CN110109047A - A kind of acoustic beacon searching and locating method and system - Google Patents
A kind of acoustic beacon searching and locating method and system Download PDFInfo
- Publication number
- CN110109047A CN110109047A CN201910325092.3A CN201910325092A CN110109047A CN 110109047 A CN110109047 A CN 110109047A CN 201910325092 A CN201910325092 A CN 201910325092A CN 110109047 A CN110109047 A CN 110109047A
- Authority
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- China
- Prior art keywords
- module
- acoustic beacon
- water
- sound communication
- main body
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Classifications
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- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
-
- 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
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- 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 acoustic beacon searching and locating method and system, method includes: to obtain acoustic beacon main body to enter the latitude and longitude information before water；It obtains acoustic beacon main body and enters the inertial navigation location information after water；Latitude and longitude information and inertial navigation information are merged, acoustic beacon main body is obtained and enters the integrated navigation location information after water；Integrated navigation location information is sent in a manner of underwater sound communication；Water sound communication signal is received and decodes, the integrated navigation location information after obtaining water.System includes: satellite positioning module, inertial navigation module, integrated navigation module, underwater sound communication transmitting module, underwater sound communication receiving module and integrated navigation location information decoder module.The present invention can be realized the quick-speed large-scale search positioning of acoustic beacon signal, fundamentally solve the problems such as acoustic beacon searching efficiency is low, and positioning time is long, and positioning accuracy is poor, improves submarine target and searches location efficiency.
Description
Technical field
The present invention relates to submarine target search field of locating technology more particularly to a kind of acoustic beacon searching and locating method and
System.
Background technique
With China maintenance maritime rights and interests and develop and use marine resources action accordingly develop, ship, aircraft, personnel with
And at sea movable quantity, density continue to increase seabed operation equipment, occur accident, dangerous situation and emergency salvage probability with
Increase.Underwater sound communication is most effective technological means in current underwater wireless communication, and acoustic beacon is from traditional aircraft, warship
The application fields such as ship black box expand to the every field of operation on the sea, and the extensive use of marine each field of operation is done step-by-step,
Effective guarantee is provided for maritime search search and rescue.
For marine burst accident, rapidly and efficiently realize detection, positioning and the salvaging to acoustic beacon, facilitate and
When analyze cause of accident, to correctly make accident investigation conclusion.The search and positioning of acoustic beacon at present mainly utilizes ship
It carries fixed or diver's handheld portable and searches the ultrasonic signal that positioning device searches acoustic beacon sending.Signal form is full
The acoustic beacon working frequency of foot world SAE-AS8045A standard is 37.5kHz, and sound source level is generally 160dB, and operating distance exists
Within the scope of 2-3km, it is only applicable to persistently carry out signal trace in small operating area, determines beacon approximate range, it can not be into
The large-scale high efficiency search of row；It is limited simultaneously by battery powered condition, acoustic marker bottom time is generally 30 days,
The progress acoustic marker fast searching within the scope of larger depth is sought, to guarantee to complete to search mesh in time before acoustic marker powers failure
Position is demarcated, is provided safeguard for fishing.
Summary of the invention
The present invention provides a kind of acoustic beacon searching and locating method and system, the present invention can be realized acoustic beacon signal
Quick-speed large-scale search positioning, fundamentally solve acoustic beacon searching efficiency it is low, positioning time is long, and positioning accuracy difference etc. is asked
Topic improves submarine target and searches location efficiency, described below:
A kind of acoustic beacon searching and locating method, the localization method the following steps are included:
It obtains acoustic beacon main body and enters the latitude and longitude information before water；It obtains acoustic beacon main body and enters the inertial navigation position after water
Confidence breath；
Latitude and longitude information and inertial navigation information are merged, acoustic beacon main body is obtained and enters the integrated navigation position after water
Confidence breath；
Integrated navigation location information is sent in a manner of underwater sound communication；
Water sound communication signal is received and decodes, the integrated navigation location information after obtaining water.
A kind of acoustic beacon search positioning system, the positioning system include:
Satellite positioning module, for obtaining the latitude and longitude information before acoustic beacon main body enters water；
Inertial navigation module, for obtaining the inertial navigation information after acoustic beacon main body enters water；
Integrated navigation module obtains acoustic beacon main body for merging latitude and longitude information and inertial navigation information
Integrated navigation location information after entering water；
Underwater sound communication transmitting module, for acoustic beacon main body is entered the integrated navigation location information base band data after water with
The mode of underwater sound communication is sent；
Underwater sound communication receiving module, for receiving water sound communication signal；
Integrated navigation location information decoder module is obtained for decoding the water sound communication signal of acoustic beacon main body transmitting
Acoustic beacon main body enters the integrated navigation location information after water.
Further, the satellite positioning module, inertial navigation module, integrated navigation module, underwater sound communication transmitting module
Acoustic beacon agent set is collectively constituted.
Wherein, the underwater sound communication receiving module, integrated navigation location information decoder module have collectively constituted search positioning
Device.
Further, the underwater sound communication receiving module is by underwater acoustic transducer, filter circuit, low noise amplifier circuit sum number
Word demodulator circuit composition.
Wherein, the satellite positioning module has one or more of UART, RS232, USB interface, exports frame format
Meet NMEA-0183 standard.
Further, the inertial navigation module is made of accelerometer and gyroscope, and there is UART, RS232, USB to connect
One or more of mouthful.
Wherein, the integrated navigation module executes integrated navigation position and generates underwater sound communication base band data, specifically:
Based on Digital Signal Processing, field programmable gate array, micro-control unit, specific integrated circuit or application control
Device.
Wherein, the underwater sound communication transmitting module by digital modulation circuit, power amplification circuit, tuning and match circuit and
Underwater acoustic transducer composition.
Further, the underwater sound communication receiving module is by underwater acoustic transducer, filter circuit, low noise amplifier circuit sum number
Word demodulator circuit composition.
The beneficial effect of the technical scheme provided by the present invention is that: the present invention can be realized the quick big model of acoustic beacon signal
Search positioning is enclosed, the problems such as acoustic beacon searching efficiency is low, and positioning time is long, and positioning accuracy is poor is fundamentally solved, improves
The location efficiency of submarine target search.
Detailed description of the invention
Fig. 1 is a kind of flow chart of acoustic beacon searching and locating method；
Fig. 2 is the structural schematic diagram that a kind of acoustic beacon searches positioning system.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
Ground detailed description.
Embodiment 1
A kind of acoustic beacon searching and locating method, referring to Fig. 1, the searching and locating method the following steps are included:
Step 101: obtaining acoustic beacon main body and enter the latitude and longitude information before water；
Step 102: obtaining acoustic beacon main body and enter the inertial navigation location information after water；
Step 103: latitude and longitude information and inertial navigation information being carried out according to data anastomosing algorithm, as spreading kalman is filtered
Wave algorithm is merged, and is obtained acoustic beacon main body and is entered the integrated navigation location information after water；
Step 104: integrated navigation location information is sent in a manner of underwater sound communication；
Step 105: receiving and decode water sound communication signal, the integrated navigation location information after obtaining water.
Embodiment 2
A kind of acoustic beacon search positioning system, referring to fig. 2, which includes:
Satellite positioning module, for obtaining the latitude and longitude information before acoustic beacon main body enters water；
Specifically, satellite positioning module is usually made of satellite receiver and antenna, there is UART, RS232, USB etc. to connect
One or more of mouthful, output frame format meets NMEA-0183 standard.
Inertial navigation module, for obtaining the inertial navigation information after acoustic beacon main body enters water；
Specifically, inertial navigation module is usually made of accelerometer and gyroscope, accelerometer measures acceleration magnitude,
Gyroscope measures acceleration direction, has one or more of interfaces such as UART, RS232, USB；
Integrated navigation module is connect with satellite positioning module, inertial navigation module, before acoustic beacon main body is entered water
Latitude and longitude information and enter the inertial navigation information after water and merged, obtain acoustic beacon main body and enter the integrated navigation position after water
Confidence breath.
Specifically, integrated navigation module can be based on Digital Signal Processing (DSP), field programmable gate array
(FPGA), micro-control unit (MCU), specific integrated circuit (ASIC), application controller (Application Processor) it
The minimum system of class chip can be performed integrated navigation position and generate calculating, and generates underwater sound communication base band data.
Underwater sound communication transmitting module is connect with integrated navigation module, for acoustic beacon main body to be entered to the integrated navigation after water
Location information base band data is sent to search positioning device in a manner of underwater sound communication.
Specifically, underwater sound communication transmitting module is usually by digital modulation circuit, power amplification circuit, tuning and match circuit
It is formed with underwater acoustic transducer.
Above-mentioned satellite positioning module, inertial navigation module, integrated navigation module, underwater sound communication transmitting module collectively constitute
Acoustic beacon agent set.
Underwater sound communication receiving module, for receiving the water sound communication signal of acoustic beacon main body transmitting；
Specifically, underwater sound communication receiving module is usually by underwater acoustic transducer, filter circuit, low noise amplifier circuit and number
Demodulator circuit composition.
Integrated navigation location information decoder module is connect with underwater sound communication receiving module, for decoding acoustic beacon main body hair
The water sound communication signal penetrated obtains acoustic beacon main body and enters the integrated navigation location information after water.
Above-mentioned underwater sound communication receiving module, integrated navigation location information decoder module have collectively constituted search positioning device.
The embodiment of the present invention to the model of each device in addition to doing specified otherwise, the model of other devices with no restrictions,
As long as the device of above-mentioned function can be completed.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of acoustic beacon searching and locating method, which is characterized in that the localization method the following steps are included:
It obtains acoustic beacon main body and enters the latitude and longitude information before water；It obtains acoustic beacon main body and enters the inertial navigation position letter after water
Breath；
Latitude and longitude information and inertial navigation information are merged, acoustic beacon main body is obtained and enters the integrated navigation position letter after water
Breath；
Integrated navigation location information is sent in a manner of underwater sound communication；
Water sound communication signal is received and decodes, the integrated navigation location information after obtaining water.
2. a kind of acoustic beacon searches positioning system, which is characterized in that the positioning system includes:
Satellite positioning module, for obtaining the latitude and longitude information before acoustic beacon main body enters water；
Inertial navigation module, for obtaining the inertial navigation information after acoustic beacon main body enters water；
Integrated navigation module obtains acoustic beacon main body and enters water for merging latitude and longitude information and inertial navigation information
Integrated navigation location information afterwards；
Underwater sound communication transmitting module, for acoustic beacon main body to be entered to the integrated navigation location information base band data after water with the underwater sound
The mode of communication is sent；
Underwater sound communication receiving module, for receiving water sound communication signal；
Integrated navigation location information decoder module obtains the underwater sound for decoding the water sound communication signal of acoustic beacon main body transmitting
Beacon main body enters the integrated navigation location information after water.
3. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the satellite positioning mould
Block, inertial navigation module, integrated navigation module, underwater sound communication transmitting module have collectively constituted acoustic beacon agent set.
4. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the underwater sound communication receives
Module, integrated navigation location information decoder module have collectively constituted search positioning device.
5. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the underwater sound communication receives
Module is made of underwater acoustic transducer, filter circuit, low noise amplifier circuit and digital demodulating circuit.
6. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the satellite positioning module
With one or more of UART, RS232, USB interface, output frame format meets NMEA-0183 standard.
7. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the inertial navigation module
It is made of accelerometer and gyroscope, there is one or more of UART, RS232, USB interface.
8. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the integrated navigation module
It executes integrated navigation position and generates underwater sound communication base band data, specifically:
Based on Digital Signal Processing, field programmable gate array, micro-control unit, specific integrated circuit or application controller.
9. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the underwater sound communication transmitting
Module is made of digital modulation circuit, power amplification circuit, tuning and match circuit and underwater acoustic transducer.
10. a kind of acoustic beacon according to claim 2 searches positioning system, which is characterized in that the underwater sound communication connects
Module is received to be made of underwater acoustic transducer, filter circuit, low noise amplifier circuit and digital demodulating circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910325092.3A CN110109047A (en) | 2019-04-22 | 2019-04-22 | A kind of acoustic beacon searching and locating method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910325092.3A CN110109047A (en) | 2019-04-22 | 2019-04-22 | A kind of acoustic beacon searching and locating method and system |
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| CN110109047A true CN110109047A (en) | 2019-08-09 |
Family
ID=67486152
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| CN201910325092.3A Pending CN110109047A (en) | 2019-04-22 | 2019-04-22 | A kind of acoustic beacon searching and locating method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112614412A (en) * | 2020-11-19 | 2021-04-06 | 天津大学 | Simulation modeling method combining ocean metamorphic environment and underwater positioning navigation |
| CN113093108A (en) * | 2021-03-18 | 2021-07-09 | 天津大学 | Method and device for inverting long/ultrashort baseline for self-positioning and navigation of underwater target |
| CN114858160A (en) * | 2022-07-05 | 2022-08-05 | 深圳市兆兴博拓科技股份有限公司 | Navigation positioning recorder |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112614412A (en) * | 2020-11-19 | 2021-04-06 | 天津大学 | Simulation modeling method combining ocean metamorphic environment and underwater positioning navigation |
| CN113093108A (en) * | 2021-03-18 | 2021-07-09 | 天津大学 | Method and device for inverting long/ultrashort baseline for self-positioning and navigation of underwater target |
| CN114858160A (en) * | 2022-07-05 | 2022-08-05 | 深圳市兆兴博拓科技股份有限公司 | Navigation positioning recorder |
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Application publication date: 20190809 |