CN109765524A - Seabed geodetic datum multi-beacon locating platform and joint Calibration Method - Google Patents
Seabed geodetic datum multi-beacon locating platform and joint Calibration Method Download PDFInfo
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- CN109765524A CN109765524A CN201910025374.1A CN201910025374A CN109765524A CN 109765524 A CN109765524 A CN 109765524A CN 201910025374 A CN201910025374 A CN 201910025374A CN 109765524 A CN109765524 A CN 109765524A
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Abstract
The present invention relates to subsea beacon positioning field, especially a kind of seabed geodetic datum multi-beacon locating platform and joint Calibration Method.Including carrying platform, the bottom of the carrying platform is cylindrical support disk, the center of cylindrical support disk is fixed with control cabinet, four floating ball beacon elements are arranged along its circumferencial direction uniform intervals in the upper surface of cylindrical support disk, and four seat bottom footing are arranged along its circumferencial direction uniform intervals in the bottom of cylindrical support disk；The floating ball beacon element includes floating ball sealed cabin, floating ball and acoustics beacon, floating ball and acoustics beacon are arranged in floating ball sealed cabin, the center of floating ball sealed cabin is arranged in acoustics beacon, the bottom of acoustics beacon is equipped with dual relieving mechanism, the outside of acoustics beacon is equipped with the floating ball of several circumferentially spaced settings, and floating ball is fixed on floating ball bracket.Which reduce the risks that underwater sound beacon discharges recycling failure, and provide platform condition for the joint calibration of multi-beacon, realize the joint calibration of multiple subsea beacons.
Description
Technical field
The present invention relates to subsea beacon positioning field, especially a kind of seabed geodetic datum multi-beacon locating platform and joint
Calibration Method.
Background technique
The eighties in last century, the institute of oceanography Scripps, the U.S. proposes the construction method of seabed geodesic control net, because of network system
System research and development and construction cost height, technical difficulty are big, and only a few countries such as Japan, South Korea and U.S. have the ability to carry out seabed at present
Control laying, testing and the application study work of net.Japan and South Korea lay the prison that submarine control network is mainly used for littoral earthquake
It surveys, is laid in Earthquake Fault Zone Its Adjacent Waters more.In terms of arranging network plan, Japan uses the original of arranging net of land geodesic survey
Then, i.e., the network points such as I are laid first, and encryption forms II etc. and III etc. control net on this basis, but how to adapt to sea
Base ring border, acoustic range feature and to meet the Mesh Point Selected Location of positioning accuracy request, network structure and shape design etc. international
Upper rare document；In terms of the construction of seabed geodesic control net, countries in the world mostly use GNSS to combine with acoustic localization technique
Seabed geodetic datum measurement method, wherein Japan use the seabed surface platform+GNSS+SBL+ Beacon+ submarine cable it is comprehensive
Observation technology is closed, South Korea uses the measuring technique that GNSS is combined with hydrolocation (LBL+SBL), the subsea networks in the U.S.
Because being served only for underwater navigation and monitoring, submarine control network measurement uses GNSS location technology, and the above location technology is for solving
The construction of single seabed datum mark is effective, but then seems time-consuming and laborious for the construction of regional undersea reference net, is unfavorable for sea
The longtime running of bottom geodetic datum net and maintenance.
Seabed locating platform based on acoustics beacon is one of the important component of seabed geodetic datum net.With ocean
The fast development in the fields such as scientific research, marine environmental protection, Oceanic disasters prevention emergency, maritime rights and interests maintenance, to ocean ring
Border observation and the requirement of technique for investigation are higher and higher.Seabed geodetic datum multi-beacon locating platform has for a long time continuously, not by sea
Condition and weather influence are calibrated, the technical advantage that service time is long without using GPS.
Since at the end of the 20th century, countries in the world start to carry out the construction of subsea networks, such as the long-term ecosystem in the U.S. one after another
System surveillance program LEO-15, ARENA and DONET system of Japan etc..And the development and design of seabed geodetic datum locating platform is
One system engineering, research are adapted to the equipment of different waters environment and operating condition, improve application stability and can
By property and form efficient system positioning calibration mode, be the design of China seabed geodetic datum location equipment structure and hair
Open up direction.
Summary of the invention
It is an object of the invention to propose a kind of seabed geodetic datum multi-beacon locating platform and joint Calibration Method,
The risk of underwater sound beacon release recycling failure is reduced, and provides platform condition for the joint calibration of multi-beacon, is realized more
The joint calibration of a subsea beacon.
The technical scheme is that a kind of seabed geodetic datum multi-beacon locating platform, including carrying platform, wherein
The bottom of the carrying platform is cylindrical support disk, and the center of cylindrical support disk is fixed with control cabinet, cylindrical support disk
Upper surface along its circumferencial direction uniform intervals be arranged four floating ball beacon elements, the bottom of cylindrical support disk is along its circumference
Four seat bottom footing are arranged in direction uniform intervals；
The floating ball beacon element includes floating ball sealed cabin, floating ball and acoustics beacon, and floating ball and the setting of acoustics beacon are floating
In ball sealed cabin, the center of floating ball sealed cabin is arranged in acoustics beacon, and the bottom of acoustics beacon is equipped with dual relieving mechanism, sound
The outside for learning beacon is equipped with the floating ball of several circumferentially spaced settings, and floating ball is fixed on floating ball bracket, floating ball bracket with
Floating ball sealed cabin is fixedly connected；
The dual relieving mechanism includes that connecting plate, releasing unit and spare releasing unit, connecting plate pass through releasing unit
It is connect with the bottom of acoustics beacon, spare releasing unit includes release pedestal, release long axis and electromagnet, and electromagnet setting exists
The bottom of control cabinet, release long axis are arranged in cylindrical support disk, and release pedestal is located at the lower section of connecting plate, discharge pedestal
Top be fixedly connected with the bottom of connecting plate, discharge pedestal lower part be equipped with axis hole, discharge long axis one end insertion release bottom
Seat axis hole in, the other end close to electromagnet, while discharge long axis outside be equipped with long axis spring, one end of long axis spring with
Long axis connection is discharged, the other end is connect with cylindrical support disk, when acoustics beacon works normally, electromagnet power-off.
In the present invention, seat bottom footing includes footing spring, footing pillar and footing conehead, is equipped in footing conehead
The top in hole, footing pillar is fixedly connected with the bottom of cylindrical support disk, and the bottom end of footing pillar is in the hole of footing conehead
It slides up and down, is connected between footing pillar and the bottom of cylindrical support disk by footing spring.
The releasing unit includes release lock pin, release latch hook and release pin, and release lock pin is fixed on acoustics beacon
Bottom, release latch hook is hinged with connecting plate, and the top for discharging latch hook is equipped with groove, release latch hook by groove at the top of it and
Release lock pin is fixedly connected, and the lower part for discharging latch hook is equipped with inclined groove, and release pin is arranged in the trench, connecting plate
Lower part is equipped with vertical slot, and release pin is arranged in the vertical slot of connecting plate lower part, and vertically slot moves up and down.
The invention also includes a kind of underwater multi-beacon Platform Alliance Calibration Methods, comprising the following steps:
S1 determines the position coordinates of water surface calibration unit；
S2 obtains the depth location data z of underwater sound beacon；
S3 obtains the horizontal location data of each underwater sound beacon:
The position coordinates of underwater sound beacon are denoted as Si(x, y, z), i=1,2,3,4, the beacon to n-th of water surface calibration
Unit measuring point An(Xn,Yn,Zn) between propagation delay be tn, then Long baselines positioning calculation formula are as follows:
(x-Xn)2+(y-Yn)2+(z-Zn)2=c2tn 2, n=1, L, N
Wherein, c is acoustic propagation velocity in seawater, under water in situation known to beacon depth z, solves subsea beacon position
The matrix representations of coordinate vector are as follows:
AS=V
Wherein:
If basic matrix A is nonsingular invertible matrix, can solve to obtain subsea beacon position coordinates vector as follows:
S=A-1V；
S4, the joint calibration of several underwater sound beacon positions, comprising the following steps:
S4.1 obtains the central coordinate of circle of circle composed by each acoustics beacon
S4.2 rejects the outlier of acoustics beacon position and redefines central coordinate of circle:
The distance between two symmetrical acoustics beacons are L on known locations platform, if:
Then the point is not included in subsequent calculating as outlier, and the coordinate number of effective acoustics beacon after rejecting outlier is
M then recalculates central coordinate of circle
S4.3 determines the direction of acoustics beacon, thus the position of the acoustics beacon after being calibrated:
WithPosition is the center of circle, on the circle that radius is L/2, takes and is divided into 90 ° of four new S between anglei' form newly
Array group, by four Si' array group rotated to obtain several array groups in the direction of the clock, it is sought according to minimal distance principle
It looks for and each Si' apart from nearest SiAnd it corresponds, wherein i=1, L, M.
In above-mentioned steps S4.3, by four Si' array group rotated to obtain several array groups in the direction of the clock, it counts
Calculate each group of Si' and SiError and D
The then S after joint calibrationi' position be
In above-mentioned steps S1, water surface calibration unit is installed on above water craft, and the energy converter of water surface school mark unit is hard
Connection is mounted on surveying vessel, installs GPS antenna and High Accuracy Inertial equipment above energy converter additional, and surveying vessel is fixed around multi-beacon
Bit platform lays the slow circulatory motion in region, the acoustics beacon on real-time measurement energy converter to locating platform during pitch of the laps
Time delay, while recording the real time GPS location information and orientation posture information of energy converter, uniformly chosen on surveying vessel air route
Several points are used as measuring point；It chooses several measurement points and measures its position coordinates at N number of measuring point and be denoted as An(Xn,Yn,Zn), n=
1, L, N, wherein horizontal position (Xn,Yn) obtained by boat-carrying GPS signal, upright position ZNBy the fitting depth of energy converter alow
It obtains.
In above-mentioned steps S2, the depth z of underwater sound beacon is according to the pressure sensor being mounted on subsea beacon
It obtains, pressure sensor selects voltage-type pressure sensor, sets pressure sensor output voltage range as Umin~Umax
(V), corresponding depth measurement range ability is 0~FsBar (10Bar=1MPa), if pressure sensor output voltage is Uc
(V), then corresponding depth value calculation formula is as follows:
Wherein, ρ (kg/m3) it is density of sea water, g (N/kg) is acceleration of gravity, and the unit of depth z is m；
The pressure data information that subsea beacon measurement obtains is transferred to water surface calibration unit by underwater sound communication mode.
Beneficial effects of the present invention:
(1) dual relieving mechanism is used, when the relieving mechanism on acoustics beacon breaks down, platform base can be passed through
Backup relieving mechanism complete beacon release, reduce underwater sound beacon release recycling failure risk；
(2) in accuracy Initial Alignment Calibration, using the mutual alignment relation of each beacon in multi-beacon platform, in single subsea beacon
The joint calibration of multiple beacons is realized on the basis of positioning calibration, to further increase the calibration accuracy of locating platform；
(3) carrying platform bottom installation there are four elasticity seat bottom footing, footing spring be sit bottom when footing conehead with
Carrying platform provides buffering, and carrying platform is made to be suitable for a variety of seat bottoms substrate, realizes that stablizing for locating platform sits bottom.
Detailed description of the invention
Fig. 1 is the main view of seabed geodetic datum multi-beacon locating platform；
Fig. 2 is the top view of seabed geodetic datum multi-beacon locating platform；
Fig. 3 is the structural schematic diagram of dual relieving mechanism；
Fig. 4 is the structural schematic diagram for sitting bottom footing；
Fig. 5 is the composition schematic diagram of water sound communication signal；
Fig. 6 is that the position of acoustics beacon on carrying platform arranges schematic diagram.
In figure: 1 carrying platform；2 acoustics beacons；3 floating balls；4 control cabinets；5 floating ball brackets；6 floating ball sealed cabins；7 sit bottom bottom
Foot；8 footing springs；9 footing pillars；10 footing coneheads；11 release lock pins；12 release latch hooks；13 release pins；14 release bottoms
Seat；15 release long axis；16 long axis springs；17 electromagnet；18 connecting plates.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
It is geodetic datum multi-beacon locating platform in seabed of the present invention, including carrying platform 1 as shown in Figure 1 to Figure 4, carries
The bottom of platform 1 is cylindrical support disk, and top is micro- conical structure, makes carrying platform the case where meeting requirement
Lower volume is minimum, and its center of gravity is located at mesa base, improve its lay and water in dive when stability.It is cylindrical
The center of support plate is fixed with control cabinet 4, and the upper surface of cylindrical support disk is arranged four along its circumferencial direction uniform intervals and floats
Four seat bottom footing 7 are arranged along its circumferencial direction uniform intervals in the bottom of ball beacon element, cylindrical support disk.Carrying platform
Main body frame be welded by stainless steel pipe and stainless steel plate.
Floating ball beacon element includes floating ball sealed cabin 6, floating ball 3 and acoustics beacon 2, and floating ball 3 and the setting of acoustics beacon 2 are floating
In ball sealed cabin 6, the center of floating ball sealed cabin 6 is arranged in acoustics beacon 2, and the bottom of acoustics beacon 2 is equipped with dual machine for releasing
Structure.Dual relieving mechanism realizes the independent release of each acoustics beacon, returns it to sea recycling.The outside of acoustics beacon 2
Floating ball 3 equipped with several circumferentially spaced settings, floating ball 3 are fixed on floating ball bracket 5, and floating ball bracket 5 is fixed with floating ball
Cabin 6 is fixedly connected.Acoustics beacon 2 is securely fixed on carrying platform 1 by beacon bracket, prevent acoustics beacon lay,
Position disturbance is generated when dive, seabed normal operation in water.In the present embodiment, acoustics beacon there are four arrangements on carrying platform,
Four acoustics beacons are uniformly mounted on carrying platform, and installation site is the circle of diameter 2000mm, any two acoustics beacon
Between spacing deviation be no more than 0.5mm.Four subsea beacon joint verifications and calibration, provide standard for seabed geodesic control net
Really, reliable location information.In order to guarantee enough buoyancies and vertical floating direction, each acoustics beacon is matched
Standby four floating balls, the position of four floating balls are uniformly distributed, and floating ball bracket is welded by stainless steel tube, are in micro- pyramidal structure, are floated
Ball sealed cabin 6 provides the guiding role of floating for floating ball bracket, make acoustics beacon float when will not with carrying platform other
Structure member generates interference, and realization is safely and reliably recycled.
As shown in figure 4, dual relieving mechanism includes connecting plate 18, releasing unit and spare releasing unit, releasing unit packet
Release lock pin 11, release latch hook 12 and release pin 13 are included, release lock pin 11 is fixed on the bottom of acoustics beacon 2, discharges latch hook
12 is hinged by shaft and connecting plate 18, and the top of release latch hook 12 is equipped with groove, and release latch hook 12 passes through the groove at the top of it
It is fixedly connected with release lock pin 11, the lower part of release latch hook 12 is equipped with inclined groove, and the setting of release pin 13 is in the trench；
The lower part of connecting plate 18 is equipped with vertical slot simultaneously, and release pin 13 is arranged in the vertical slot of 18 lower part of connecting plate, and can edge
Vertical slot moves up and down.While discharging vertical slot up and down motion of the pin 13 along connecting plate, release latch hook 12 will drive
It is rotated along shaft, the groove for discharging 12 top of latch hook at this time leaves release lock pin 11, to realize the release of acoustics beacon 2.
Spare releasing unit includes release pedestal 14, release long axis 15 and electromagnet 17, and electromagnet 17 is arranged in control cabinet 4
Bottom, release long axis 15 be arranged in cylindrical support disk.Release pedestal 14 is located at the lower section of connecting plate 18, discharges pedestal
14 is T-shaped, and the top of release pedestal 14 is fixedly connected with the bottom of connecting plate 18, and the lower part of release pedestal 14 is equipped with axis hole, releases
Lengthen axis 15 one end insertion release pedestal 14 axis hole in, the other end discharges the outside of long axis 15 close to electromagnet 17
Equipped with long axis spring 16, one end of long axis spring 16 is connect with release long axis 15, and the other end is connect with cylindrical support disk, is released
Axis 15 lengthen under the elastic force effect of long axis spring 16, one end is through the axis hole for discharging pedestal, while long axis spring 16 plays
Make to discharge the effect that long axis 15 resets.When acoustics beacon 2 works normally, electromagnet 17 is powered off, and release long axis 15 is in release bullet
It is applied in the axis hole of release pedestal 14 under the elastic force effect of spring 16, is fixed on release pedestal 14 on carrying platform.Work as sound
Need to float recycling and releasing unit when cannot be operating normally, and the floating that acoustics beacon need to be completed by spare releasing unit recycles.
Issuing control signal by deck makes electromagnet 17 be powered, and discharges long axis 15 and moves under the suction of electromagnet to the center of platform
Dynamic, the axis hole of release pedestal 14 is left in one end of release long axis 15, discharges long axis 15 at this time and release pedestal 14 is detached from, four
Under the buoyancy that a floating ball provides, acoustics beacon realizes recycling of floating.
When recycling acoustics beacon, release movement is carried out by dual relieving mechanism: on the one hand, since acoustics beacon has sound
Release function is learned, after beacon reception arrives deck release signal, release pin 13 is mobile, therefore release latch hook 12 can be free
Rotation, release latch hook 12 are separated with release lock pin 11, and under the buoyancy that four floating balls provide, acoustics beacon can float
Recycling maintenance is realized to the water surface；On the other hand, when releasing unit cisco unity malfunction, spare releasing unit, electromagnet are enabled
17 triggerings, release long axis 15 are moved out release pedestal 14, release pedestal 14 are discharged, to realize the standby of acoustics beacon
Part release.
As shown in figure 3, sitting bottom footing 7 includes footing spring 8, footing pillar 9 and footing conehead 10, set in footing conehead 10
There is hole, the top of footing pillar 9 is fixedly connected with the bottom of cylindrical support disk, and the bottom end setting of footing pillar 9 is bored in footing
It in first 10 hole, and can be slided up and down in hole, pass through footing spring between footing pillar 9 and the bottom of cylindrical support disk
8 connections.Footing conehead 10 can be moved up and down along footing pillar 9, and footing spring 8 is that footing conehead is mentioned with carrying platform when sitting bottom
Buffering has been supplied, carrying platform is made to be suitable for a variety of seat bottoms substrate, bottom is steadily sat in realization.
The invention also includes a kind of multi-beacon locating platforms to combine Calibration Method, is positioned according to Long baselines, ultra-short baseline former
Reason, can combine meter by the positioning datum source with above water craft using four beacons as four reception battle arrays in system calibration
It calculates, obtains high-precision seabed positioning result.Method includes the following steps:
The first step determines the position coordinates of water surface calibration unit.
Water surface calibration unit is installed on above water craft, and the energy converter Hard link of water surface school mark unit is mounted on surveying vessel
On, install GPS antenna and High Accuracy Inertial equipment above energy converter additional, surveying vessel is around the slow circulatory motion of target, in pitch of the laps mistake
In journey on real-time measurement energy converter to locating platform acoustics beacon time delay, while recording the real time GPS location information of energy converter
With orientation posture information.Multiple points are uniformly chosen on surveying vessel air route as measurement point, the metrical information of each measuring point can
Regard as a point primitive.
It chooses multiple measurement points and measures its position coordinates at N number of measuring point and be denoted as An(Xn,Yn,Zn), n=1, L, N,
Middle horizontal position (Xn,Yn) obtained by boat-carrying GPS signal, upright position ZNIt is obtained by the fitting depth of energy converter alow.
Second step obtains the depth location data of underwater sound beacon.
The depth z of underwater sound beacon is obtained according to the pressure sensor being mounted on subsea beacon, pressure sensing
Device selects voltage-type pressure sensor.Pressure sensor output voltage range is set as Umin~Umax(V), corresponding depth
Measuring range range is 0~FsBar (10Bar=1MPa), if pressure sensor output voltage is Uc(V), then corresponding depth
It is as follows to be worth calculation formula:
Wherein, ρ (kg/m3) it is density of sea water, g (N/kg) is acceleration of gravity, and the unit of depth z is m.
The pressure data information that subsea beacon measurement obtains is transferred to water surface calibration unit by underwater sound communication mode.Under water
Underwater sound communication between beacon and water surface calibration unit uses RZ-OFSK digital communication mode, shares 16 common communication letters
Road, then the pulse signal of each channel can represent 4bits information.Fig. 5 is the composition schematic diagram of water sound communication signal, the underwater sound
Signal of communication is made of wake-up pulse signal and underwater sound communication burst signal, and underwater sound communication train of pulse is up to 15 pulses
Signal can at most transmit 60bits information content every time.The pulsewidth of each pulse signal is 5ms, between pulse between be divided into
100ms, resultant signal length are less than 1.6s.
Third step obtains the horizontal location data of each underwater sound beacon.
The position coordinates of underwater sound beacon are denoted as Si(x, y, z), i=1,2,3,4, the beacon to n-th of water surface calibration
Unit measuring point An(Xn,Yn,Zn) between propagation delay be tn, then Long baselines positioning calculation formula are as follows:
(x-Xn)2+(y-Yn)2+(z-Zn)2=c2tn 2, n=1, L, N (1)
Wherein, c is acoustic propagation velocity in seawater.Under water in situation known to beacon depth z, three spherical surfaces cross, i.e.,
As long as known subsea beacon is to the propagation delay of three measuring points, so that it may uniquely determine subsea beacon position (x, y).If it is known that
There is redundancy array element to the propagation delay of the above measuring point of more than three in subsea beacon, then the information of redundancy array element can be used for reality
Now more solutions are average to improve positioning accuracy.
Under water in situation known to beacon depth z, abbreviation, available solution subsea beacon are carried out to aforesaid equation
The matrix representations of position coordinates vector are as follows:
AS=V (2)
Wherein:
If basic matrix A is nonsingular invertible matrix, can solve to obtain subsea beacon position coordinates vector as follows:
S=A-1V (3)
4th step, the joint calibration of multiple underwater sound beacon positions.
According to the General Arrangement Scheme of platform, each beacon Si(x, y, z), mutual alignment such as figure of the i=1,2,3,4 in seabed
Shown in 6, joint calibration is carried out to the position data that formula (3) is calculated using the correlation.The step is divided into following several
A small step:
1, obtain the central coordinate of circle of circle composed by each acoustics beacon
2, it rejects the outlier of acoustics beacon position and redefines central coordinate of circle:
As shown in fig. 6, the distance between two acoustics beacons are L according to the design of locating platform, if:
Then the position of the acoustics beacon be considered calculate error it is excessive, which is not included in subsequent calculating as outlier.It picks
Except the coordinate number of effective acoustics beacon after outlier is M, then central coordinate of circle is recalculated
3, determine the direction of acoustics beacon, thus the position of the acoustics beacon after being calibrated:
WithPosition is the center of circle, on the circle that radius is L/2, takes and is divided into 90 ° of four new S between anglei' form newly
Array group is found and each S according to minimal distance principlei' apart from nearest SiAnd it corresponds, wherein i=1, L, M
By four Si' array group rotated in the direction of the clock, calculate every a pair of Si' and SiError and D
The then S after joint calibrationi' position be
The working principle of this method is: marking unit by sending underwater images order to underwater sound beacon, in fact in water surface school
Now to the long-range control of subsea beacon；By synchronous reception mode or acoustics interrogator-responder system, realize to underwater sound beacon
Precision ranging.Under synchronous reception mode, the clock of underwater sound beacon and water surface school mark unit is synchronous, water surface school mark
The signal emission time and transmitting signal form of underwater sound beacon known to unit, pass through the synchronous signal for receiving acoustics beacon
It is handled, estimates the time delay between being received and dispatched.Under acoustics interrogator-responder system, unit is marked first to underwater in water surface school
Beacon emissions request signal, delay certain time replys answer signal after acoustics beacon reception to signal, prior in signal system
Under the premise of agreement, the return signal that water surface school mark unit receives acoustics beacon is handled the time delay between being received and dispatched.Water
The location information that Delay and current transmitting transducer between the transmitting-receiving that unit obtains processing are marked in face school (utilizes rigidity
The GPS antenna measurement of connection obtains), using the calibration steps in this method, complete the position calibration of underwater sound beacon.
Claims (7)
1. a kind of seabed geodetic datum multi-beacon locating platform, including carrying platform (1), it is characterised in that: the carrying platform
(1) bottom is cylindrical support disk, and the center of cylindrical support disk is fixed with control cabinet (4), the upper table of cylindrical support disk
Four floating ball beacon elements are arranged along its circumferencial direction uniform intervals in face, and the bottom of cylindrical support disk is uniform along its circumferencial direction
Four seat bottom footing (7) of interval setting；
The floating ball beacon element includes floating ball sealed cabin (6), floating ball (3) and acoustics beacon (2), floating ball (3) and acoustics beacon
(2) in floating ball sealed cabin (6), acoustics beacon (2) is arranged at the center of floating ball sealed cabin (6), the bottom of acoustics beacon (2) for setting
Portion is equipped with dual relieving mechanism, and the outside of acoustics beacon (2) is equipped with the floating ball (3) of several circumferentially spaced settings, floating ball
(3) it is fixed on floating ball bracket (5), floating ball bracket (5) is fixedly connected with floating ball sealed cabin (6)；
The dual relieving mechanism includes connecting plate (18), releasing unit and spare releasing unit, and connecting plate (18) passes through release
Unit is connect with the bottom of acoustics beacon (2), and spare releasing unit includes release pedestal (14), release long axis (15) and electromagnet
(17), electromagnet (17) setting discharges long axis (15) and is arranged in cylindrical support disk, discharge bottom in the bottom of control cabinet (4)
Seat (14) is located at the lower section of connecting plate (18), and the top of release pedestal (14) is fixedly connected with the bottom of connecting plate (18), discharges
The lower part of pedestal (14) is equipped with axis hole, and one end insertion of release long axis (15) discharges in the axis hole of pedestal (14), and the other end is close
Electromagnet (17), while the outside for discharging long axis (15) is equipped with long axis spring (16), one end of long axis spring (16) and release are grown
Axis (15) connection, the other end are connect with cylindrical support disk, when acoustics beacon (2) works normally, electromagnet (17) power-off.
2. geodetic datum multi-beacon locating platform in seabed according to claim 1, it is characterised in that: seat bottom footing
(7) include footing spring (8), footing pillar (9) and footing conehead (10), be equipped with hole, footing pillar (9) in footing conehead (10)
Top be fixedly connected with the bottom of cylindrical support disk, the bottom end of footing pillar (9) in the hole of footing conehead (10) up and down
Sliding is connect between footing pillar (9) and the bottom of cylindrical support disk by footing spring (8).
3. geodetic datum multi-beacon locating platform in seabed according to claim 1, it is characterised in that: the releasing unit packet
Release lock pin (11), release latch hook (12) and release pin (13) are included, release lock pin (11) is fixed on the bottom of acoustics beacon (2)
Portion, hingedly, the top of release latch hook (12) is equipped with groove for release latch hook (12) and connecting plate (18), and release latch hook (12) passes through it
The groove at top is fixedly connected with release lock pin (11), and the lower part of release latch hook (12) is equipped with inclined groove, discharges pin
(13) in the trench, the lower part of connecting plate (18) is equipped with vertical slot for setting, and release pin (13) is arranged in connecting plate (18) lower part
Vertical slot in, and vertically slot move up and down.
4. a kind of joint Calibration Method of multi-beacon locating platform described in claim 1, it is characterised in that the following steps are included:
S1 determines the position coordinates of water surface calibration unit；
S2 obtains the depth location data z of underwater sound beacon；
S3 obtains the horizontal location data of each underwater sound beacon:
The position coordinates of underwater sound beacon are denoted as Si(x, y, z), i=1,2,3,4, which surveys to n-th of water surface calibration unit
Point An(Xn,Yn,Zn) between propagation delay be tn, then Long baselines positioning calculation formula are as follows:
(x-Xn)2+(y-Yn)2+(z-Zn)2=c2tn 2, n=1, L, N
Wherein, c is acoustic propagation velocity in seawater, under water in situation known to beacon depth z, solves subsea beacon position coordinates
The matrix representations of vector are as follows:
AS=V
Wherein:
If basic matrix A is nonsingular invertible matrix, can solve to obtain subsea beacon position coordinates vector as follows:
S=A-1V；
S4, the joint calibration of underwater sound beacon position, comprising the following steps:
S4.1 obtains the central coordinate of circle of circle composed by each acoustics beacon
S4.2 rejects the outlier of underwater sound beacon position and redefines central coordinate of circle:
The distance between two symmetrical acoustics beacons are L on known locations platform, if:
Then the point is not included in subsequent calculating as outlier, and the coordinate number of effective acoustics beacon after rejecting outlier is M, then
Recalculate central coordinate of circle
S4.3 determines the direction of acoustics beacon, thus the position of the acoustics beacon after being calibrated:
WithPosition is the center of circle, on the circle that radius is L/2, takes and is divided into 90 ° of four new S between anglei' the new array of composition
Group, by four class Si' array group rotated to obtain several array groups in the direction of the clock, according to minimal distance principle find with
Each Si' apart from nearest SiAnd it corresponds, wherein i=1, L, M.
5. multi-beacon locating platform according to claim 4 combines Calibration Method, it is characterised in that: in above-mentioned steps S4.3
In, by four Si' array group rotated to obtain several array groups in the direction of the clock, calculate each group of Si' and SiError and
D
The then S after joint calibrationi' position be
6. according to the method described in claim 4, it is characterized by: in step sl, water surface calibration unit is installed on waterborne vessel
On oceangoing ship, the energy converter Hard link of water surface school mark unit is mounted on surveying vessel, installs GPS antenna and high-precision above energy converter additional
Inertial navigation equipment, surveying vessel lay the slow circulatory motion in region, real-time measurement during pitch of the laps around multi-beacon locating platform
The time delay of acoustics beacon on energy converter to locating platform, while recording the real time GPS location information and orientation posture letter of energy converter
Breath uniformly chooses several points as measuring point on surveying vessel air route, chooses several measurement points and measure its position at N number of measuring point
Coordinate is denoted as An(Xn,Yn,Zn) n=1, L, N, wherein horizontal position (Xn,Yn) obtained by boat-carrying GPS signal, upright position ZNBy,
The fitting depth of energy converter alow obtains.
7. according to the method described in claim 4, it is characterized by: in step s 2, the depth z of underwater sound beacon is basis
What the pressure sensor being mounted on subsea beacon obtained, pressure sensor selects voltage-type pressure sensor, and setting pressure passes
Sensor output voltage range is Umin~Umax(V), corresponding depth measurement range ability is 0~FsBar (10Bar=
1MPa), if pressure sensor output voltage is Uc(V), then corresponding depth value calculation formula is as follows:
Wherein, ρ (kg/m3) it is density of sea water, g (N/kg) is acceleration of gravity, and the unit of depth z is m；
The pressure data information that subsea beacon measurement obtains is transferred to water surface calibration unit by underwater sound communication mode.
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| CN113218372B (en) * | 2021-05-25 | 2021-10-29 | 哈尔滨工程大学 | Calibration system and method for position of seabed datum point |
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