CN113311388A - Ultra-short baseline positioning system of underwater robot - Google Patents

Ultra-short baseline positioning system of underwater robot Download PDF

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CN113311388A
CN113311388A CN202110584036.9A CN202110584036A CN113311388A CN 113311388 A CN113311388 A CN 113311388A CN 202110584036 A CN202110584036 A CN 202110584036A CN 113311388 A CN113311388 A CN 113311388A
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ultra
short baseline
underwater
positioning system
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CN113311388B (en
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陈路
陈新
苏卡尼
吕冰冰
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Hunan Guotian Electronic Technology Co ltd
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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
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

The invention provides an ultra-short baseline positioning system of an underwater robot, which comprises water surface equipment and an underwater ultra-short baseline submersible, and is characterized in that the water surface equipment comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation component; the underwater ultrashort baseline submersible is provided with an ultrashort baseline responder and a synchronous clock module; the built-in inertial navigation assembly is used for acquiring the positions, postures and bow directions of different acoustic array base stations, and further obtaining the target absolute position of the underwater robot by calculating and positioning through the signal processing unit; the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock trigger mode for positioning. The system provided by the invention can independently complete the underwater positioning task, and the filtering processing is matched before the filtering and noise reduction processing is carried out, so that the accuracy of calculating the final target absolute position by using sonar signals is improved, and the precision, convenience and operability of the system are improved.

Description

Ultra-short baseline positioning system of underwater robot
Technical Field
The invention belongs to the technical field of underwater robot positioning, and particularly relates to an ultra-short baseline positioning system of an underwater robot.
Background
Since the acoustic wave is the only effective information carrier under water discovered by human beings so far, the underwater acoustic positioning technology is the main means for positioning and tracking the underwater target at present. The underwater sound positioning navigation technology is excited in a baseline mode, and positioning and navigation are realized by measuring information such as time, phase, frequency and the like of sound wave propagation. The ultra-short baseline positioning system consists of a multi-element acoustic array and an acoustic beacon and is positioned by measuring distance and azimuth. The underwater vehicle has the advantages of small size, convenience in installation, good portability and independence, and suitability for tracking large-range operation areas of low-cost underwater vehicles.
When the ultra-short baseline positioning system is used, the absolute position of the target is determined, the position, the attitude and the heading direction of the acoustic array are firstly known, the parameters can be provided by a GPS (global positioning system), a motion sensor and an electric compass, and then the position of the target in a sound head coordinate system is determined. Therefore, the conventional ultra-short baseline positioning system needs the MRU and the compass to provide the attitude and the heading direction. However, since the mounting positions on the carrier are different, the mounting error angle needs to be calibrated before each use, which is not only complicated, but also increases the number of peripheral devices.
Disclosure of Invention
Aiming at the defects, the invention provides the ultra-short baseline positioning system of the underwater robot, which can independently complete the underwater positioning task, match the filtering processing before the filtering and noise reduction processing is carried out, further improve the accuracy of the final target absolute position calculated by the sonar signals, does not need to carry out related work when in use, and further improve the precision, convenience and operability of the system.
The invention provides an ultra-short baseline positioning system of an underwater robot, which comprises a water surface device and an underwater ultra-short baseline submersible, and is characterized in that the water surface device comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation component;
the underwater ultra-short baseline submersible is provided with an ultra-short baseline responder and a synchronous clock module and is used for receiving response signals sent by different acoustic array base stations;
the built-in inertial navigation assembly is used for acquiring the positions, postures and bow directions of different acoustic array base stations, and further obtaining the target absolute position of the underwater robot by calculating and positioning through the signal processing unit;
the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock trigger mode for positioning:
the acoustic response mode is that a signal processing unit sends inquiry signals to different acoustic array base stations, the ultra-short baseline responder receives response signals sent by the different acoustic array base stations and then transmits the response signals to the signal processing unit, and the signal processing unit calculates the time difference between sending the inquiry signals and receiving the response signals to calculate the distance between the underwater robot and the different acoustic array base stations so as to obtain the target absolute position;
the synchronous clock triggering mode is that the signal processing unit sends an instruction to the synchronous clock module, the synchronous clock module synchronously triggers the ultra-short baseline transponder and the shipborne acoustic transducer array, the distance between the underwater robot and different acoustic array base stations is calculated by calculating the time difference between the triggering moment of the synchronous pulse and the received response signal, and the data acquired by the built-in inertial navigation component is combined with the positioning result of the distance between the underwater robot and the different acoustic array base stations, so that the target absolute position is obtained.
Furthermore, the signal processing unit comprises a transceiver module, a control module, a calculation module, an inquiry control and transmitter, a display module and a Kalman filter, wherein the transceiver module is composed of a plurality of hydrophones. Wherein the control module is the position computer.
Further, before the kalman filter performs filtering, the control module performs matched filtering on sonar signal data collected by the hydrophones, and the method includes the following steps:
1) constructing the signal x received by the ith hydrophonei[n]And said signal xi[n]With noise h n]The convolution between (a) and (b) outputs a computational model:
Figure BDA0003087420970000031
wherein k is more than or equal to 1 and less than or equal to n, and n is the total number of hydrophones;
2) convolution outputs the signal x received at the ith hydrophonei[n]Nearest to the noise h [ n ]]Signal x received by the ith hydrophone of (2)i[n]At a maximum, by calculating a plurality of said signals xi[n]As the convolution output yi[n]Calculating a measure of the effectiveness of the results:
Figure BDA0003087420970000032
3) comparing the standard deviation sigma calculated in the step 2) with a threshold value, and further judging the convolution output yi[n]Whether it is a valid result, when the calculated convolution outputs yi[n]In the case of an invalid result,
and (3) performing moving average smoothing y' n calculation on the convolution output of the n hydrophones:
Figure BDA0003087420970000033
wherein i is not equal to j, i is more than or equal to 1, and j is more than or equal to n;
4) carrying out normalization calculation on the moving average smoothing y' n obtained in the step 3), finally obtaining a normalized convolution output y n after matched filtering, and transmitting the normalized convolution output y n to a Kalman filter for filtering and denoising, wherein a normalization calculation formula is as follows:
Figure BDA0003087420970000041
further, the threshold in step 3) is n +1, and the judgment criterion is that when σ is less than n +1, the convolution output y is calculatedi[n]As a valid result; when sigma is larger than or equal to n +1, the convolution output y obtained by calculationi[n]Is an invalid result.
Further, the onboard acoustic transducer array is mounted on the bottom or side of the vessel.
Further, the acoustic array base station comprises an interrogation control and transmitter, a transmit/receive switch, a first hydrophone transmitting a response signal to the ultra-short baseline transponder, and a second hydrophone for transmitting the received interrogation signal to the interrogation control and transmitter.
Further, the built-in inertial navigation assembly comprises a GPS positioning module, an attitude sensor and an electric compass module.
Further, the calculation module includes a direction angle processor and a distance processor.
Furthermore, the ultra-short baseline transponder is arranged on the back of the underwater carrier, the hemispherical directivity of the ultra-short baseline transponder can cover the whole upper half space, and the ultra-short baseline positioning system can work normally under various underwater depth and inclination angle states.
The invention has the beneficial effects that:
1. the ultra-short baseline positioning system provided by the invention adopts an acoustic response mode and a synchronous clock trigger mode, when the acoustic response mode is adopted, the water surface respectively sends inquiry signals to all the transponders, all the transponders send response signals after receiving the inquiry signals aiming at themselves, and the distance is calculated by calculating the time difference between the sending of the inquiry signals and the receiving of the response signals. When a synchronous clock triggering mode is adopted, the accurate position of the underwater responder can be accurately judged by calculating the time difference calculation distance from the triggering moment of the synchronous pulse to the receiving response signal and combining the inertial navigation component data with the ultra-short baseline positioning result, and the target positioning can be carried out by adopting different signal transmission modes under different conditions,
2. the ultrashort baseline positioning system of the underwater robot provided by the invention sends a response signal to an underwater transponder of the positioning system through different acoustic base station arrays, the transponder sends a sonar signal to a marine equipment part on the water surface, when a synchronous clock trigger mode is adopted, the system uses an acoustic beacon which is synchronous with the clock time on the underwater robot, and only needs to send the sonar signal in a single pass, the acoustic array resides on the underwater robot but not on the beacon, and finally, a calculation module in the marine equipment on the water surface, namely a position calculator collects acoustic data by using the array and processes the acoustic data to determine the distance, the azimuth angle and the inclination of the sound source of the array; if the source is at a known location, this information and the underwater robot compass data can be used to calculate the instantaneous absolute position of the target. The underwater robot is acoustically passive, namely the underwater robot does not output response signals, so that the power consumption and the cost are greatly reduced, and a single sound source can be used for positioning a plurality of underwater robots without time or frequency sharing.
3. The position calculator of the ultra-short baseline positioning system of the underwater robot adopts the Kalman filter to carry out filtering processing on the acquired sonar signals, the Kalman filter estimates the probability distribution of a dynamic system from a group of observation sequences with measurement noise by updating mean values and covariance in real time to realize the filtering process, the position calculator is an efficient recursive filter, and measurement noise points of the position are removed by Kalman filtering to improve the positioning accuracy.
4. The position calculator of the ultra-short baseline positioning system of the underwater robot provided by the invention adopts the Kalman filter to carry out filtering processing on the acquired sonar signals, firstly carries out matched filtering, can match the sonar signals acquired at different trigger times in a synchronous clock trigger mode, and finally obtains normalized convolution output y [ n ] after convolution output and moving average smoothing, thereby preventing the sonar signals at different trigger times from being simultaneously mixed and filtered, and improving the accuracy of the Kalman filter on the sonar signals acquired at different trigger times.
5. According to the invention, a high-precision built-in inertial navigation component is integrated into an ultra-short baseline, so that a high-precision attitude can be provided for positioning the ultra-short baseline in real time, an inertial navigation result can be output, a high-speed inertial navigation output result makes up for a lower refresh rate of underwater sound, and a positioning result of the ultra-short baseline can periodically readjust an accumulated error of inertial navigation. The ultra-short baseline positioning system with the high-precision built-in inertial navigation component can independently complete an underwater positioning task, installation errors are accurately corrected when leaving a factory, relevant work is not needed when the ultra-short baseline positioning system is used, and the precision, convenience and operability of the system are further improved.
6. The ultra-short baseline positioning system provided by the invention is widely applied to the civil and military fields. In a civil range, submarine exploration, marine investigation, diver operation, underwater salvage, underwater engineering and the like all need underwater sound positioning to provide support; the military range includes frogman activity, submarine navigation, underwater robot recovery, flood dragon deep sea detection, cooperative positioning, enemy ship detection and other applications.
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The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
Wherein:
FIG. 1 is a schematic diagram of an ultra-short baseline positioning system according to the present invention;
FIG. 2 is a schematic diagram of a system module structure provided by the present invention;
fig. 3 is a flowchart of kalman filtering after the calculation module of the system provided by the present invention calculates and matches-filters the acquired sonar signals.
Detailed description of the preferred embodiments
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.
As shown in fig. 1-2, the ultra-short baseline positioning system for an underwater robot provided by the invention comprises a surface device and an underwater ultra-short baseline submersible, and is characterized in that the surface device comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation assembly;
the underwater ultra-short baseline submersible is provided with an ultra-short baseline responder and a synchronous clock module which are used for receiving response signals sent by different acoustic array base stations;
the built-in inertial navigation assembly is used for acquiring the positions, the postures and the bow direction of different acoustic array base stations, and further positioning and obtaining the target absolute position of the underwater robot through the calculation of the signal processing unit;
the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock trigger mode for positioning:
the acoustic response mode is that the signal processing unit sends inquiry signals to different acoustic array base stations, the ultra-short baseline responder receives response signals sent by the different acoustic array base stations and then transmits the response signals to the signal processing unit, and the signal processing unit calculates the time difference between the sending of the inquiry signals and the receipt of the response signals to calculate the distance between the underwater robot and the different acoustic array base stations so as to obtain the absolute position of a target;
the synchronous clock triggering mode is that the signal processing unit sends an instruction to the synchronous clock module, the synchronous clock module synchronously triggers the ultra-short baseline responder and the shipborne acoustic transducer array, the distance between the underwater robot and different acoustic array base stations is calculated by calculating the time difference between the triggering moment of the synchronous pulse and the received response signal, and the data acquired by the built-in inertial navigation assembly is combined with the positioning result of the distance between the underwater robot and the different acoustic array base stations, so that the absolute position of the target is obtained.
The signal processing unit comprises a transceiver module consisting of a plurality of hydrophones, a control module, a calculation module, an inquiry control and emitter, a display module and a Kalman filter; the control module is the position computer. The calculation module includes a direction angle processor and a distance processor.
Although the ultra-short baseline underwater sound positioning result cannot have the error divergence, the positioning data has the characteristics of discontinuity, large dispersion and many wild values due to the influence of complex underwater environments such as Doppler effect, multipath effect, time-varying effect and the like of an underwater sound channel, cannot be directly used and needs to be subjected to data filtering.
As shown in fig. 3, a kalman filter is used to perform noise reduction filtering on the collected sonar signals to obtain the position information of the underwater vehicle during underwater navigation. Kalman filtering implements a filtering process by estimating the probability distribution of a dynamic system from a set of observation sequences with measurement noise by updating the mean and covariance in real time, which is a highly efficient recursive filter. The basic idea of kalman filtering is: and establishing a state equation and a measurement equation of the system, wherein a state transition model and an observation model of the system are linear models with Gaussian white noise, and a current state value is estimated by using an estimation value at the previous moment and an observation value at the current moment. Through Kalman filtering, the measurement noise points of the positions are removed, and the positioning accuracy is improved.
The built-in inertial navigation assembly comprises a GPS positioning module, an attitude sensor and an electric compass module.
The on-board acoustic transducer array is mounted on the bottom or side of the vessel.
The acoustic array base station comprises an interrogation control and transmitter, a transmit/receive switch, a first hydrophone transmitting a response signal to the ultra-short baseline transponder, and a second hydrophone for transmitting the received interrogation signal to the interrogation control and transmitter.
The ultra-short baseline transponder is arranged on the back of an underwater carrier, and the hemispherical directivity of the ultra-short baseline transponder can cover the whole upper half space, so that the ultra-short baseline positioning system can work normally under various underwater depth and inclination angle states.
Before filtering, a control module performs matched filtering on sonar signal data collected by a plurality of hydrophones by using a Kalman filter, and the method comprises the following steps:
1) constructing the signal x received by the ith hydrophonei[n]Sum signal xi[n]With noise h n]The convolution between (a) and (b) outputs a computational model:
Figure BDA0003087420970000091
wherein k is more than or equal to 1 and less than or equal to n, and n is the total number of hydrophones;
2) convolution outputs the signal x received at the ith hydrophonei[n]Nearest noise h [ n ]]Signal x received by the ith hydrophone of (2)i[n]Where a maximum is reached, by calculating a plurality of signals xi[n]As the convolution output yi[n]Calculating a measure of the effectiveness of the results:
Figure BDA0003087420970000092
3) comparing the standard deviation sigma calculated in the step 2) with a threshold value, and further judging the convolution output yi[n]Whether it is a valid result, when the calculated convolution outputs yi[n]In the case of an invalid result,
and (3) performing moving average smoothing y' n calculation on the convolution output of the n hydrophones:
Figure BDA0003087420970000093
wherein i is not equal to j, i is more than or equal to 1, and j is more than or equal to n;
4) carrying out normalization calculation on the moving average smoothing y' n obtained in the step 3), finally obtaining a normalized convolution output y n after matched filtering, and transmitting the normalized convolution output y n to a Kalman filter for filtering and denoising, wherein the normalization calculation formula is as follows:
Figure BDA0003087420970000101
the threshold value in the step 3) is n +1, and the judgment standard is that when the sigma is less than n +1, the convolution output y is obtained by calculationi[n]As a valid result; when sigma is larger than or equal to n +1, the convolution output y obtained by calculationi[n]Is an invalid result.
The ultrashort baseline positioning system of the underwater robot provided by the invention sends a response signal to an underwater transponder of the positioning system through different acoustic base station arrays, the transponder sends a sonar signal to a marine equipment part on the water surface, when a synchronous clock trigger mode is adopted, the system uses an acoustic beacon which is synchronous with the clock time on the underwater robot, and only needs to send the sonar signal in a single pass, the acoustic array resides on the underwater robot but not on the beacon, and finally, a calculation module in the marine equipment on the water surface, namely a position calculator collects acoustic data by using the array and processes the acoustic data to determine the distance, the azimuth angle and the inclination of the sound source of the array; if the source is at a known location, this information and the underwater robot compass data can be used to calculate the instantaneous absolute position of the target. The underwater robot is acoustically passive, namely the underwater robot does not output response signals, so that the power consumption and the cost are greatly reduced, and a single sound source can be used for positioning a plurality of underwater robots without time or frequency sharing.
Kalman filtering estimates the probability distribution of a dynamic system from a group of observation sequences with measurement noise by updating the mean value and the covariance in real time to realize the filtering process, and is a high-efficiency recursive filter.
Before the Kalman filter is adopted to filter the acquired sonar signals, firstly matched filtering is carried out, the sonar signals acquired at different trigger times can be matched in a synchronous clock trigger mode, normalized convolution output y [ n ] is finally obtained after convolution output and moving average smoothing, the sonar signals at different trigger times are prevented from being simultaneously mixed and filtered, and the accuracy of the Kalman filter on the sonar signals acquired at different trigger times is improved.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (9)

1. An ultra-short baseline positioning system of an underwater robot comprises a water surface device and an underwater ultra-short baseline submersible, and is characterized in that the water surface device comprises a signal processing unit, a shipborne acoustic transducer array and a built-in inertial navigation assembly;
the underwater ultra-short baseline submersible is provided with an ultra-short baseline responder and a synchronous clock module and is used for receiving response signals sent by different acoustic array base stations;
the built-in inertial navigation assembly is used for acquiring the positions, postures and bow directions of different acoustic array base stations, and further obtaining the target absolute position of the underwater robot by calculating and positioning through the signal processing unit;
the ultra-short baseline positioning system adopts an acoustic response mode or a synchronous clock trigger mode for positioning:
the acoustic response mode is that a signal processing unit sends inquiry signals to different acoustic array base stations, the ultra-short baseline responder receives response signals sent by the different acoustic array base stations and then transmits the response signals to the signal processing unit, and the signal processing unit calculates the time difference between sending the inquiry signals and receiving the response signals to calculate the distance between the underwater robot and the different acoustic array base stations so as to obtain the target absolute position;
the synchronous clock triggering mode is that the signal processing unit sends an instruction to the synchronous clock module, the synchronous clock module synchronously triggers the ultra-short baseline transponder and the shipborne acoustic transducer array, the distance between the underwater robot and different acoustic array base stations is calculated by calculating the time difference between the triggering moment of the synchronous pulse and the received response signal, and the data acquired by the built-in inertial navigation component is combined with the positioning result of the distance between the underwater robot and the different acoustic array base stations, so that the target absolute position is obtained.
2. The ultra-short baseline positioning system of claim 1, wherein the signal processing unit comprises a transceiver module consisting of a plurality of hydrophones, a control module (position computer), a calculation module, an interrogation control and transmitter, a display module, and a kalman filter.
3. An ultra-short baseline positioning system as claimed in claim 2, wherein said control module performs matched filtering on sonar signal data collected by said plurality of hydrophones before performing filtering by said kalman filter, comprising the steps of:
1) constructing the signal x received by the ith hydrophonei[n]And said signal xi[n]With noise h n]The convolution between (a) and (b) outputs a computational model:
Figure FDA0003087420960000021
wherein k is more than or equal to 1 and less than or equal to n, and n is the total number of hydrophones;
2) convolution outputs the signal x received at the ith hydrophonei[n]Nearest to the noise h [ n ]]Signal x received by the ith hydrophone of (2)i[n]At a maximum, by calculating a plurality of said signals xi[n]As the convolution output yi[n]Calculating a measure of the effectiveness of the results:
Figure FDA0003087420960000022
3) comparing the standard deviation sigma calculated in the step 2) with a threshold value, and further judging the convolution output yi[n]Whether it is a valid result, when the calculated convolution outputs yi[n]In the case of an invalid result,
moving average smoothing is carried out on convolution outputs of n hydrophones′[n]And (3) calculating:
Figure FDA0003087420960000023
wherein i is not equal to j, i is more than or equal to 1, and j is more than or equal to n;
4) carrying out normalization calculation on the moving average smoothing y' n obtained in the step 3), finally obtaining a normalized convolution output y n after matched filtering, and transmitting the normalized convolution output y n to a Kalman filter for filtering and denoising, wherein a normalization calculation formula is as follows:
Figure FDA0003087420960000031
4. an ultra-short baseline positioning system as claimed in claim 3, wherein said threshold in step 3) is n +1, and the criterion is that when σ < n +1, the convolution output y is calculatedi[n]As a valid result; when sigma is larger than or equal to n +1, the convolution output y obtained by calculationi[n]Is an invalid result.
5. An ultra-short baseline positioning system of claim 1, wherein the onboard acoustic transducer array is mounted at the bottom or side of the vessel.
6. The ultra-short baseline positioning system of claim 1, wherein the acoustic array base station comprises an interrogation control and transmitter, a transmit/receive switch, a first hydrophone transmitting a response signal to the ultra-short baseline transponder, and a second hydrophone transmitting a received interrogation signal to the interrogation control and transmitter.
7. The ultra-short baseline positioning system of claim 1, wherein the built-in inertial navigation module comprises a GPS positioning module, an attitude sensor and an electronic compass module.
8. An ultra-short baseline positioning system as claimed in claim 2, wherein said calculation module comprises an orientation angle processor and a distance processor.
9. The ultra-short baseline positioning system of claim 1, wherein the ultra-short baseline transponder is mounted on the back of the underwater vehicle, and has a hemispherical directivity covering the entire upper half space, thereby ensuring that the ultra-short baseline positioning system can work normally under various underwater depth and inclination conditions.
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CN114199234A (en) * 2021-11-18 2022-03-18 湖南国天电子科技有限公司 Fault-tolerant underwater inertia combined navigation device and method
CN114485646A (en) * 2022-01-27 2022-05-13 浙江大学 UUV cluster cooperative positioning method of integrated ultra-short baseline system
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CN114199234A (en) * 2021-11-18 2022-03-18 湖南国天电子科技有限公司 Fault-tolerant underwater inertia combined navigation device and method
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CN115390012A (en) * 2022-10-28 2022-11-25 国家深海基地管理中心 Multi-transponder coordinate measuring method, device and system for HOV (Hov) accurate positioning
CN115390012B (en) * 2022-10-28 2023-01-24 国家深海基地管理中心 Multi-transponder coordinate measuring method, device and system for HOV (Hov) accurate positioning
CN116027792A (en) * 2023-02-23 2023-04-28 无锡中惠天泽智能科技有限公司 Path planning control device and operation method for underwater cleaning robot
CN117572432A (en) * 2024-01-16 2024-02-20 中国测绘科学研究院 Sonar array and positioning method for seabed reference station
CN117572432B (en) * 2024-01-16 2024-04-02 中国测绘科学研究院 Sonar array and positioning method for seabed reference station

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