CN113296057A - Method for measuring position of underwater unidentified object by submersible - Google Patents
Method for measuring position of underwater unidentified object by submersible Download PDFInfo
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- CN113296057A CN113296057A CN202110545251.8A CN202110545251A CN113296057A CN 113296057 A CN113296057 A CN 113296057A CN 202110545251 A CN202110545251 A CN 202110545251A CN 113296057 A CN113296057 A CN 113296057A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000010586 diagram Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000013178 mathematical model Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- 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)
Abstract
A method for measuring the position of an underwater unidentified object by a submersible belongs to the technical field of positioning underwater targets, and is characterized in that: front and back detection sonars are respectively arranged in front and back of a horizontal center connecting line of the submersible, wherein the center point of each detection sonar is A, C, and the distance between the center points is A, C
The data processing module is arranged in the submersible, the horizontal rotation central point of the submersible is F, an object which is unknown underwater is found, the central point is E, and the positioning method comprises the following steps: firstly, distances AE and CE between the underwater vehicle and an unknown object are respectively measured through front and rear detection sonars, secondly, a central point F of the underwater vehicle is used as a rotation center, the underwater vehicle horizontally rotates 90 degrees, the positions of the front and rear detection sonars are changed, the position of a point A, C is also changed, a point A is changed into a point D, a point C is changed into a point B, the distances BE and DE between the underwater vehicle and the unknown object are measured again, and the distances measured twice are processed through a data processing module, so that the unknown object can BE accurately positioned. The advantages are that: the device has simple structure, low cost, simple and convenient operation and accurate positioningIs reliable.
Description
Technical Field
The invention belongs to the technical field of positioning underwater targets, and particularly relates to a method for measuring the position of an underwater unidentified object by a submersible.
Background
At present, an underwater sonar array positioning and orienting device for underwater object finding and underwater security is composed of a target sonar and an array, and is divided into a response type beacon and a broadcast type beacon according to an action mechanism, wherein the response type sonar equipment is too heavy and expensive, is not suitable for small-sized flexible application, and the broadcast type beacon does not have high concealment and is not suitable for security application.
Disclosure of Invention
The invention provides a method for measuring the position of an underwater unidentified object by a submersible, which can effectively overcome the defects in the prior art.
The invention is characterized in that front and back detection sonars 1 and 2 are respectively arranged at the front and back positions of the horizontal center connecting line of the submersible, the central points of the front and back detection sonars are A, C respectively, and the distance is L as shown in figure 11The submersible is internally provided with a data processing module 3, the horizontal rotation central point of the submersible is a point F, an unidentified object 4 is found at a certain position underwater, the central point E is found, and the method for positioning the unidentified object 4 comprises the following steps: firstly, distances AE and CE of an unknown object 4 are respectively measured through front and rear detection sonars 1 and 2, secondly, a central point F of the submersible is taken as a horizontal rotation center and horizontally rotates 90 degrees, at the moment, positions of the front and rear detection sonars 1 and 2 are changed, the position of a central point A, C is also changed, a point A is changed into a point D, a point C is changed into a point B, the distances between the front and rear detection sonars 4 and the unknown object 4 are measured again to BE BE and DE, and the distances measured twice are processed through a data processing module 3, so that the unknown object 4 can BE accurately positioned.
The invention has the advantages and positive effects that: the used device has simple structure, low manufacturing cost, simple and convenient operation and accurate and reliable positioning.
Drawings
FIG. 1 is a schematic diagram of the apparatus and operation of the present invention;
FIG. 2 is a simplified mathematical model diagram of the present invention.
In the figure: 1. 2-front and back detection sonar, 3-data processing module, 4-unknown object, AC-front and back detection sonar central point, F-submersible horizontal rotation central point, ABCD-submersible 90 degree rotation around central point horizontal plane schematic diagram.
The specific implementation mode is as follows:
as shown in figure 1, a submersible is arranged at the depth of h meters under water, front and back detection sonars 1 and 2 are respectively arranged on a horizontal center connecting line of the submersible, the central points of the front and back detection sonars are A and C respectively, and the interval of AC points is L1The submersible is internally provided with a data processing module 3, an unidentified object 4 is found at a position under water, the central point of the unidentified object is E, and the unidentified object is measuredThe method of 4 underwater positions is as follows: firstly, distances AE and CE between the front detection sonar 1 and the rear detection sonar 2 and an unknown object 4 are respectively measured, secondly, the submersible is rotated by 90 degrees by taking a center point F as a center horizontal plane, at the moment, the positions of the front detection sonar 1 and the rear detection sonar 2 are changed, the position of a center point A, C is also changed, a point A is changed into a point D, a point C is changed into a point B, the distances DE and BE between the front detection sonar 1 and the rear detection sonar 2 and the unknown object 4 are measured again, and the distances measured in the two times are processed by a data processing module 3, so that the unknown object 4 can BE accurately positioned.
As shown in FIG. 2, according to a simplified mathematical model diagram, the central point A of the left detection sonar 1 of the submersible is set as the coordinate origin A (0, 0, 0), the central point of the object 4 to BE detected and positioned is set as E (X, Y, Z), the distances AE, BE, CE and DE from the point E to the four points ABCD can BE detected, and finally the accurate coordinates of the object to BE detected are calculated.
The specific calculation process is as follows:
x2+y2+Z2＝AE2①
(L2-x)2+y2+Z2＝BE2②
(L2-x)2+(L2-y)2+Z2＝CE 2③
x2+(L2-y)2+Z2＝DE2④
simplifying substitution calculations
(II) to (I)
Fourthly to
Put into
Since Z is less than 0, it is
Therefore, the coordinates of the point E are obtained by calculation
The operations are all completed by the data processing module, and finally the accurate coordinates of the object to be detected are determined.
Claims (1)
1. A method for measuring the position of an underwater unidentified object by a submersible is characterized by comprising the following steps: front and back detection sonars (1 and 2) are respectively arranged at the front and back positions of the horizontal center connecting line of the submersible, the central points of the front and back detection sonars are A, C respectively, and the distance is
The submersible is internally provided with a data processing module (3), the horizontal rotation center point of the submersible is a point F, an unknown object (4) is found at a certain underwater position, and the center point E is determined by the method that: firstly, distances AE and CE between the sonar and an unknown object (4) are respectively measured through the detecting sonar (1 and 2), secondly, a center point F of the submersible is taken as a horizontal rotation center, the submersible rotates horizontally by 90 degrees, at the moment, the positions of the front detecting sonar and the rear detecting sonar (1 and 2) are changed, the position of a center point A, C is also changed, a point A is changed into a point D, a point C is changed into a point B, the distances between the sonar and the unknown object (4) are measured again to BE BE and DE, and the distances measured twice are processed through the data processing module (3), so that the unknown object (4) can BE accurately positioned.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110545251.8A CN113296057A (en) | 2021-05-19 | 2021-05-19 | Method for measuring position of underwater unidentified object by submersible |
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| CN202110545251.8A CN113296057A (en) | 2021-05-19 | 2021-05-19 | Method for measuring position of underwater unidentified object by submersible |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017044012A1 (en) * | 2015-09-08 | 2017-03-16 | Общество с ограниченной ответственностью "Лаборатория подводной связи и навигации" | Method for positioning underwater objects and system for the implementation thereof |
| CN107132524A (en) * | 2017-06-06 | 2017-09-05 | 浙江大学 | Submarine target locus computational methods based on two identification sonars |
| CN108020815A (en) * | 2017-12-12 | 2018-05-11 | 中国地质大学（武汉） | A kind of method, equipment and storage device for positioning underwater robot |
| CN108614269A (en) * | 2018-07-11 | 2018-10-02 | 武汉长江航道救助打捞局 | A kind of underwater positioning system and its working method based on image sonar |
| KR101916737B1 (en) * | 2018-07-24 | 2018-11-08 | 한화시스템 주식회사 | Apparatus and method for detecting underwater target |
| CN108802735A (en) * | 2018-06-15 | 2018-11-13 | 华南理工大学 | A kind of submarine target positioning and speed-measuring method and device for unknown velocity of sound environment |
| CN111640177A (en) * | 2020-05-26 | 2020-09-08 | 佛山科学技术学院 | Three-dimensional modeling method based on underwater sonar detection and unmanned submersible |
-
2021
- 2021-05-19 CN CN202110545251.8A patent/CN113296057A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017044012A1 (en) * | 2015-09-08 | 2017-03-16 | Общество с ограниченной ответственностью "Лаборатория подводной связи и навигации" | Method for positioning underwater objects and system for the implementation thereof |
| CN107132524A (en) * | 2017-06-06 | 2017-09-05 | 浙江大学 | Submarine target locus computational methods based on two identification sonars |
| CN108020815A (en) * | 2017-12-12 | 2018-05-11 | 中国地质大学（武汉） | A kind of method, equipment and storage device for positioning underwater robot |
| CN108802735A (en) * | 2018-06-15 | 2018-11-13 | 华南理工大学 | A kind of submarine target positioning and speed-measuring method and device for unknown velocity of sound environment |
| CN108614269A (en) * | 2018-07-11 | 2018-10-02 | 武汉长江航道救助打捞局 | A kind of underwater positioning system and its working method based on image sonar |
| KR101916737B1 (en) * | 2018-07-24 | 2018-11-08 | 한화시스템 주식회사 | Apparatus and method for detecting underwater target |
| CN111640177A (en) * | 2020-05-26 | 2020-09-08 | 佛山科学技术学院 | Three-dimensional modeling method based on underwater sonar detection and unmanned submersible |
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Application publication date: 20210824 |