CN110412508A - 一种基于矢量水听器的主从式多uuv协同定位方法 - Google Patents
一种基于矢量水听器的主从式多uuv协同定位方法 Download PDFInfo
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- CN110412508A CN110412508A CN201910722729.2A CN201910722729A CN110412508A CN 110412508 A CN110412508 A CN 110412508A CN 201910722729 A CN201910722729 A CN 201910722729A CN 110412508 A CN110412508 A CN 110412508A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 238000004891 communication Methods 0.000 claims abstract description 35
- 230000001360 synchronised effect Effects 0.000 claims abstract description 28
- 230000002123 temporal effect Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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CN110412508A true CN110412508A (zh) | 2019-11-05 |
CN110412508B CN110412508B (zh) | 2023-04-11 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111427008A (zh) * | 2020-04-19 | 2020-07-17 | 中国电子科技集团公司电子科学研究院 | 一种用于水下自主航行器集群的位置测定方法及相关装置 |
CN111708009A (zh) * | 2020-05-14 | 2020-09-25 | 北京长城电子装备有限责任公司 | 一种水下声学异步测距方法 |
CN111711984A (zh) * | 2020-05-09 | 2020-09-25 | 深圳志蓝技术有限公司 | 水下定位方法及水下电子设备 |
CN113671442A (zh) * | 2021-07-30 | 2021-11-19 | 青岛海纳水下信息技术有限公司 | 基于矢量水听器技术的水下无人集群导航定位方法 |
Citations (7)
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CN101603832A (zh) * | 2009-07-13 | 2009-12-16 | 中国船舶重工集团公司第七一五研究所 | 一种广播式多用户自主水声导航方法 |
US20110144930A1 (en) * | 2009-11-03 | 2011-06-16 | Michael Bruno | Passive acoustic underwater intruder detection system |
US8047149B1 (en) * | 2010-02-08 | 2011-11-01 | The United States Of America As Represented By The Secretary Of The Navy | Laser-based method for docking an unmanned underwater vehicle to a submarine |
US20110291862A1 (en) * | 2010-05-28 | 2011-12-01 | Conocophillips Company | Ice data collection system |
CN103336267A (zh) * | 2013-07-02 | 2013-10-02 | 哈尔滨工程大学 | 一种基于水声通信延迟的主从式多uuv协同定位方法 |
CN105910603A (zh) * | 2016-04-20 | 2016-08-31 | 北京理工大学 | 一种通信延迟下的多auv协同导航滤波方法 |
CN107290765A (zh) * | 2017-07-13 | 2017-10-24 | 任勇 | 水下潜航器的协作定位方法和*** |
-
2019
- 2019-08-06 CN CN201910722729.2A patent/CN110412508B/zh active Active
Patent Citations (7)
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CN101603832A (zh) * | 2009-07-13 | 2009-12-16 | 中国船舶重工集团公司第七一五研究所 | 一种广播式多用户自主水声导航方法 |
US20110144930A1 (en) * | 2009-11-03 | 2011-06-16 | Michael Bruno | Passive acoustic underwater intruder detection system |
US8047149B1 (en) * | 2010-02-08 | 2011-11-01 | The United States Of America As Represented By The Secretary Of The Navy | Laser-based method for docking an unmanned underwater vehicle to a submarine |
US20110291862A1 (en) * | 2010-05-28 | 2011-12-01 | Conocophillips Company | Ice data collection system |
CN103336267A (zh) * | 2013-07-02 | 2013-10-02 | 哈尔滨工程大学 | 一种基于水声通信延迟的主从式多uuv协同定位方法 |
CN105910603A (zh) * | 2016-04-20 | 2016-08-31 | 北京理工大学 | 一种通信延迟下的多auv协同导航滤波方法 |
CN107290765A (zh) * | 2017-07-13 | 2017-10-24 | 任勇 | 水下潜航器的协作定位方法和*** |
Non-Patent Citations (3)
Title |
---|
WEI GAO ET AL.: "Moving horizon estimation for cooperation localization of multiple unmanned underwater vehicles with communication delay", 《2014 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM - PLANS 2014》 * |
张立川 等: "基于水声传播延迟的主从式多无人水下航行器", 《兵工学报》 * |
高伟 等: "基于水声通信延迟的多UUV协同定位算法", 《***工程与电子技术》 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111427008A (zh) * | 2020-04-19 | 2020-07-17 | 中国电子科技集团公司电子科学研究院 | 一种用于水下自主航行器集群的位置测定方法及相关装置 |
CN111711984A (zh) * | 2020-05-09 | 2020-09-25 | 深圳志蓝技术有限公司 | 水下定位方法及水下电子设备 |
CN111711984B (zh) * | 2020-05-09 | 2021-03-30 | 深圳志蓝技术有限公司 | 水下定位方法及水下电子设备 |
CN111708009A (zh) * | 2020-05-14 | 2020-09-25 | 北京长城电子装备有限责任公司 | 一种水下声学异步测距方法 |
CN111708009B (zh) * | 2020-05-14 | 2023-09-15 | 北京长城电子装备有限责任公司 | 一种水下声学异步测距方法 |
CN113671442A (zh) * | 2021-07-30 | 2021-11-19 | 青岛海纳水下信息技术有限公司 | 基于矢量水听器技术的水下无人集群导航定位方法 |
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Effective date of registration: 20240716 Address after: Room 516, Building A, Deep Sea Equipment Industrial Park, Yazhou Bay Science and Technology City, Yazhou District, Sanya City, Hainan Province, China 572025 Patentee after: Hainan Water Voice Marine Technology Co.,Ltd. Country or region after: China Address before: 150001 No. 145-11, Nantong Avenue, Nangang District, Heilongjiang, Harbin Patentee before: Zhou Feng Country or region before: China |