of posture.
As shown in figure 1, the device of observation underwater vehicle relative position includes：Acoustic feature measurement module 110, locating module
120th, inertia measuring module 130 and control process module 140, wherein：Acoustic feature measurement module 110, for detecting underwater vehicle
Position, and export the first data；Locating module 120, is arranged on buoy relaying, the position for determining buoy relaying, and
Export the second data；Inertia measuring module 130, is arranged on underwater vehicle, the motion state for detecting underwater vehicle,
And export the 3rd data；Control process module 140, with the acoustic feature measurement module 110, the locating module 120 and described used
Property measurement module 130 output end connection, for receiving first data, second data and the 3rd data, and
Data to reception are handled, and obtain first position information.
Specifically, underwater vehicle detects the position of the underwater vehicle by acoustic feature measurement module 110, and export
First data are to control process module 140.The position of such as described underwater vehicle can be that underwater vehicle is relayed with buoy
The distance between and orientation angles etc..Locating module 120 is arranged on a buoy relaying, can pass through locating module 120
The position that positioning function is relayed to buoy is determined, and then obtains the positional information of buoy relaying, and exports the second data
To control process module 140.The positional information of such as buoy relaying can be the move distance information and speed letter of buoy relaying
Breath etc..When the positional information of buoy relaying is determined, the position of other units, module and part being arranged on buoy relaying etc.
Confidence breath can also be determined simultaneously, and then buoy relaying can be used as a reference position.Underwater vehicle can also lead to simultaneously
The motion state that inertia measuring module 130 detects underwater vehicle is crossed, the movable information of underwater vehicle is obtained, and exports the 3rd
Data are to control process module 140.The movable information of such as underwater vehicle can be the line movable information of underwater vehicle, angle
Movable information, submerged depth information and course information etc., can be specifically three-dimensional acceleration, three-dimensional angular velocity, submerged depth and
Navigate by water direction etc..Control process module 140 can be microcontrol processor, the microcontrol processor chip of such as STM32 series
Deng being handled for receiving the first data, the second data and the 3rd data, and export first position information.Such as first
Confidence breath can be relative position information and attitude information of the underwater vehicle relative to underwater vehicle initial position, further
Ground can specifically include distance, angle, submerged depth, course and the posture of underwater vehicle and underwater vehicle initial position
Deng.The initial position that the initial position of the underwater vehicle can relay for buoy simultaneously.
The device for the observation underwater vehicle relative position that the present embodiment is provided, can export submariner under water by the device
The relative position information and attitude information of device, solve underwater vehicle after water is entered, and operator can not quick and precisely obtain
The problem of underwater vehicle present position and posture, reach and accurately and easily exported underwater vehicle relative position and posture
The effect of information.
Preferably, on the basis of above-mentioned technical proposal, as shown in Fig. 2 acoustic feature measurement module 110 includes response unit
211 and basic matrix unit 212.Basic matrix unit 212 includes a fixed angle can be presented between at least three transducer, transducer
Shape loads part composition basic matrix unit 211, and is arranged on the carrier of underwater vehicle, for launch request signal and
The answer signal that response unit 211 is launched is received, while the relation of the coordinate system of basic matrix unit 212 and underwater vehicle coordinate system is needed
To be precisely calculated when setting basic matrix unit 212.Response unit 211 is used for the request signal for receiving the transmitting of basic matrix unit 212
With transmitting answer signal, response unit 211 and locating module 120 are arranged on the carrier of a buoy relaying 100 simultaneously, so
The position of response unit 211 and buoy relaying 100 can be determined by locating module 120, response unit 211 is further obtained
The second place information obtained with the positional information and locating module 120 of buoy relaying 100 is also identical.In basic matrix unit 212
One transducer can launch request signal, and the request signal that response unit 211 can receive the transmitting of basic matrix unit 212 is concurrent
Go out answer signal, while the transducer of basic matrix unit 212 can also receive the answer signal of the transmitting of response unit 211, further
The phase difference between different transducers reception response unit 211 transmitting answer signals can be calculated and basic matrix unit 212 is calculated and sent out
Penetrate request signal and receive the passing time of the answer signal of the transmitting of response unit 211, and be used as the first data output to control
Processing module 140 is handled.
Preferably, on the basis of above-mentioned technical proposal, the initial position of buoy relaying 100 is the initial of underwater vehicle
The locating module 120 set on position, buoy relaying 100 can export the second data.Second data are relayed including buoy
100 positional information and velocity information, can also be specially the positional information and velocity information of response unit 211, so as to
The positional information of response unit 211 this moment is further determined that, the second data meter then determined further according to acoustic feature measurement module 110
The distance between basic matrix unit 212 and response unit 211 information and orientation angles information are calculated, basic matrix unit is further calculated
212 with the distance between the initial position of response unit 211 position this moment of information and angle information, i.e. underwater vehicle with water
The distance between submariner device initial position information and orientation angles information, the position of underwater vehicle this moment with diving under water herein
The distance between boat device initial position information and orientation angles information are the positions without the correction process of control process module 140
Information, i.e. second place information.
Preferably, on the basis of above-mentioned technical proposal, locating module 120 can be d GPS locating module or its
Its related location technology, including the Beidou navigation global position system of China, american global positioning system, Russian Global are led
Satellite system of the navigating location technology related to European galileo navigation system etc..
Preferably, on the basis of above-mentioned technical proposal, as shown in Figure 3 a, inertia measuring module 130 is examined including acceleration
Survey unit 331, angular velocity detection unit 332, depth detection unit 333 and course detection unit 334.Acceleration detecting unit
A 3-axis acceleration sensor, the line movable information for obtaining underwater vehicle, such as submariner under water are comprised at least on 331
The line movable information of device can be the three-dimensional acceleration of underwater vehicle；One three is comprised at least on angular velocity detection unit 332
Axis angular rate sensor, the angular movement information for obtaining underwater vehicle, the angular movement information of such as underwater vehicle can be with
It is the three-dimensional angular velocity of underwater vehicle；Depth detection unit 333 comprises at least a depth detection sensor, for obtaining water
The submerged depth information of lower submariner device；Course detection unit 334 comprises at least a magnetic compass, for obtaining underwater vehicle
Course information, and the angular movement information that correction angle speed detection unit 332 is obtained.The line obtained according to inertia measuring module 130
Angular movement information after movable information, angular movement information, submerged depth information, course information, correction is used as the 3rd data output
To control process module 140, control process module 140 is used to be believed according to the line movable information, angular movement information, submerged depth
Angular movement information after breath, course information, correction is handled, determine the line motion state of underwater vehicle, angular movement state,
Diving stations and course state.
Preferably, on the basis of above-mentioned technical proposal, as shown in Figure 3 a, control process module 140 includes data fusion
Unit 341 and control unit 342, wherein, data fusion unit 341, for entering to the first data, the second data and the 3rd data
Row is resolved, fusion is corrected and filtering process, obtains first position information；Control unit 341, for control data integrated unit
341 receive the first position information after the first data, the second data and the 3rd data, and the processing of output data integrated unit 341.
Preferably, on the basis of above-mentioned technical proposal, as shown in Figure 3 b, control of the control process module 140 to data
Processing is specifically included：The control data integrated unit 341 of control unit 342 receives the first data, the second data and the 3rd number first
According to.Such as the first data can be different transducers reception response units in the basic matrix unit 212 that acoustic feature measurement module 110 is obtained
Phase information and basic matrix unit 211 between the answer signal of 211 transmittings, which launch request signal and receive response unit 211, to be sent out
The temporal information for the answer signal penetrated；Second data can be locating module 120 obtain buoy relaying 100 range information and
The range information and velocity information of velocity information, i.e. response unit 211；3rd data can be that inertia measuring module 130 is obtained
Underwater vehicle line movable information, angular movement information, submerged depth information, course information and correction after angular movement information
Deng.Secondly the position computation subunit 3411 and Attitude Calculation subelement 3413 in data fusion unit 341 are according to acoustic measurement
The first data that module 110 is obtained calculate the angle information and range information between basic matrix unit 212 and response unit 211, i.e.,
The distance between 100 information and angle information between underwater vehicle and buoy relaying, and combine what locating module 120 was obtained
Second data further calculate the underwater vehicle that the second place information of underwater vehicle, i.e. acoustic feature measurement module 110 are obtained
Relative position information and attitude information between position and underwater vehicle initial position this moment；While data fusion unit 341
In position computation subunit 3411 and Attitude Calculation subelement 3413 can also according to inertia measuring module 130 obtain the 3rd
Data calculate the velocity information of underwater vehicle, and the initial position of the underwater vehicle of the combination acquisition of locating module 120 enters one
Step calculates the distance between underwater vehicle and underwater vehicle initial position information and angle information, and then determines submariner under water
The underwater vehicle that 3rd positional information of device, i.e. inertia measuring module 130 are obtained position and underwater vehicle initial bit this moment
Relative position information and attitude information between putting；Then the position correction subelement 3412 and appearance in data fusion unit 341
State correction subelement 3414 receives second place information and the 3rd positional information, and to second place information and the 3rd positional information
Carry out fusion correction, the positional information after being corrected；Finally by the filtering process subelement in data fusion unit 341
Positional information after 3415 pairs of corrections is filtered processing, and then obtains first position information and export to control unit 342.Example
The is obtained as filtering process subelement 3415 can be filtered processing using Kalman filtering method to the positional information after correction
One positional information；First position information includes the underwater vehicle after control process resume module position and underwater vehicle this moment
Relative position information and attitude information between initial position, specifically include underwater vehicle this moment at the beginning of position and underwater vehicle
Range information, angle information, submerged depth information, course information and attitude information between beginning position.
Wherein, second place information includes diving under water according to being obtained acoustic feature measurement module 110 and locating module 120
Navigate the distance between device and the underwater vehicle initial position information, angle information and depth information；3rd positional information bag
Include the distance between the underwater vehicle and the underwater vehicle initial position that are obtained according to inertia measuring module 130 information,
Angle information, depth information, attitude information and course information；First position information is included according to the control process module 140
The distance between the underwater vehicle and the underwater vehicle initial position after processing information, angle information, dive are deep
Spend the relative position information and attitude information of information, attitude information and course information, i.e. underwater vehicle.
Embodiment two
Fig. 4 is the system structure diagram for the observation underwater vehicle relative position that the embodiment of the present invention two is provided, this reality
The system for applying the door observation underwater vehicle relative position of example is applicable to exist to underwater vehicle observation relative position directly perceived
With the situation of posture.
As shown in figure 4, the system of observation underwater vehicle relative position, including communication module, interactive controlling module, display
Module and outside input module, in addition to the dress for observing underwater vehicle relative position that any embodiment of the present invention is provided
Put；Wherein, acoustic feature measurement module 110, locating module 120, inertia measuring module 130 and control process module 140, wherein：Sound
Measurement module 110, the position for detecting underwater vehicle are learned, and exports the first data；Locating module 120, is arranged on buoy
On relaying, the position for determining buoy relaying, and export the second data；Inertia measuring module 130, is arranged on underwater vehicle
On, the motion state for detecting underwater vehicle, and export the 3rd data；Control process module 140, with the acoustic measurement
The output end connection of module 110, the locating module 120 and the inertia measuring module 130, for receiving first number
According to, second data and the 3rd data, and the data of reception are handled, obtain first position information；Communicate mould
Block 150 is connected with the output end of control process module 140, for receiving underwater vehicle relative to underwater vehicle initial position
The relative position information and appearance of range information, angle information, depth information, attitude information and course information, i.e. underwater vehicle
State information, and export the mutual control module 160 of best friend；Interactive controlling module 160 is connected with the input of display module 170, is used for
The relative position information and attitude information of the underwater vehicle that communication module 150 is exported are received, and is shown by display module 170
The relative position and posture of underwater vehicle；Interactive controlling module 160 is also connected with outside input module 180 simultaneously, for leading to
The input control instruction of outside input module 180 is crossed, and control instruction is sent to communication module 150, control is further conveyed to
Processing module 140, the motion of underwater vehicle is controlled by control process module 140.
Specifically, underwater vehicle detects the positional information of the underwater vehicle by acoustic feature measurement module 110, and
The first data are exported to control process module 140.The positional information of such as described underwater vehicle can be range information and side
Position angle information etc..Locating module 120 is arranged on a buoy relaying, can be by the positioning function of locating module to buoy
The position of relaying is determined, and then obtains the positional information of buoy relaying, and exports the second data to control process module
140.Such as the positional information that buoy is relayed can be the move distance information and velocity information that buoy is relayed.It is floating when determining
When marking the positional information of relaying, the positional information of other units, module and part being arranged on buoy relaying etc. can also be true
It is fixed, and then buoy relaying can be used as a reference position.Underwater vehicle also detects water by inertia measuring module 130 simultaneously
The motion state of lower submariner device, obtains the movable information of underwater vehicle, and export the 3rd data to control process module 140.
Such as the movable information of underwater vehicle can be line movable information, angular movement information, submerged depth information and course information,
Can be specifically three-dimensional acceleration, three-dimensional angular velocity, submerged depth and navigation direction etc..Control process module 140 can be micro-
Control processor, such as the microcontrol processor chip of STM32 series, for receiving the first data, the second data and the 3rd
Data are handled, and export first position information.Such as first position information can be underwater vehicle relative to diving under water
The relative position and posture of boat device initial position, can be specially further that underwater vehicle is initial relative to underwater vehicle
Distance, angle, submerged depth and posture of position etc..Communication module 150 is used to receive the first of the output of control process module 150
Positional information, and first position information is exported into the mutual control module 160 of best friend.Such as communication module 150 can be wireless blue tooth
Module, wireless WIFI module etc., communication module can include first communication module and second communication module, and the first module is arranged on
It is connected by communicating hawser on buoy relaying 100 and with control process module 140, is used for the transmission into row positional information.Interaction
Control module 160 is connected with the input of display module 170, the phase of the underwater vehicle for receiving the output of communication module 150
To positional information and attitude information, and pass through the relative position and posture of the display underwater vehicle of display module 170；Interaction simultaneously
Control module 160 is also connected with outside input module 180, for inputting control instruction by outside input module 180, and will control
Instruction processed is sent to communication module 150, is further conveyed to control process module 140, and water is controlled by control process module 140
The motion of lower submariner device.
The system for the observation underwater vehicle relative position that the present embodiment is provided, by observing underwater vehicle relative position
Device export the relative position information and attitude information of underwater vehicle, and by the relative position information and appearance of underwater vehicle
State information transfer is intuitively shown to display module, solves underwater vehicle after water is entered, and operator can not be in water
The problem of intuitively observing underwater vehicle present position and posture on face, has reached accurate and has easily exported underwater vehicle
The effect of relative position and attitude information.
Preferably, on the basis of each above-mentioned embodiment, as shown in Figure 5 a, observe underwater vehicle relative position is
The communication mode of communication module can partly have cable mode in system.Partly there is cable mode i.e. underwater vehicle 190 by communicating hawser
200 are connected with buoy relaying 100, for being transmitted the positional information of underwater vehicle to buoy relaying by communicating hawser 200
100, while wireless communication module is arranged on buoy relaying 100, then connected with communication 300 and interactive controlling module
Connect, and positional information is wirelessly transmitted to switching control module, and then transmit to display module 170 and shown.
Preferably, on the basis of each above-mentioned embodiment, as shown in Figure 5 b, observe underwater vehicle relative position is
The communication mode of communication module can have cable mode in system.Have cable mode i.e. underwater vehicle 190 by communicate hawser 200 with
Interactive controlling module 160 is connected, and positional information is directly transferred to interactive controlling by underwater vehicle 190 by communicating hawser 200
Module 160, and then transmit to display module 170 and shown.
Preferably, on the basis of each above-mentioned embodiment, as shown in Figure 5 c, observe underwater vehicle relative position is
The communication mode of communication module can be untethered mode in system.Untethered mode is underwater vehicle 190 by communication
300 are connected with interactive controlling module 160, and positional information is directly transferred to by underwater vehicle 190 by communication 300
Interactive controlling module 160, and then transmit to display module 170 and shown.
Preferably, on the basis of each above-mentioned embodiment, the relative position information of underwater vehicle give relative to
The positional information of underwater vehicle initial position, including range information, orientation angles information, submerged depth information, posture
Attitude information including underwater vehicle.As shown in Figure 6 a, display module uses the phase of 2D figure shows underwater vehicles position 620
For the distance between the position relationship of underwater vehicle initial position 610, i.e. underwater vehicle and initial position and angle, lead to
Cross restriction to show radius 630 (determining engineer's scale) correctly to show relative position, while water can be shown in display module
Submerged depth information of the lower submariner device position 620 relative to underwater vehicle initial position 610.As shown in Figure 6 b, display module
Using 2D figure shows underwater vehicles position 620 relative to underwater vehicle initial position 610 position relationship when, can be with
Multi-scale is set by setting multiple display radiuses in the range of display radius 630 and preferably shows relative position, it is many
The display radius of engineer's scale includes display radius 640 and display radius 650, and the radius for for example showing radius 640 is 500 meters, is shown
The radius for showing radius 650 is 100 meters.
Preferably, on the basis of each above-mentioned embodiment, as shown in Figure 7a, display module uses 3D figure shows under water
During submariner device relative position, display module is sat by 3D graphic plotting modes by the origin of coordinates of initial position according to relative position
It is underwater vehicle (x, y, z) to mark and draw the relative position of underwater vehicle processed, the i.e. relative position of underwater vehicle.Such as Fig. 7 b institutes
Show, give underwater vehicle initial heading information, record is responsible in this course by underwater vehicle, for example, being removed by unlocking operation
Method underwater vehicle records current course as initial heading.In adjustment posture running, appearance is sent by underwater vehicle
State information to interactive controlling module 160 and display module 170, wherein course information can be by initial heading correct it is relative
Course (can be directly used for display) or the original course of transmission simultaneously while send initial heading (by data fusion unit 341
Shown after correction).Attitude information is drawn aobvious by display module 170 by 3D graphic plotting attitude informations with 3D graphic forms
Show, posture under real display robot water directly perceived.
Preferably, on the basis of each above-mentioned embodiment, 3D draws the plan thing form that mode is not limited to Fig. 7 b,
Can using it is more abstract or with more technology sense by the way of, but it is to be dived under water using 3D plotting modes intuitively to characterize at all
Boat device posture.At given initial heading, if underwater vehicle course is with operating terminal towards identical, operating personnel can be with
Intuitively judge that underwater vehicle is remote or Proximity operation terminal by head direction in 3D figures.And in operation eventually
After end is moved towards, underwater vehicle virtual course can be corrected by giving initial heading again.
Embodiment three
The embodiment of the present invention three provides a kind of method for observing underwater vehicle relative position, and this method can be using this
The device of the observation underwater vehicle relative position that invention any embodiment is provided is performed, and this method includes：
Detect according to acoustic feature measurement module 110, locating module 120 and the inertia measuring module 130 and obtain first respectively
Data, the second data and the 3rd data；
Control process module 140 receives the first data, second and the 3rd data, and passes through data fusion unit 341 pair the
One data, the second data and the 3rd data are resolved, merge correction and filtering process, the first position letter after being handled
Breath.
The method for the observation underwater vehicle relative position that the present embodiment is provided can obtain the relative position of underwater vehicle
Confidence cease and posture letter, solve underwater vehicle after water is entered, operator can not obtain underwater vehicle present position and
The problem of posture, reach and accurately and easily exported underwater vehicle relative position and the effect of attitude information.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art it is various it is obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (9)
1. it is a kind of observe underwater vehicle relative position device, it is characterised in that including acoustic feature measurement module, locating module,
Inertia measuring module and control process module, wherein：
The acoustic feature measurement module, the position for detecting underwater vehicle, and export the first data；
The locating module, is arranged on buoy relaying, the position for determining buoy relaying, and exports the second data；
The inertia measuring module, is arranged on underwater vehicle, the motion state for detecting underwater vehicle, and exports the
Three data；
The control process module, the output with the acoustic feature measurement module, the locating module and the inertia measuring module
End connection, for receiving first data, second data and the 3rd data, and to the data of reception at
Reason, obtains first position information.
2. device according to claim 1, it is characterised in that the acoustic feature measurement module includes response unit and basic matrix list
Member, wherein：
The basic matrix unit, including at least three transducers, are arranged on underwater vehicle, for launching request signal and reception
The answer signal of the response unit transmitting；
The response unit, is arranged on buoy relaying, for receiving the request signal and launching the answer signal；
Wherein, the phase difference and the basic matrix unit that the different transducers are received between the answer signal launch the inquiry
Signal simultaneously receives the time of the answer signal as first data.
3. device according to claim 2, it is characterised in that：
The locating module can be d GPS locating module, while being arranged on the response unit on the buoy relaying；
Wherein, the initial position of the buoy relaying is the initial position of the underwater vehicle, the position of the buoy relaying
Information and velocity information are used as second data.
4. device according to claim 1, it is characterised in that the inertia measuring module include acceleration detecting unit,
Angular velocity detection unit, depth detection unit and course detection unit, wherein：
The acceleration detecting unit, including at least one 3-axis acceleration sensor, for obtaining the underwater vehicle
Line movable information；
The angular velocity detection unit, including at least one three axis angular rate sensor, for obtaining the underwater vehicle
Angular movement information；
The depth detection unit, including at least one depth detection sensor, the dive for obtaining the underwater vehicle
Depth information；
The course detection unit, including at least one magnetic compass, the course information for obtaining the underwater vehicle, and school
Just described angular movement information；
Wherein, the acceleration detecting unit can be also used for correcting the angular movement information of the underwater vehicle, the line fortune
Angular movement information after dynamic information, angular movement information, submerged depth information, course information, correction is used as the 3rd data；
Accordingly, the control process module is used for according to the line movable information, angular movement information, submerged depth information, boat
Handled to the angular movement information after information, correction, determine the line motion state of the underwater vehicle, angular movement state,
Diving stations and course state.
5. device according to claim 1, it is characterised in that the control process module includes data fusion unit and control
Unit processed, wherein：
The data fusion unit, for being resolved, being melted to first data, second data and the 3rd data
Correction and filtering process are closed, first position information is obtained；
Described control unit, for controlling the data fusion unit to receive first data, second data and described
3rd data, and export the first position information after the data fusion cell processing.
6. device according to claim 5, it is characterised in that the processing of the data fusion unit is used for：
The submariner under water according to the phase difference calculating between the different transducer receptions answer signal in first data
The orientation angles information of device and the response unit, the basic matrix unit transmitting inquiry letter in first data
Number and receive the range information of underwater vehicle described in the Time Calculation of the answer signal and the response unit, then in conjunction with
Second data further calculate second place information of the underwater vehicle relative to initial position；
According to the 3rd data after line movable information, angular movement information, submerged depth information, course information, correction
Angular movement information calculate the velocity information of the underwater vehicle, further calculate the underwater vehicle relative to initial bit
The range information and angle information put, determine the 3rd positional information of the underwater vehicle；
Fusion correction is carried out to the obtained second place information of calculating and the 3rd positional information, then filtering process updates described the
One positional information；
Wherein, the second place information includes the underwater vehicle phase obtained according to acoustic feature measurement module and locating module
For range information, angle information and the depth information of the underwater vehicle initial position；3rd positional information includes
Range information of the underwater vehicle relative to the underwater vehicle initial position that is obtained according to inertia measuring module, angle
Spend information, depth information, attitude information and course information；The first position information is included at according to the data fusion unit
The underwater vehicle after reason relative to the range information of the underwater vehicle initial position, angle information, depth information,
Attitude information and course information.
7. a kind of system for observing underwater vehicle relative position, including communication module, interactive controlling module, display module and outer
Portion's input module, includes a kind of device of any described observation underwater vehicle relative positions of claim 1-6；Wherein,
The communication module, is connected with the control process module output end, the relative position for receiving the underwater vehicle
Confidence breath and attitude information are simultaneously exported；
The interactive controlling module, is connected with the communication module output end, for receiving the relative of the communication module output
Positional information and attitude information, and transmit to the display module to enter the relative position and/or posture of the underwater vehicle
Row display；
The interactive controlling module, is also connected with the outside input module, is controlled for being inputted by the outside input module
System instruction, and control instruction is sent to communication module, the control process module is further conveyed to, at the control
Manage module control underwater vehicle motion.
8. system according to claim 7, it is characterised in that the display mode of the display module includes：
The display module can show the relative position of underwater vehicle using 2D graphics modes, and specially display module is shown
The mode of radius shows the relative position of underwater vehicle；And/or
The display module can also show the relative position and posture of underwater vehicle using 3D graphics modes, can be specifically
Display module draws underwater vehicle by the origin of coordinates of initial position by 3D graphic plottings mode according to relative position coordinates
Relative position and posture；
Wherein, the relative position information includes distance of the underwater vehicle relative to the underwater vehicle initial position
Information, angle information, depth information and course information etc..
9. a kind of method for observing underwater vehicle relative position, applied to the observation water any one of claim 1-6
The device of lower submariner device relative position, it is characterised in that methods described includes：
According to the acoustic feature measurement module, the locating module and the inertia measuring module obtain respectively first data,
Second data and the 3rd data；
The control process module reception first data, described second and the 3rd data, and melted by the data
Close unit to resolve first data, second data and the 3rd data, merge correction and filtering process, obtain
First position information after to processing；
Wherein, the first position information includes the relative position information and attitude information of the underwater vehicle.
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