CN112393729B - Deep sea water surface mobile acoustic reference layer combined navigation positioning system and method - Google Patents
Deep sea water surface mobile acoustic reference layer combined navigation positioning system and method Download PDFInfo
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- CN112393729B CN112393729B CN202011182156.8A CN202011182156A CN112393729B CN 112393729 B CN112393729 B CN 112393729B CN 202011182156 A CN202011182156 A CN 202011182156A CN 112393729 B CN112393729 B CN 112393729B
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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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
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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
- 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
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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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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a combined navigation and positioning system and method for a deep sea water surface moving acoustic reference layer. The system comprises: the underwater navigation positioning resolving system comprises a water surface moving acoustic reference point and an underwater navigation positioning resolving end, wherein the water surface moving acoustic reference point acquires position and time information of the water surface moving acoustic reference point through a GNSS (global navigation satellite system), and broadcasts the position and the time information to the underwater navigation positioning resolving end underwater in an underwater acoustic communication mode; and the underwater navigation positioning resolving end receives the position and time information and then performs communication decoding to obtain the position and time of the transmitting moment of the water surface moving acoustic reference point, and the underwater navigation positioning resolving end obtains the navigation positioning information of the underwater navigation positioning resolving end. The invention can reduce the number of the water surface acoustic reference points required by large-scale navigation and positioning.
Description
Technical Field
The invention relates to the field of deep sea navigation positioning, in particular to a combined navigation positioning system and method for a deep sea water surface moving acoustic reference layer.
Background
The underwater navigation and positioning are key technologies for the deep sea carrier to enter the deep sea, detect the deep sea and develop the deep sea. However, the strong attenuation of electromagnetic waves by seawater prevents the direct application of Global Navigation Satellite System (GNSS) to underwater applications, which presents unique challenges for underwater navigation positioning. Therefore, other modes must be selected for underwater navigation positioning. By adopting a single navigation mode, the navigation precision and reliability of the navigation method can hardly meet the development requirements of deep-sea vehicles, so that the inertial-based integrated navigation combining the advantages of the navigation modes becomes a new development trend. The external auxiliary information sources mainly comprise a Doppler log, acoustic positioning, geophysical navigation and the like. In theory, geophysical navigation can realize underwater navigation in a global range, but background field data need to be acquired in advance, so that great difficulty is brought to practical application. In the action range of the acoustic array, reliable underwater positioning can be realized by the long baseline and the ultra-short baseline, but the use cost is high, the navigation range is limited, quick maneuvering deployment is inconvenient, and the requirement of independently executing operation tasks by a deep-sea carrier is difficult to meet. To date, no underwater navigation positioning method in underwater environment is comparable to GNSS, and the underwater navigation positioning problem has become one of the important challenges faced by deep-sea vehicles.
In recent years, with the continuous progress of the deep sea high and new technology, on one hand, a deep sea carrier is developing towards large (heavy) modeling, and is characterized by large load and strong operation capability, and navigation positioning is required to be real-time, high update rate and high precision in order to meet the requirements of fine tasks such as fixed-point operation, seabed landform surveying and mapping and the like; on the other hand, the deep sea vehicle is also developed towards a small (light) type, and the deep sea vehicle is mainly characterized by low cost, long endurance and clustering, and navigation positioning is required to be low cost, long endurance and limited precision in order to meet the requirements of ocean observation on three-dimensional networking and cooperative observation of a plurality of sets of deep sea vehicles. That is, not only are the number of various types of deep sea vehicles rapidly increasing, but different higher requirements are placed on navigation positioning. However, no matter the navigation/dead reckoning + doppler log, the navigation/dead reckoning + acoustic positioning (long baseline/ultra-short baseline), or the navigation/dead reckoning + geophysical navigation is restricted by the above factors, so that the practical application requirements are more and more difficult to meet, and an underwater navigation positioning mode comparable to GNSS is urgently needed.
Disclosure of Invention
The invention aims to provide a combined navigation and positioning system and method for a deep sea water surface moving acoustic reference layer, which can reduce the number of water surface acoustic reference points required by large-range navigation and positioning.
In order to achieve the purpose, the invention provides the following scheme:
a deep sea water surface moving acoustic reference layer combined navigation positioning system comprises: the underwater navigation positioning resolving system comprises a water surface moving acoustic reference point and an underwater navigation positioning resolving end, wherein the water surface moving acoustic reference point acquires position and time information of the water surface moving acoustic reference point through a GNSS (global navigation satellite system), and broadcasts the position and the time information to the underwater navigation positioning resolving end underwater in an underwater acoustic communication mode; the underwater navigation positioning resolving end receives the position and time information and then conducts communication decoding to obtain the position and time of the water surface moving acoustic reference point transmitting moment, and conducts navigation positioning resolving according to the position and time of the water surface moving acoustic reference point transmitting moment to obtain navigation positioning information of the underwater navigation positioning resolving end.
Optionally, the surface movement acoustic reference point comprises a wave glider and a first underwater sound communicator which are connected with each other, the wave glider is used for sending the position and time information of the wave glider to the first underwater sound communicator, and the first underwater sound communicator is used for broadcasting the position and time information to the underwater in an underwater sound communication mode of 1 second and 1 time.
Optionally, the underwater navigation positioning resolving end is installed on a deep sea carrier, and includes an inertial navigation unit, a second underwater acoustic communicator and an acoustic transducer, the second underwater acoustic communicator is respectively connected with the inertial navigation unit and the acoustic transducer, and the acoustic transducer is configured to send the position and time information sent by the first underwater acoustic communicator to the second underwater acoustic communicator, perform communication decoding, obtain the position and time information of the acoustic reference point of the water surface mobile, and assist the inertial navigation unit in navigation positioning resolving.
Optionally, when the deep sea vehicle is a large deep sea vehicle, the acoustic transducer employs an acoustic transducer array, and when the deep sea vehicle is a small deep sea vehicle, the acoustic transducer employs a single acoustic transducer array.
A combined navigation and positioning method for a moving acoustic reference layer on the deep sea surface comprises the following steps:
acquiring the position and time information of the acoustic reference point of the water surface movement through a GNSS;
broadcasting the position and time information of the water surface moving acoustic datum point to the underwater in an underwater acoustic communication mode;
the underwater navigation positioning resolving end receives the position and time information of the broadcasted water surface moving acoustic reference point and decodes the position and time information to obtain the position and time of the water surface moving acoustic reference point at the transmitting moment;
and according to the position and the time of the transmitting moment of the water surface moving acoustic reference point, the underwater navigation positioning resolving end carries out navigation positioning.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
(1) the distance intersection geometric positioning mode is converted into a navigation positioning mode (large deep sea vehicle) of underwater transducer array acoustic positioning (one-way distance measurement and direction measurement) assisted high-precision inertial navigation, or a navigation positioning mode (small deep sea vehicle) of underwater single transducer one-way distance measurement (pure distance and under-constraint) assisted low-precision inertial sensor, so that the requirement of 3 or more than 3 water surface acoustic buoys/submarine acoustic beacons for single navigation positioning is reduced to only 1 acoustic datum point; (2) the surface acoustic buoys or the seafloor acoustic beacons are converted into movable and track-controllable surface moving acoustic reference points (layers), so that the number of the surface acoustic reference points required by large-range navigation positioning is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a structural diagram of a combined navigation and positioning system for a mobile acoustic reference layer on the deep sea level;
FIG. 2 is a schematic diagram of a combined navigation and positioning system for a mobile acoustic reference layer on the deep sea level;
FIG. 3 is a flow chart of a combined navigation and positioning method for a moving acoustic reference layer on the deep sea level.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a combined navigation and positioning system and method for a deep sea water surface moving acoustic reference layer, which can reduce the number of water surface acoustic reference points required by large-range navigation and positioning.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
A combined navigation and positioning system for a deep sea water surface moving acoustic reference layer comprises: the underwater navigation positioning resolving system comprises a water surface moving acoustic reference point and an underwater navigation positioning resolving end, wherein the water surface moving acoustic reference point acquires position and time information of the water surface moving acoustic reference point through a GNSS (global navigation satellite system), and broadcasts the position and the time information to the underwater navigation positioning resolving end underwater in an underwater acoustic communication mode; the underwater navigation positioning resolving end receives the position and time information and then conducts communication decoding to obtain the position and time of the water surface moving acoustic reference point transmitting moment, and conducts navigation positioning resolving according to the position and time of the water surface moving acoustic reference point transmitting moment to obtain navigation positioning information of the underwater navigation positioning resolving end.
The water surface moving acoustic datum point comprises a wave glider and a first underwater sound communicator which are connected with each other, wherein the wave glider is used for sending the position and time information of the wave glider to the first underwater sound communicator, and the first underwater sound communicator is used for broadcasting the position and time information to underwater in an underwater sound communication mode for 1 time in 1 second.
The underwater navigation positioning resolving end is installed on a deep sea carrier and comprises an inertial navigation unit, a second underwater acoustic communicator and an acoustic transducer, wherein the second underwater acoustic communicator is respectively connected with the inertial navigation unit and the acoustic transducer, and the acoustic transducer is used for sending position and time information sent by the first underwater acoustic communicator to the second underwater acoustic communicator, acquiring position and time information of a water surface mobile acoustic datum point after communication decoding is carried out, and assisting the inertial navigation unit to carry out navigation positioning resolving.
When the deep sea vehicle is a large-scale deep sea vehicle, the acoustic transducer adopts an acoustic transducer array, an inertia base combined navigation model can be constructed, and real-time/high-update-rate/high-precision navigation positioning is realized. When the deep sea vehicle is a small-sized deep sea vehicle, the acoustic transducer adopts a single acoustic transducer, an under-constrained combined navigation model of a pure distance-low precision inertial sensor can be constructed, and low-cost/long-endurance/limited-precision navigation positioning is realized.
In the deep-sea networked mobile navigation positioning system, each deep-sea vehicle can complete navigation positioning calculation only by receiving an acoustic signal broadcasted by a water surface mobile acoustic reference point. The acoustic signals broadcasted by each water surface moving acoustic datum point can cover a certain area, and various deep sea carriers (with unlimited quantity) in the area can realize navigation positioning by receiving the acoustic signals. The plurality of water surface moving acoustic datum points are connected with each other according to a certain topological structure to form a water surface moving acoustic datum layer, and meanwhile, a larger area is covered. The water surface moving acoustic reference layer can move according to a certain path, dynamic coverage of a larger area is realized, and the method is used for navigation and positioning of a large-range infinite area. The number of acoustic reference points, topology and movement path of the surface moving acoustic reference layer depends on the number of deep sea vehicles, tasks, work waters, etc.
Fig. 3 is a flowchart of a combined navigation and positioning method for a moving acoustic reference layer on a deep sea surface, and as shown in fig. 3, the combined navigation and positioning method for the moving acoustic reference layer on the deep sea surface includes:
step 101: acquiring the position and time information of the acoustic reference point of the water surface movement through a GNSS;
step 102: broadcasting the position and time information of the water surface moving acoustic datum point to the underwater in an underwater acoustic communication mode;
step 103: the underwater navigation positioning resolving end receives the position and time information of the broadcasted water surface moving acoustic reference point and decodes the position and time information to obtain the position and time of the water surface moving acoustic reference point at the transmitting moment;
step 104: and according to the position and the time of the transmitting moment of the water surface moving acoustic reference point, the underwater navigation positioning resolving end carries out navigation positioning.
The deep sea networked mobile navigation positioning system integrates navigation and positioning, adopts the movable acoustic reference points, can greatly reduce the number of the required acoustic reference points, has natural expandability, utilizes ranging and direction-finding information or pure ranging information to inhibit errors of an inertial navigation system, and meets the navigation positioning requirements of different types of deep sea carriers.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (3)
1. A deep sea water surface moving acoustic reference layer combined navigation positioning system is characterized by comprising: the underwater navigation positioning resolving system comprises a water surface moving acoustic reference point and an underwater navigation positioning resolving end, wherein the water surface moving acoustic reference point acquires position and time information of the water surface moving acoustic reference point through a GNSS (global navigation satellite system), and broadcasts the position and the time information to the underwater navigation positioning resolving end underwater in an underwater acoustic communication mode; the underwater navigation positioning resolving end receives the position and time information and then carries out communication decoding to obtain the position and time of the water surface moving acoustic reference point transmitting moment, and carries out navigation positioning resolving according to the position and time of the water surface moving acoustic reference point transmitting moment to obtain navigation positioning information of the underwater navigation positioning resolving end; the water surface mobile acoustic datum points are connected with one another according to a certain topological structure to form a water surface mobile acoustic datum layer, and a larger area is covered at the same time; the water surface moving acoustic reference layer can move according to a certain path, so that dynamic coverage of a larger area is realized, and the water surface moving acoustic reference layer is used for navigation and positioning of a large-range infinite area;
the water surface moving acoustic datum point comprises a wave glider and a first underwater sound communicator which are connected with each other, wherein the wave glider is used for sending the position and time information of the wave glider to the first underwater sound communicator, and the first underwater sound communicator is used for broadcasting the position and time information to the underwater in an underwater sound communication mode of 1 second and 1 time;
the underwater navigation positioning resolving end is installed on a deep sea carrier and comprises an inertial navigation unit, a second underwater acoustic communicator and an acoustic transducer, the second underwater acoustic communicator is respectively connected with the inertial navigation unit and the acoustic transducer, and the acoustic transducer is used for sending position and time information sent by the first underwater acoustic communicator to the second underwater acoustic communicator, acquiring position and time information of a water surface mobile acoustic datum point after communication decoding is carried out, and assisting the inertial navigation unit to carry out navigation positioning resolving.
2. The deep sea surface moving acoustic reference layer integrated navigational positioning system of claim 1, wherein the acoustic transducer is an acoustic transducer array when the deep sea vehicle is a large deep sea vehicle and a single acoustic transducer array when the deep sea vehicle is a small deep sea vehicle.
3. The deep sea surface moving acoustic reference layer combined navigation and positioning system method based on any one of the claims 1-2, characterized by comprising the following steps:
acquiring the position and time information of the acoustic reference point of the water surface movement through a GNSS;
broadcasting the position and time information of the water surface moving acoustic datum point to the underwater in an underwater acoustic communication mode;
the underwater navigation positioning resolving end receives the position and time information of the broadcasted water surface moving acoustic reference point and decodes the position and time information to obtain the position and time of the water surface moving acoustic reference point at the transmitting moment;
and according to the position and the time of the transmitting moment of the water surface moving acoustic reference point, the underwater navigation positioning resolving end carries out navigation positioning.
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