CN113608168B - Real-time self-calibration system and method for position of underwater sound receiver for water surface movable platform - Google Patents
Real-time self-calibration system and method for position of underwater sound receiver for water surface movable platform Download PDFInfo
- Publication number
- CN113608168B CN113608168B CN202110653174.8A CN202110653174A CN113608168B CN 113608168 B CN113608168 B CN 113608168B CN 202110653174 A CN202110653174 A CN 202110653174A CN 113608168 B CN113608168 B CN 113608168B
- Authority
- CN
- China
- Prior art keywords
- calibration
- underwater sound
- positioning
- underwater
- water surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a real-time self-calibration system and a real-time self-calibration method for the position of an underwater acoustic receiver for a water surface movable platform, which can directly position the underwater acoustic receiver with high precision in a short-distance and effective open angle range, provide a feasible and effective technical means for the on-site and real-time calibration of a high-precision underwater acoustic positioning tracking measurement matrix based on the water surface movable platform, and can solve the problem that the positioning precision of the system is reduced due to the suspension, hanging or dragging of the underwater acoustic receiver of the matrix under the conditions of high sea/lake and high flow velocity; meanwhile, by adopting the design scheme of the high-frequency low-sound source self-calibration beacon, the problem of sound interference between the calibration device and other underwater sonar can be effectively avoided, and the practicability is greatly improved.
Description
Technical Field
The invention relates to the technical field of underwater test and test, and is mainly used for a water surface movable platform based on a buoy, a water surface unmanned motor platform or a ship and the like in a flexible connection arrangement (such as hanging, suspending or dragging) mode, and mainly aims to solve the problem of errors in actual use of the water surface movable platform, in particular to a real-time self-calibration system and a real-time self-calibration method for the position of a water sound receiver for the water surface movable platform.
Background
When the underwater sound tracking and positioning system based on the carrying and mounting modes of the water surface movable platforms such as buoys, water surface unmanned mobile platforms or ships and the like is used on the sea/lake, in order to avoid or reduce the influence of adverse factors such as severe hydrologic conditions, complex water surface working conditions, large near-water surface background interference noise and the like, an underwater sound receiver (a single hydrophone or a matrix) connected with the water surface movable platform needs to be distributed to a certain depth through a flexible cable. But at the same time brings about another problem: the relative position of the underwater acoustic receiver and the water surface platform swings or drifts seriously under the influence of wind waves and water flow, as shown in figure 1, so that the underwater actual position parameters of the receiver cannot be directly replaced by the high-precision satellite positioning data of the water surface platform, and if the problem is not solved, the underwater acoustic measurement precision is inevitably greatly reduced. If the system is a long baseline system formed by a plurality of underwater acoustic measurement nodes, the underwater array is always in a current-following swinging state, and particularly the problem is more remarkable under severe hydrologic or high sea/lake conditions, so that the system cannot be effectively used due to the positioning error.
In this regard, conventionally, rough compensation correction is generally performed by using data such as the cable length, the depth of placement, and the flow direction of water flow of the underwater acoustic receiver, and a certain improvement effect is obtained. However, the development of the underwater vehicle technology puts higher and higher requirements on the measurement precision, the action range and other capabilities and levels of the underwater acoustic tracking and positioning measurement system, and the traditional compensation and correction mode has larger uncertainty (such as difficulty in realizing in-situ real-time fine measurement on flow direction data) due to the fact that the traditional compensation and correction mode is used for solving the flow following swing problem of the position of the underwater acoustic receiver under the conditions of high sea/lake and high flow velocity.
Disclosure of Invention
In order to solve the defects in the prior art, the inventor provides a real-time self-calibration method aiming at the underwater position of a flexible connection type underwater acoustic receiver through research and development, designs an ultra-short baseline self-receiving positioning calibration device scheme, can provide a feasible and effective technical approach for the on-site and real-time calibration of a high-precision underwater acoustic positioning tracking measurement matrix based on a water surface movable platform, and can solve the problem that the positioning precision of a system is reduced due to the fact that a flexible long cable floats, hangs or drags the underwater acoustic receiver of the matrix along with the flow swing under the conditions of high sea/lake condition and high flow velocity so as to ensure the positioning precision of the underwater acoustic measurement system; meanwhile, by adopting the design scheme of the high-frequency low-sound source level self-calibration beacon, the problem of acoustic interference between the calibration device and other underwater sonar can be effectively avoided, and the practicability of the device can be greatly improved. The invention is realized in the following way:
the real-time self-calibration system for the position of the underwater sound receiver for the water surface movable platform comprises:
the high-frequency transmitting transducer (5) is connected through a flexible watertight bearing cable and is arranged at a position close to or in contact with the underwater sound receiver (4) and is used for transmitting a calibrated underwater sound signal to the ultra-short baseline positioning matrix (2);
the ultra-short baseline positioning array (2) is arranged on the water surface movable platform and is used for receiving the calibration underwater sound signal from the high-frequency transmitting transducer (5) and transmitting the received calibration underwater sound signal to the calibration signal processing equipment (3);
and the calibration signal processing equipment (3) is used for receiving the calibration underwater sound signals received by the ultra-short baseline positioning matrix (2), finishing signal detection processing and ultra-short baseline positioning calculation, obtaining the horizontal displacement information of the underwater sound receiver (4), and sending the horizontal displacement information to the ship-based/shore-based underwater sound positioning tracking system data calculation processing equipment.
Further, the ultra-short baseline positioning matrix (2) has the receiving directivity that the horizontal omnidirectional and the vertical lower half space are not smaller than +/-30 degrees; the working frequency band of the underwater sound calibration signal of the self-calibration device is not less than 95kHz, and the emission sound source level is not more than 175dB.
Furthermore, the ultra-short baseline positioning array (2) and the high-frequency transmitting transducer (5) are different from the working frequency band of the underwater sound receiver (4), the underwater sound receiver (4) and the high-frequency transmitting transducer (5) are arranged in a contact mode or a close-range distribution mode, the high-frequency transmitting transducer (5) is connected with an underwater sound signal transmitter arranged in the watertight electronic cabin (8), and the underwater sound signal transmitter is controlled to transmit an underwater sound signal.
Furthermore, the water surface movable platform also comprises satellite positioning equipment (6) which is in data connection with the calibration signal processing equipment (3).
Furthermore, the underwater sound emitter (4) is arranged in the watertight electronic cabin, and the water surface movable platform is one of a measuring ship, a water surface unmanned aerial vehicle, a buoy and the like.
The invention further provides a real-time self-calibration method for the position of an underwater sound receiver for a water surface movable platform, which comprises the following steps of:
s1, installing a high-frequency transmitting transducer (5) at a position close to or in contact with a nearby position of an underwater acoustic transmitter (4) of a water surface movable platform;
s2, a high-frequency transmitting transducer (5) receives a calibration instruction of the underwater sound signal transmitter, and a calibration underwater sound signal is sent out based on the calibration instruction;
s3, receiving a calibration underwater sound signal by an ultra-short baseline positioning matrix (2) arranged on a water surface movable platform, sending the calibration underwater sound signal to a calibration signal processing device (3),
and S4, calibrating the signal processing equipment (3) to finish signal detection processing and ultra-short baseline positioning calculation, obtaining horizontal displacement information of the underwater sound receiver (4), and sending the horizontal displacement information to the ship-based/shore-based underwater sound positioning tracking system data calculation processing equipment.
And S5, acquiring positioning parameters of the satellite positioning equipment (6) arranged on the water surface movable platform, and carrying out real-time calibration and correction on the positioning parameters and the horizontal displacement information of the underwater sound receiver (4) to obtain actual coordinate information of the real underwater sound receiver (4).
Furthermore, the working frequency ranges of the underwater sound calibration signals of the high-frequency transmitting transducer (5) and the ultra-short baseline positioning matrix (2) are as follows: not less than 95kHz; emitting sound source level: not greater than 175dB; reception directivity: the horizontal omnidirectional and vertical lower half space is not less than +/-30 degrees; horizontal self-positioning precision: is better than R multiplied by 5 per mill (R is the slant distance); repetition period: 1 s-10 s,1s is adjustable.
The working principle of the invention is introduced:
the underwater acoustic signal receiver below each water surface movable platform is used for receiving underwater acoustic signals sent by underwater deep underwater acoustic equipment and transmitting the underwater acoustic signals to calibration signal processing equipment for waiting processing, on the other hand, the underwater acoustic transmitter controls the high-frequency transmitting transducer to send calibration underwater acoustic signals of a specific frequency band to the ultra-short baseline positioning base array, and the ultra-short baseline positioning base array receives signals of the high-frequency transmitting transducer and then obtains real position information of the underwater acoustic signal receiver through the calibration signal processing equipment, so that the position calculation can be carried out on the underwater acoustic signal receiver according to a plurality of parameters such as satellite positioning equipment and the like, the underwater acoustic signal receiver can be directly positioned in a high-precision manner, and the accurate position of the underwater deep underwater acoustic equipment can be obtained.
The invention has the beneficial effects that:
by adopting the self-collecting ultra-short baseline high-frequency underwater sound positioning scheme, the real-time high-precision self-calibration of the underwater position of the underwater sound receiver in a short-distance flexible connection (arrangement) is realized under the condition of low emission sound source level in a good receiving opening angle range, and the problems that the arrangement is too long, the measurement error is large, the measurement is inaccurate and the like in the traditional measurement mode under the severe water condition are also solved. The method provides a feasible and effective technical means for on-site and real-time calibration of the high-precision underwater acoustic positioning tracking measurement array based on the water surface movable platform, can solve the problem that the positioning precision of the system is reduced due to the flow disturbance of the underwater acoustic receiver of the flexible long cable suspension, hanging or towing array under the conditions of high sea/lake conditions and high flow velocity, and simultaneously adopts an acoustic compatible design scheme, so that the practicability is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a flexible connection type underwater acoustic measurement matrix drifting along with a flow;
FIG. 2 is a schematic diagram of the structure of the ultrashort baseline positioner;
fig. 3: a functional block diagram.
Wherein: 1. miniaturized ultrashort baseline locator; 2. an ultrashort baseline positioning matrix; 3. calibrating the signal processing device; 4. an underwater acoustic signal receiver; 5. a high frequency transmitting transducer; 6. a satellite positioning device; 7. a load-bearing cable; 8 watertight electronic cabins.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
At present, new test and test requirements in two aspects of military and civil use put forward higher requirements on the performance of a hydroacoustic tracking and positioning system, mainly aiming at greatly improving the indexes of positioning precision and action range, solving the problem of acoustic compatibility in a complex test environment, and simultaneously solving the problem of stable measurement in high sea conditions, complex seabed topography and severe hydrologic conditions. In order to meet new technical performance requirements or demands and overcome new problems, the structure of the underwater sound tracking measurement system is more complex, aiming at the water surface movable platform or submerged buoy type measurement equipment disclosed by the invention, the protrusion is shown as lengthening of a flexible laying cable of a matrix, so that the position swing of a tail end underwater sound receiver is more outstanding, and when the traditional short cable is laid and measured with low precision, the problem of underwater high-precision calibration is easily solved, such as water surface satellite positioning only or high-precision position calibration of an underwater receiver can be met even without the need of carrying out flow direction-cable length-depth rough geometric correction. The invention increases the complexity of the system, generally, the scheme is not needed to be considered, but under a new special application scene, the scheme can simultaneously solve the problems of real-time high-precision calibration and acoustic compatibility under severe or complex measurement marine environment, thereby meeting higher test requirements.
Examples:
the embodiment adopts a self-collecting ultra-short baseline high-frequency underwater sound positioning scheme, and realizes real-time high-precision self-calibration of the underwater position of the underwater sound receiver in a short-distance flexible connection (arrangement) under the condition of low emission sound source level and in a good receiving opening angle range.
Self-calibration device composition, function and principle
The composition is as follows: a set of miniaturized ultra-short baseline positioner is arranged on a water surface movable platform and mainly comprises an ultra-short baseline positioning array and signal processing equipment which are loaded on the water surface movable platform, an underwater sound signal transmitter (arranged in a watertight electronic cabin) and a transmitting transducer which are connected to the lower end of a flexible cable, as shown in figure 2.
The functions are as follows: underwater transmitting transducer/receiving array underwater sound self-positioning; and uploading the self-positioning position information of the underwater matrix.
Because the transmitting transducer and the underwater sound receiver are integrally designed, the spatial positions are approximately overlapped, and the position of the transmitting transducer represents the position of the receiver, so that the position of the transmitting transducer is measured to be equivalent to the position of the underwater sound receiver.
The device adopts the self-receiving ultra-short baseline underwater acoustic positioning mode of the underwater acoustic signal to calibrate the position of the underwater array, and the working principle is shown in figure 3.
The device use flow is described as follows:
after the underwater sound tracking and positioning system is distributed into water, starting the calibrating device to power up;
the underwater sound signal transmitter arranged at the end head of the flexible cable is controlled to periodically transmit an array calibration underwater sound pulse signal through the transmitting transducer (or according to a control instruction);
the ultra-short baseline positioning array loaded on the water surface movable platform receives the array calibration underwater sound pulse signal, and the signal processing equipment completes signal detection processing and ultra-short baseline positioning calculation to obtain horizontal displacement information of the receiver and sends the horizontal displacement information to the data calculation processing equipment of the ship-based/shore-based underwater sound positioning tracking system;
the ship-based/shore-based underwater acoustic positioning tracking system data resolving processing equipment corrects the matrix position parameters directly acquired by the satellite positioning equipment of the water surface platform in real time by utilizing the position information of the underwater acoustic receiver uploaded by the calibrating device, so that the purpose of reducing the drift error of the long cable along with the flow is achieved.
Main performance index of self-calibration device
In order to avoid mutual interference with underwater acoustic signals such as ship/submarine sonar equipment, underwater target positioning cooperative beacons or torpedo self-guidance and the like which are possibly used in the test, and ensure good self-calibration capability, main performance indexes suggested in development and implementation of the calibration equipment are as follows:
the working frequency band of the underwater sound calibration signal: not less than 95kHz;
emitting sound source level: not greater than 175dB;
reception directivity: the horizontal omnidirectional and vertical lower half space is not less than +/-30 degrees;
horizontal self-positioning precision: is better than R multiplied by 5 per mill (R is the slant distance); repetition period: 1 s-10 s,1s is adjustable.
The embodiment has the characteristics that:
the underwater position calibration of the underwater sound receiver is carried out by adopting an ultra-short baseline underwater sound positioning mode of spontaneous self-receiving of high-frequency underwater sound signals, the calibration device and the underwater sound receiver with a main measurement function work in different frequency bands, and the underwater position self-calibration of the underwater sound receiver can be finished in site and in real time;
the transmitting transducer of the calibrating device and the underwater sound receiver are integrally designed, the space positions are approximately overlapped, and the positioning of the transmitting transducer for calibration is equivalent to the positioning of the underwater sound receiver with a main measuring function when the calibrating device is used;
the high-precision position calibration of the underwater acoustic receiver is realized in a short distance (if the calibration distance R is not more than 100 m) and a certain open angle range (the receiving directivity of the ultra-short baseline array is horizontal omni-directional, and the vertical lower half space is not less than +/-30 ℃), and the horizontal position calibration precision can be better than Rx5%o m;
the self-calibration beacon design scheme with high frequency (the working frequency band of the underwater sound calibration signal is not less than 95 kHz) and low sound source level (the emission sound source level is not more than 175 dB) can effectively solve the problem of sound compatibility of the calibration device with the main-function underwater acoustic system and other underwater sonar systems in the test water area.
The invention utilizes the advantage of short-distance high detection signal-to-noise ratio, adopts a single-frequency narrow pulse signal envelope leading edge detection method to carry out distance measurement time delay estimation during signal processing, and the accuracy of the distance measurement estimation can be better than 2 mu s through high sampling rate A/D sampling and interpolation processing; based on the advantage condition obtained by directly measuring the depth of the receiver through the pressure sensor, the horizontal position positioning calculation of the underwater sound receiver (4) is realized through the horizontal plane projection circle intersection principle, and the spatial three-dimensional positioning calibration is realized by combining the depth information instead of adopting the traditional ultra-short baseline positioning method based on phase estimation; the invention provides a 4-array element redundant structure by utilizing redundant ranging information (the minimum array element number without fuzzy positioning calibration is 3) of an ultra-short baseline array (2), and a least square positioning resolving algorithm based on an overdetermined equation is used for high-precision positioning resolving.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (5)
1. The real-time self-calibration system for the position of an underwater sound receiver for a water surface movable platform is characterized by comprising: the high-frequency transmitting transducer (5) is connected through a flexible watertight bearing cable and is arranged at a position close to or in contact with the underwater sound receiver (4) and is used for transmitting a calibrated underwater sound signal to the ultra-short baseline positioning matrix (2); the ultra-short baseline positioning array (2) is arranged on the water surface movable platform and is used for receiving the calibration underwater sound signal from the high-frequency transmitting transducer (5) and transmitting the received calibration underwater sound signal to the calibration signal processing equipment (3); the calibration signal processing equipment (3) is used for receiving the calibration underwater sound signal received by the ultra-short baseline positioning array (2), finishing signal detection processing and ultra-short baseline positioning calculation, obtaining the horizontal displacement information of the underwater sound receiver (4), and sending the horizontal displacement information to the ship-based/shore-based underwater sound positioning tracking system data calculation processing equipment; the ultra-short baseline positioning matrix (2) has the receiving directivity of not less than +/-30 degrees in a horizontal omnidirectional and vertical lower half space; the working frequency band of the underwater sound calibration signal of the self-calibration device is not less than 95kHz, and the emission sound source level is not more than 175dB; the ultra-short baseline positioning array (2), the high-frequency transmitting transducer (5) and the underwater sound receiver (4) are different in working frequency range, the underwater sound receiver (4) and the high-frequency transmitting transducer (5) are installed in a contact mode or a close-range distribution mode, the high-frequency transmitting transducer (5) is connected with an underwater sound signal transmitter arranged in the watertight electronic cabin (8), and the underwater sound signal transmitter controls to transmit underwater sound signals.
2. The real-time self-calibration system of the position of the underwater sound receiver according to claim 1, wherein the water surface movable platform further comprises a satellite positioning device (6) which is in data connection with the calibration signal processing device (3).
3. The system of claim 1, wherein the acoustic signal transmitter is mounted in a watertight electronic compartment, and the surface mobile platform is one of a survey vessel, a surface unmanned aerial vehicle, and a buoy.
4. The real-time self-calibration method for the position of the underwater sound receiver for the water surface movable platform is characterized by comprising the following steps of: s1, installing a high-frequency transmitting transducer (5) at a position close to or in contact with an underwater acoustic signal transmitter of a water surface movable platform; s2, a high-frequency transmitting transducer (5) receives a calibration instruction of the underwater sound signal transmitter, and a calibration underwater sound signal is sent out based on the calibration instruction; s3, an ultra-short baseline positioning matrix (2) arranged on a water surface movable platform receives a calibration underwater sound signal and sends the calibration underwater sound signal to a calibration signal processing device (3), and S4, the calibration signal processing device (3) completes signal detection processing and ultra-short baseline positioning calculation to obtain horizontal displacement information of an underwater sound receiver (4) and sends the horizontal displacement information to a ship-based/shore-based underwater sound positioning tracking system data calculation processing device;
s5, acquiring positioning parameters of satellite positioning equipment (6) arranged on a water surface movable platform, and carrying out real-time calibration and correction on the positioning parameters and horizontal displacement information of the underwater sound receiver (4) to obtain actual coordinate information of the real underwater sound receiver (4);
the working frequency ranges of the underwater sound calibration signals of the high-frequency transmitting transducer (5) and the ultra-short baseline positioning matrix (2) are as follows: not less than 95kHz; emitting sound source level: not greater than 175dB; reception directivity: the horizontal omnidirectional and vertical lower half space is not less than +/-30 degrees; horizontal self-positioning precision: better than R is multiplied by 5 per mill, R is the slant distance; repetition period: 1 s-10 s.
5. The real-time self-calibration method for the position of the underwater sound receiver according to claim 4 is characterized in that a single-frequency narrow pulse signal envelope leading edge detection method is adopted for distance measurement time delay estimation during signal processing, the accuracy of the trial delay estimation is better than 2 mu s through high sampling rate A/D sampling and interpolation processing, the horizontal position positioning calculation of the underwater sound receiver (4) is realized through a horizontal plane projection circle intersection principle based on the advantage condition obtained by direct measurement of the depth of the receiver, the spatial three-dimensional positioning calibration is realized through combining depth information, and the high-accuracy positioning calculation is performed by utilizing redundant ranging information of an ultra-short baseline positioning matrix (2), a 4-array redundancy structure and a least square positioning calculation algorithm based on an overdetermined equation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110653174.8A CN113608168B (en) | 2021-06-11 | 2021-06-11 | Real-time self-calibration system and method for position of underwater sound receiver for water surface movable platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110653174.8A CN113608168B (en) | 2021-06-11 | 2021-06-11 | Real-time self-calibration system and method for position of underwater sound receiver for water surface movable platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113608168A CN113608168A (en) | 2021-11-05 |
| CN113608168B true CN113608168B (en) | 2023-10-03 |
Family
ID=78336501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110653174.8A Active CN113608168B (en) | 2021-06-11 | 2021-06-11 | Real-time self-calibration system and method for position of underwater sound receiver for water surface movable platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113608168B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116840784B (en) * | 2023-05-16 | 2024-04-30 | 中国人民解放军91550部队 | Multi-platform-based underwater fixed-point target rapid calibration system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926560A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system |
| CN109959898A (en) * | 2017-12-26 | 2019-07-02 | 中国船舶重工集团公司七五〇试验场 | A kind of seat bottom type underwater sound Passive Positioning basic matrix method for self-calibrating |
| CN110294080A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A method of underwater accurate operation is realized using ultra-short baseline |
| CN111025302A (en) * | 2019-12-20 | 2020-04-17 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and method |
| CN111948685A (en) * | 2020-06-19 | 2020-11-17 | 中国船舶重工集团公司第七一五研究所 | Buoy-based combined baseline underwater sound positioning method |
| CN112540340A (en) * | 2020-11-26 | 2021-03-23 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning equipment based on same |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7701803B2 (en) * | 2006-07-07 | 2010-04-20 | Westerngeco L.L.C. | Underwater acoustic positioning methods and systems based on modulated acoustic signals |
| US8654610B2 (en) * | 2009-12-16 | 2014-02-18 | Shb Instruments, Inc. | Underwater acoustic navigation systems and methods |
-
2021
- 2021-06-11 CN CN202110653174.8A patent/CN113608168B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926560A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Deep sea underwater sound integrated positioning system and method for positioning and navigating underwater vehicle by adopting system |
| CN109959898A (en) * | 2017-12-26 | 2019-07-02 | 中国船舶重工集团公司七五〇试验场 | A kind of seat bottom type underwater sound Passive Positioning basic matrix method for self-calibrating |
| CN110294080A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A method of underwater accurate operation is realized using ultra-short baseline |
| CN111025302A (en) * | 2019-12-20 | 2020-04-17 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and method |
| CN111948685A (en) * | 2020-06-19 | 2020-11-17 | 中国船舶重工集团公司第七一五研究所 | Buoy-based combined baseline underwater sound positioning method |
| CN112540340A (en) * | 2020-11-26 | 2021-03-23 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning equipment based on same |
Non-Patent Citations (3)
| Title |
|---|
| 船载水声定位***自动校准技术研究;张庆国;匡彪;要庆生;连莉;;《声学技术》;第37卷(第06期);535-539 * |
| 超短基线定位***安装误差校准技术研究;郑翠娥;孙大军;张殿伦;李想;;计算机工程与应用;第43卷(第08期);171-173 * |
| 超短基线水声定位***基阵安装误差校准方法研究;张修志;张吟;;水雷战与舰船防护;第20卷(第03期);28-31 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113608168A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10545253B2 (en) | AUV based seismic acquisition system and method | |
| CN110208812A (en) | Unmanned vehicles seabed dimensional topography detection device and method partly latent | |
| RU2456634C1 (en) | Method of navigating submarine object using hydroacoustic navigation system | |
| CN204676554U (en) | A kind of immersed tube subaqueous construction navigation system | |
| KR100906362B1 (en) | Underwater Navigation System for a Platoon of Multiple Unmanned Underwater Vehicles Using Range Measurements on Two Reference Stations and Inertial Sensors | |
| CN110294080B (en) | Method for realizing underwater accurate operation by using ultra-short baseline | |
| CN109116360B (en) | A kind of deep-sea real-time high-precision locating method and system | |
| CN110703203A (en) | Underwater pulsed sound positioning system based on multi-acoustic wave glider | |
| CN1547039A (en) | Underwater GPS positioning navigation method and system without high stable frequency scale | |
| JP2002162459A (en) | Positioning device of underwater moving body | |
| RU2483326C2 (en) | Hydroacoustic synchronous range-finding navigation system for positioning underwater objects in navigation field of randomly arranged hydroacoustic transponder beacons | |
| CN110703202B (en) | Underwater pulsed sound positioning system based on multi-acoustic wave glider and unmanned surface vehicle | |
| EP2796901A2 (en) | Remotely Operated Modular Positioning Vehicle and Method | |
| CN101832775A (en) | Deep ocean work and underwater vehicle combined navigation system and underwater initial alignment method | |
| CN109319074B (en) | Multi-orthogonal signal emission unmanned submersible vehicle sound guiding and recycling system | |
| RU2629916C1 (en) | Method and device for determining initial coordinates of independent unmanned underwater apparatus | |
| CN113311388A (en) | Ultra-short baseline positioning system of underwater robot | |
| CN114200401A (en) | Mesh division based underwater robot self-positioning system and method | |
| CN110441736B (en) | Multi-joint underwater unmanned vehicle variable baseline three-dimensional space positioning method | |
| CN113608168B (en) | Real-time self-calibration system and method for position of underwater sound receiver for water surface movable platform | |
| KR20120104135A (en) | Calibration method for underwater acoustic positioning system | |
| RU2303275C2 (en) | Method for determination of co-ordinates of submerged objects | |
| Peyronnet et al. | Posidonia 6000: a new long range highly accurate ultra short base line positioning system | |
| RU2653956C1 (en) | Method of determination of present position data in the bistatic mode of hydrospace detection | |
| RU2717161C1 (en) | Method of underwater vehicles positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |