CN109765524B - Seabed ground reference multi-beacon positioning platform and combined calibration method - Google Patents
Seabed ground reference multi-beacon positioning platform and combined calibration method Download PDFInfo
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- CN109765524B CN109765524B CN201910025374.1A CN201910025374A CN109765524B CN 109765524 B CN109765524 B CN 109765524B CN 201910025374 A CN201910025374 A CN 201910025374A CN 109765524 B CN109765524 B CN 109765524B
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Abstract
the invention relates to the field of underwater beacon positioning, in particular to a seabed ground reference multi-beacon positioning platform and a combined calibration method. The device comprises a carrying platform, wherein a cylindrical supporting disk is arranged at the bottom of the carrying platform, a control cabin is fixed in the center of the cylindrical supporting disk, four floating ball beacon units are uniformly arranged on the upper surface of the cylindrical supporting disk at intervals along the circumferential direction of the cylindrical supporting disk, and four seat bottom feet are uniformly arranged at the bottom of the cylindrical supporting disk at intervals along the circumferential direction of the cylindrical supporting disk; the floating ball beacon unit comprises a floating ball fixing cabin, a floating ball and an acoustic beacon, the floating ball and the acoustic beacon are arranged in the floating ball fixing cabin, the acoustic beacon is arranged at the center of the floating ball fixing cabin, a double-release mechanism is arranged at the bottom of the acoustic beacon, a plurality of floating balls are arranged on the outer side of the acoustic beacon at intervals along the circumferential direction, and the floating ball is fixed on a floating ball support. The method reduces the risk of failure in releasing and recovering the underwater acoustic beacon, provides a platform condition for the combined calibration of multiple beacons, and realizes the combined calibration of the multiple underwater beacons.
Description
Technical Field
The invention relates to the field of underwater beacon positioning, in particular to a seabed ground reference multi-beacon positioning platform and a combined calibration method.
Background
In the last 80 th century, the american Scripps marine research institute proposed a submarine geodetic control network construction concept, and due to high development and construction costs and great technical difficulties of network systems, only a few countries such as japan, korea and the usa have the ability to develop submarine control network deployment, measurement and application research works. The submarine control network is mainly used for monitoring the earthquake along the shore, and is mostly arranged in the water area near the earthquake fracture zone. In terms of a network distribution scheme, a network distribution principle of land geodetic survey is adopted in Japan, namely control network points such as I are firstly distributed, and control networks such as II and III are formed by encryption on the basis, but documents are few internationally in the aspects of how to adapt to the submarine environment, the characteristics of acoustic distance measurement, network point site selection meeting the positioning accuracy requirement, network structure and shape design and the like; in the aspect of the construction of a submarine ground control network, various countries in the world mostly adopt a submarine ground reference measurement method combining GNSS and acoustic positioning technology, wherein Japan adopts a sea surface platform + GNSS + SBL + submarine Beacon + submarine cable comprehensive observation technology, Korea adopts a measurement technology combining GNSS and underwater acoustic positioning (LBL + SBL), a submarine network in America is only used for underwater navigation and monitoring, and the measurement of the submarine control network adopts the GNSS positioning technology.
An acoustic beacon based seafloor positioning platform is one of the important components of the seafloor geodetic reference network. With the rapid development of the fields of marine science research, marine environment protection, marine disaster prevention emergency, marine equity maintenance and the like, the requirements on marine environment observation and investigation technology are higher and higher. The seabed ground reference multi-beacon positioning platform has the technical advantages of long-term continuity, no influence of sea conditions and weather, no need of utilizing a GPS for calibration and long service time.
Since the end of the 20 th century, the construction of submarine networks has begun to occur in various countries around the world, such as the long-term ecosystem observation program LEO-15 in the united states, the ARENA and DONET systems in japan, and so on. The design and development of the seabed ground reference positioning platform is a system engineering, the equipment which is suitable for different sea area environments and operation conditions is researched, the stability and the reliability of the equipment application are improved, an efficient system positioning calibration mode is formed, and the design and the development direction of the seabed ground reference positioning equipment structure in China are provided.
Disclosure of Invention
The invention aims to provide a seabed ground reference multi-beacon positioning platform and a combined calibration method, which reduce the risk of failure in releasing and recovering an underwater acoustic beacon, provide platform conditions for the combined calibration of multiple beacons and realize the combined calibration of the multiple underwater beacons.
The technical scheme of the invention is as follows: a seabed ground reference multi-beacon positioning platform comprises a carrying platform, wherein the bottom of the carrying platform is a cylindrical supporting disk, a control cabin is fixed at the center of the cylindrical supporting disk, four floating ball beacon units are uniformly arranged on the upper surface of the cylindrical supporting disk at intervals along the circumferential direction of the cylindrical supporting disk, and four bottom feet are uniformly arranged on the bottom of the cylindrical supporting disk at intervals along the circumferential direction of the cylindrical supporting disk;
The floating ball beacon unit comprises a floating ball fixing cabin, a floating ball and an acoustic beacon, wherein the floating ball and the acoustic beacon are arranged in the floating ball fixing cabin, the acoustic beacon is arranged at the center of the floating ball fixing cabin, a double-release mechanism is arranged at the bottom of the acoustic beacon, a plurality of floating balls arranged at intervals along the circumferential direction are arranged on the outer side of the acoustic beacon, the floating ball is fixed on a floating ball support, and the floating ball support is fixedly connected with the floating ball fixing cabin;
The dual-release mechanism comprises a connecting plate, a release unit and a standby release unit, the connecting plate is connected with the bottom of the acoustic beacon through the release unit, the standby release unit comprises a release base, a release long shaft and an electromagnet, the electromagnet is arranged at the bottom of the control cabin, the release long shaft is arranged in the cylindrical supporting disk, the release base is located below the connecting plate, the top end of the release base is fixedly connected with the bottom of the connecting plate, the lower portion of the release base is provided with a shaft hole, one end of the release long shaft is inserted into the shaft hole of the release base, the other end of the release long shaft is close to the electromagnet, a long shaft spring is arranged on the outer side of the release long shaft, one end of the long shaft spring is connected with.
according to the invention, the bottom foot comprises a bottom foot spring, a bottom foot pillar and a bottom foot conical head, a hole is formed in the bottom foot conical head, the top end of the bottom foot pillar is fixedly connected with the bottom of the cylindrical supporting disk, the bottom end of the bottom foot pillar slides up and down in the hole of the bottom foot conical head, and the bottom of the bottom foot pillar is connected with the bottom of the cylindrical supporting disk through the bottom foot spring.
The release unit comprises a release lock pin, a release lock hook and a release pin, the release lock pin is fixed at the bottom of the acoustic beacon, the release lock hook is hinged to the connecting plate, a groove is formed in the top of the release lock hook, the release lock hook is fixedly connected with the release lock pin through the groove in the top of the release lock hook, an inclined groove is formed in the lower portion of the release lock hook, the release pin is arranged in the groove, a vertical groove is formed in the lower portion of the connecting plate, and the release pin is arranged in the vertical groove in the lower portion of the connecting plate and moves up and down along.
The invention also comprises an underwater multi-beacon platform combined calibration method, which comprises the following steps:
S1, determining the position coordinates of the water surface calibration unit;
S2, obtaining depth position data z of the underwater acoustic beacon;
And S3, acquiring horizontal position data of each underwater acoustic beacon:
Position coordinates of the underwater acoustic beacon are recorded as Si(x, y, z), i ═ 1,2,3,4, from this beacon to the nth surface calibration unit, point an(Xn,Yn,Zn) With a propagation delay of tnThen, the long baseline positioning calculation formula is:
(x-Xn)2+(y-Yn)2+(z-Zn)2＝c2tn 2，n＝1，…，N
Wherein c is the propagation speed of sound in seawater, and under the condition that the depth z of the underwater beacon is known, the matrix expression formula for solving the coordinate vector of the position of the underwater beacon is as follows:
AS＝V
wherein:S＝[x，y]T
If the base array A is a nonsingular reversible matrix, the coordinate vector of the position of the underwater beacon can be obtained by solving as follows:
S＝A-1V；
s4, joint calibration of several underwater acoustic beacon positions, comprising the steps of:
S4.1, obtaining the center coordinates of a circle formed by all the acoustic beacons
s4.2, removing outliers of the acoustic beacon position and re-determining the coordinates of the circle center:
Knowing that the distance between two symmetrical acoustic beacons on the positioning platform is L, if:
The point is taken as an outlier and is not included in the subsequent calculation, the number of the coordinates of the effective acoustic beacon after the outlier is removed is M, and the coordinates of the circle center are recalculated
S4.3 determining the direction of the acoustic beacon, thereby obtaining the calibrated location of the acoustic beacon:
To be provided withtaking four new S with 90-degree angular intervals on a circle with the position as the center of a circle and the radius of L/2i' grouping a new array group, four SiRotating the array group clockwise to obtain several array groups, and finding out the minimum distance to each Si' nearest SiAnd in one-to-one correspondence, where i is 1, …, M.
in the above step S4.3, four S are addedirotating the array set clockwise to obtain several array sets, calculating S of each seti' and SiError sum of (D)
Then the calibrated S is combinediThe position of is
In the step S1, the surface calibration unit is installed on the surface ship, the transducer of the surface calibration unit is installed on the survey ship by hard connection, the GPS antenna and the high-precision inertial navigation device are installed above the transducer, the survey ship slowly and circularly moves around the distribution area of the multi-beacon positioning platform, the time delay from the transducer to the acoustic beacon on the positioning platform is measured in real time in the winding process, the real-time GPS position information and the azimuth attitude information of the transducer are recorded, and a plurality of points are uniformly selected as measuring points on the measuring ship route; selecting a plurality of measuring points to measure the position coordinates of the measuring points at N measuring points and recording the position coordinates as An(Xn,Yn,Zn) N is 1, as defined, N, wherein in the horizontal position (X)n,Yn) Vertical position Z obtained from onboard GPS signalsNObtained from the installation depth of the transducer at the bottom of the vessel.
In the above step S2, the depth z of the underwater acoustic beacon is obtained according to a pressure sensor mounted on the underwater beacon, the pressure sensor is a voltage type pressure sensor, and the output voltage range of the pressure sensor is set to be Umin～Umax(V) the depth measurement range corresponding thereto is 0 to FsBar (10Bar 1MPa), and outputting voltage if the pressure sensor outputs voltageIs Uc(V), then the corresponding depth value calculation formula is as follows:
Wherein rho (kg/m)3) Is the density of the seawater, g (N/kg) is the acceleration of gravity, and the unit of the depth z is m;
And transmitting pressure data information obtained by underwater beacon measurement to the water surface calibration unit in an underwater acoustic communication mode.
The invention has the beneficial effects that:
(1) by adopting the double release mechanism, when the release mechanism on the acoustic beacon breaks down, the release of the beacon can be completed through the backup release mechanism of the platform base, so that the risk of failure in releasing and recovering the underwater acoustic beacon is reduced;
(2) During initial calibration, the combined calibration of a plurality of beacons can be realized on the basis of single underwater beacon positioning calibration by utilizing the mutual position relationship of the beacons in the multi-beacon platform, so that the calibration accuracy of the positioning platform is further improved;
(3) Four elastic bottom feet are installed at the bottom of the carrying platform, and the bottom foot springs provide buffering for the bottom feet and the carrying platform when the bottom feet are seated, so that the carrying platform can adapt to various bottom feet, and the stable bottom sitting of the positioning platform is realized.
Drawings
FIG. 1 is a front view of a subsea geodetic reference multi-beacon positioning platform;
FIG. 2 is a top view of a subsea geodetic reference multi-beacon positioning platform;
FIG. 3 is a schematic structural view of a dual release mechanism;
FIG. 4 is a schematic structural view of a footing;
FIG. 5 is a schematic illustration of the composition of an underwater acoustic communication signal;
fig. 6 is a schematic diagram of the arrangement of the positions of the acoustic beacons on the mounting platform.
in the figure: 1 carrying a platform; 2 an acoustic beacon; 3, floating ball; 4, a control cabin; 5, a floating ball bracket; 6, fixing the cabin by a floating ball; 7, setting bottom feet; 8, a bottom foot spring; 9 footing posts; 10, a bottom foot conical head; 11 releasing the lock pin; 12 releasing the latch hook; 13 releasing the pin; 14 releasing the base; 15 release the long axis; 16 long shaft springs; 17 an electromagnet; and 18 connecting the plates.
Detailed Description
The invention is further described below with reference to the figures and examples.
fig. 1 to 4 show that the multi-beacon positioning platform for seabed ground reference of the present invention comprises a carrying platform 1, the bottom of the carrying platform 1 is a cylindrical support plate, the upper part is a micro-conical structure, so that the carrying platform has the smallest volume under the condition of meeting the use requirement, and the center of gravity is located at the bottom of the platform, thereby improving the stability of the carrying platform when the carrying platform is laid and submerged in water. The center of cylindrical supporting disk is fixed with control cabin 4, and the upper surface of cylindrical supporting disk sets up four floater beacon units along its circumferencial direction evenly spaced, and the bottom of cylindrical supporting disk sets up four footing 7 along its circumferencial direction evenly spaced. The main frame of the carrying platform is formed by welding stainless steel pipes and stainless steel plates.
the floating ball beacon unit comprises a floating ball fixing cabin 6, a floating ball 3 and an acoustic beacon 2, the floating ball 3 and the acoustic beacon 2 are arranged in the floating ball fixing cabin 6, the acoustic beacon 2 is arranged at the center of the floating ball fixing cabin 6, and a double-release mechanism is arranged at the bottom of the acoustic beacon 2. The dual release mechanism enables individual release of each acoustic beacon for return to the surface for recovery. The outside of acoustic beacon 2 is equipped with the floater 3 of several along the circumferencial direction interval setting, and floater 3 is fixed on floater support 5, and floater support 5 and fixed cabin 6 fixed connection of floater. The acoustic beacon 2 is firmly fixed on the carrying platform 1 through a beacon bracket, so that the position disturbance of the acoustic beacon during distribution, underwater submergence and normal operation of the seabed is prevented. In this embodiment, four acoustic beacons are arranged on the carrying platform, the four acoustic beacons are uniformly installed on the carrying platform, the installation positions of the four acoustic beacons are circles with the diameter of 2000mm, and the distance deviation between any two acoustic beacons is not more than 0.5 mm. The four underwater beacons are jointly checked and calibrated, and accurate and reliable positioning information is provided for the seabed ground control network. In order to ensure enough floating force and a vertical floating direction, each acoustic beacon is provided with four floating balls, the positions of the four floating balls are uniformly distributed, a floating ball support is formed by welding stainless steel pipes and is of a micro-cone structure, and a floating ball fixing cabin 6 provides a floating guiding function for the floating ball support, so that the acoustic beacon cannot interfere with other structural parts of the carrying platform during floating, and safe and reliable recovery is realized.
As shown in fig. 4, the dual release mechanism includes a connection plate 18, a release unit and a standby release unit, the release unit includes a release latch 11, a release latch hook 12 and a release pin 13, the release latch 11 is fixed at the bottom of the acoustic beacon 2, the release latch hook 12 is hinged to the connection plate 18 through a rotating shaft, a groove is arranged at the top of the release latch hook 12, the release latch hook 12 is fixedly connected with the release latch 11 through the groove at the top thereof, an inclined groove is arranged at the lower part of the release latch hook 12, and the release pin 13 is arranged in the groove; meanwhile, the lower part of the connecting plate 18 is provided with a vertical groove, and the release pin 13 is arranged in the vertical groove at the lower part of the connecting plate 18 and can move up and down along the vertical groove. When the release pin 13 moves up and down along the vertical groove of the connecting plate, the release latch hook 12 is driven to rotate along the rotating shaft, and the groove at the top of the release latch hook 12 leaves the release latch pin 11, so that the release of the acoustic beacon 2 is realized.
the standby release unit comprises a release base 14, a release long shaft 15 and an electromagnet 17, wherein the electromagnet 17 is arranged at the bottom of the control cabin 4, and the release long shaft 15 is arranged in the cylindrical support disc. The release base 14 is located below the connecting plate 18, the release base 14 is T-shaped, the top end of the release base 14 is fixedly connected with the bottom of the connecting plate 18, the lower portion of the release base 14 is provided with a shaft hole, one end of the release long shaft 15 is inserted into the shaft hole of the release base 14, the other end of the release long shaft is close to the electromagnet 17, meanwhile, the outer side of the release long shaft 15 is provided with a long shaft spring 16, one end of the long shaft spring 16 is connected with the release long shaft 15, the other end of the long shaft spring is connected with the cylindrical supporting plate, one end of the release long shaft 15 penetrates through the shaft hole of the release base under the elastic force action of the long shaft. When the acoustic beacon 2 works normally, the electromagnet 17 is powered off, the release long shaft 15 penetrates through the shaft hole of the release base 14 under the action of the elastic force of the release spring 16, and the release base 14 is fixed on the carrying platform. When the acoustics need to float and recover and the release unit can not normally act, the standby release unit needs to finish the floating and recovering of the acoustic beacon. The deck sends out a control signal to electrify the electromagnet 17, the release long shaft 15 moves towards the center of the platform under the action of the attraction force of the electromagnet, one end of the release long shaft 15 leaves the shaft hole of the release base 14, at the moment, the release long shaft 15 is separated from the release base 14, and the acoustic beacon realizes floating recovery under the action of the buoyancy force provided by the four floating balls.
When the acoustic signal is recovered, the releasing action is carried out through a double-releasing mechanism: on one hand, the acoustic beacon has an acoustic release function, and after the beacon receives a deck release signal, the release pin 13 moves, so that the release lock hook 12 can rotate freely, the release lock hook 12 is separated from the release lock pin 11, and the acoustic beacon can float to the water surface to realize recovery and maintenance under the buoyancy effect provided by the four floating balls; on the other hand, when the release unit cannot work normally, the standby release unit is started, the electromagnet 17 is triggered, the release long shaft 15 moves and is separated from the release base 14, the release base 14 is released, and therefore backup release of the acoustic beacon is achieved.
as shown in fig. 3, the footing 7 includes a footing spring 8, a footing support pillar 9 and a footing head 10, a hole is formed in the footing head 10, the top end of the footing support pillar 9 is fixedly connected with the bottom of the cylindrical support disk, the bottom end of the footing support pillar 9 is arranged in the hole of the footing head 10 and can slide up and down in the hole, and the footing support pillar 9 is connected with the bottom of the cylindrical support disk through the footing spring 8. The footing conical head 10 can move up and down along the footing supporting column 9, and the footing conical head and the carrying platform provide buffering when the footing spring 8 is used for sitting on the bottom, so that the carrying platform can adapt to various kinds of sitting bottom materials, and the stable sitting on the bottom is realized.
The invention also comprises a combined calibration method of the multi-beacon positioning platform, according to the long baseline and ultra-short baseline positioning principles, the four beacons can be used as four receiving arrays during system calibration, and the high-precision seabed positioning result can be obtained through combined calculation with the positioning reference source of the surface ship. The method comprises the following steps:
firstly, determining the position coordinates of the water surface calibration unit.
The water surface calibration unit is installed on a water surface ship, a transducer of the water surface calibration unit is installed on a measuring ship in a hard connection mode, a GPS antenna and high-precision inertial navigation equipment are additionally installed above the transducer, the measuring ship slowly and circularly moves around a target, the time delay from the transducer to an acoustic beacon on a positioning platform is measured in real time in a winding process, and meanwhile real-time GPS position information and azimuth attitude information of the transducer are recorded. A plurality of points are uniformly selected on the measuring ship route as measuring points, and the measuring information of each measuring point can be regarded as a positioning element.
Selecting a plurality of measuring points to measure the position coordinates of the measuring points at N measuring points and recording the position coordinates as An(Xn,Yn,Zn) N is 1, …, N, wherein horizontal position (X)n,Yn) Vertical position Z obtained from onboard GPS signalsNObtained from the installation depth of the transducer at the bottom of the vessel.
And secondly, obtaining depth position data of the underwater acoustic beacon.
The depth z of the underwater acoustic beacon is obtained according to a pressure sensor arranged on the underwater beacon, and the pressure sensor is a voltage type pressure sensor. Setting the output voltage range of the pressure sensor to be Umin～Umax(V) the depth measurement range corresponding thereto is 0 to FsBar (10Bar ═ 1MPa), if the output voltage of the pressure sensor is Uc(V), then the corresponding depth value calculation formula is as follows:
Wherein rho (kg/m)3) The sea water density, g (N/kg) is the gravitational acceleration, and the depth z is in m.
And transmitting pressure data information obtained by underwater beacon measurement to the water surface calibration unit in an underwater acoustic communication mode. The underwater acoustic communication between the underwater beacon and the water surface calibration unit adopts an RZ-OFSK digital communication mode, 16 public communication channels are used in total, and the pulse signal of each channel can represent 4bits of information. Fig. 5 is a schematic diagram of the composition of an underwater acoustic communication signal, where the underwater acoustic communication signal is composed of a wake-up pulse signal and an underwater acoustic communication pulse train signal, and the underwater acoustic communication pulse train has at most 15 pulse signals, that is, at most 60bits of information can be transmitted each time. The pulse width of each pulse signal is 5ms, the interval between pulses is 100ms, and the total signal length is less than 1.6 s.
And thirdly, acquiring horizontal position data of each underwater acoustic beacon.
position coordinates of the underwater acoustic beacon are recorded as Si(x, y, z), i ═ 1,2,3,4, from this beacon to the nth surface calibration unit, point an(Xn,Yn,Zn) With a propagation delay of tnThen, the long baseline positioning calculation formula is:
(x-Xn)2+(y-Yn)2+(z-Zn)2＝c2tn 2，n＝1，…，N (1)
Wherein c is the sound propagation velocity in seawater. Under the condition that the depth z of the underwater beacon is known, the three spherical surfaces are converged, namely, as long as the propagation delay from the underwater beacon to the three measuring points is known, the position (x, y) of the underwater beacon can be uniquely determined. If the propagation delay from the underwater beacon to more than three measuring points is known, namely redundant array elements appear, the information of the redundant array elements can be used for realizing multi-solution averaging so as to improve the positioning accuracy.
Under the condition that the depth z of the underwater beacon is known, the equation is simplified, and a matrix expression formula for solving the coordinate vector of the position of the underwater beacon can be obtained as follows:
AS＝V (2)
Wherein:S＝[x，y]T
If the base array A is a nonsingular reversible matrix, the coordinate vector of the position of the underwater beacon can be obtained by solving as follows:
S＝A-1V (3)
And fourthly, jointly calibrating the positions of the plurality of underwater acoustic beacons.
According to the overall arrangement of the platform, beacons Sithe mutual positions of (x, y, z), i ═ 1,2,3,4 on the sea bottom are shown in fig. 6, and the positional data calculated by equation (3) can be jointly calibrated using this mutual relationship. The method comprises the following steps:
1, obtaining the center coordinates of a circle formed by all the acoustic beacons
2, removing outliers of the acoustic beacon positions and re-determining circle center coordinates:
as shown in fig. 6, according to the design of the positioning platform, the distance between two acoustic beacons is L, if:
the position of the acoustic beacon is considered too erroneous for the calculation and the point is not included as an outlier in subsequent calculations. If the number of the coordinates of the effective acoustic beacon after the outlier is eliminated is M, the coordinates of the circle center are recalculated
determining the direction of the acoustic beacon, thereby obtaining the position of the acoustic beacon after calibration:
to be provided withTaking four new S with 90-degree angular intervals on a circle with the position as the center of a circle and the radius of L/2i' forming a new array set, finding each S according to the minimum distance principlei' nearest Siand in one-to-one correspondence, where i is 1, …, M
Will be four Si' the array set is rotated clockwise to calculate each pair Si' and SiError sum of (D)
then the calibrated S is combinedithe position of is
The working principle of the method is as follows: the water surface calibration unit sends an underwater acoustic remote control command to the underwater acoustic beacon to realize remote control of the underwater beacon; and the precise ranging of the underwater acoustic beacon is realized in a synchronous receiving mode or an acoustic inquiry response mode. Under the synchronous receiving mode, clocks of the underwater acoustic beacon and the water surface calibration unit are synchronous, the water surface calibration unit knows the signal transmitting time and the signal transmitting form of the underwater acoustic beacon, and the time delay between receiving and transmitting is estimated by synchronously receiving the signals of the acoustic beacon for processing. In the acoustic inquiry response mode, the water surface calibration unit firstly transmits an inquiry signal to the underwater beacon, the acoustic beacon delays for a certain time to reply the response signal after receiving the signal, and on the premise that a signal system is agreed in advance, the water surface calibration unit receives the reply signal of the acoustic beacon and processes the reply signal to obtain the time delay between receiving and transmitting. The water surface calibration unit processes the time delay information between receiving and transmitting and the position information (obtained by measuring through a rigidly connected GPS antenna) of the current transmitting transducer, and the calibration step in the method is utilized to finish the position calibration of the underwater acoustic beacon.
Claims (7)
1. the utility model provides a many beacons of seabed geodetic standard location platform, includes carries on platform (1), its characterized in that: the bottom of the carrying platform (1) is provided with a cylindrical supporting disk, a control cabin (4) is fixed at the center of the cylindrical supporting disk, four floating ball beacon units are uniformly arranged on the upper surface of the cylindrical supporting disk at intervals along the circumferential direction of the cylindrical supporting disk, and four seat bottom feet (7) are uniformly arranged on the bottom of the cylindrical supporting disk at intervals along the circumferential direction of the cylindrical supporting disk;
The floating ball beacon unit comprises a floating ball fixing cabin (6), a floating ball (3) and an acoustic beacon (2), the floating ball (3) and the acoustic beacon (2) are arranged in the floating ball fixing cabin (6), the acoustic beacon (2) is arranged at the center of the floating ball fixing cabin (6), a double-release mechanism is arranged at the bottom of the acoustic beacon (2), a plurality of floating balls (3) which are arranged at intervals along the circumferential direction are arranged on the outer side of the acoustic beacon (2), the floating ball (3) is fixed on a floating ball support (5), and the floating ball support (5) is fixedly connected with the floating ball fixing cabin (6);
the dual-release mechanism comprises a connecting plate (18), a release unit and a standby release unit, the connecting plate (18) is connected with the bottom of the acoustic beacon (2) through the release unit, the standby release unit comprises a release base (14), a release long shaft (15) and an electromagnet (17), the electromagnet (17) is arranged at the bottom of the control cabin (4), the release long shaft (15) is arranged in a cylindrical supporting plate, the release base (14) is positioned below the connecting plate (18), the top end of the release base (14) is fixedly connected with the bottom of the connecting plate (18), a shaft hole is formed in the lower portion of the release base (14), one end of the release long shaft (15) is inserted into the shaft hole of the release base (14), the other end of the release long shaft is close to the electromagnet (17), a long shaft spring (16) is arranged on the outer side of the release long shaft (15), one end of the long shaft, the other end is connected with the cylindrical support plate, and when the acoustic beacon (2) works normally, the electromagnet (17) is powered off.
2. the subsea geodetic reference multi-beacon positioning platform of claim 1, wherein: sit end footing (7) including footing spring (8), footing pillar (9) and footing conical head (10), be equipped with the hole in footing conical head (10), the top of footing pillar (9) and the bottom fixed connection of cylindrical supporting disk, the bottom of footing pillar (9) slides from top to bottom in the downthehole of footing conical head (10), is connected through footing spring (8) between the bottom of footing pillar (9) and cylindrical supporting disk.
3. The subsea geodetic reference multi-beacon positioning platform of claim 1, wherein: the release unit comprises a release lock pin (11), a release lock hook (12) and a release pin (13), the release lock pin (11) is fixed at the bottom of the acoustic beacon (2), the release lock hook (12) is hinged to the connecting plate (18), a groove is formed in the top of the release lock hook (12), the release lock hook (12) is fixedly connected with the release lock pin (11) through the groove in the top of the release lock hook, an inclined groove is formed in the lower portion of the release lock hook (12), the release pin (13) is arranged in the groove, a vertical groove is formed in the lower portion of the connecting plate (18), and the release pin (13) is arranged in the vertical groove in the lower portion of the connecting plate (18) and moves up and down along the vertical groove.
4. A method for joint calibration of a multi-beacon positioning platform as claimed in claim 1, comprising the steps of:
S1, determining the position coordinates of the water surface calibration unit;
S2, obtaining the depth z of the underwater acoustic beacon;
And S3, acquiring horizontal position data of each underwater acoustic beacon:
position coordinates of the underwater acoustic beacon are recorded as Si(x, y, z), i ═ 1,2,3,4, from this beacon to the nth surface calibration unit, point an(Xn,Yn,Zn) With a propagation delay of tnThen, the long baseline positioning calculation formula is:
(x-Xn)2+(y-Yn)2+(z-Zn)2＝c2tn 2，n＝1，…，N
Wherein c is the propagation speed of the underwater sound, and under the condition that the depth z of the underwater acoustic beacon is known, the matrix expression formula for solving the coordinate vector of the position of the underwater beacon is as follows:
AS＝V
Wherein:
If the base array A is a nonsingular reversible matrix, the coordinate vector of the position of the underwater beacon can be obtained by solving as follows:
S＝A-1V；
s4, joint calibration of underwater acoustic beacon positions, comprising the following steps:
s4.1, obtaining the center coordinates of a circle formed by all the acoustic beacons
s4.2, removing outliers at the position of the underwater acoustic beacon and re-determining the coordinates of the circle center:
Knowing that the distance between two symmetrical acoustic beacons on the positioning platform is L, if:
The point is taken as an outlier and is not included in the subsequent calculation, the number of the coordinates of the effective acoustic beacon after the outlier is removed is M, and the coordinates of the circle center are recalculated
S4.3, determining the direction of the acoustic beacon, thereby obtaining the position of the acoustic beacon after calibration:
To be provided withTaking four new S with 90-degree angular intervals on a circle with the position as the center of a circle and the radius of L/2i' grouping a new array group, grouping four classes Sirotating the array group clockwise to obtain several array groups, and finding out the minimum distance to each Si' nearest SiAnd in one-to-one correspondence, where i is 1, …, M.
5. The multi-beacon positioning platform joint calibration method according to claim 4, wherein: in the above step S4.3, four S are addediRotating the array set clockwise to obtain several array sets, calculating S of each seti' and SiError sum of (D)
then the calibrated S is combinedithe position of is
6. the method of claim 4, wherein: in step S1, the surface calibration unit is installed on the surface ship, the transducer of the surface calibration unit is installed on the survey ship by hard connection, the GPS antenna and the high-precision inertial navigation device are installed above the transducer, the survey ship slowly and circularly moves around the distribution area of the multi-beacon positioning platform, the time delay from the transducer to the acoustic beacon on the positioning platform is measured in real time in the winding process, the real-time GPS position information and the azimuth attitude information of the transducer are recorded, a plurality of points are uniformly selected on the measurement ship route as measurement points, and the position coordinates of the plurality of measurement points at N measurement points are measured by selecting a plurality of measurement points and recording the position coordinates as an(Xn,Yn,Zn) N is 1, and N' wherein the horizontal position (X)n,Yn) Vertical position Z obtained from onboard GPS signalsNobtained from the installation depth of the transducer at the bottom of the vessel.
7. The method of claim 4, wherein: in step S2, the depth z of the underwater acoustic beacon is obtained according to a pressure sensor mounted on the underwater beacon, the pressure sensor is a voltage type pressure sensor, and the output voltage range of the pressure sensor is set to be Umin～UmaxThe corresponding depth measurement range is 0-Fsbar, if pressedThe output voltage of the force sensor is UcThen, the corresponding depth value calculation formula is as follows:
Wherein rho is the density of seawater, g is the gravity acceleration, and the unit of the depth z of the underwater acoustic beacon is m;
And transmitting pressure data information obtained by underwater beacon measurement to the water surface calibration unit in an underwater acoustic communication mode.
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