CN114355287A - Ultra-short baseline underwater acoustic ranging method and system - Google Patents

Ultra-short baseline underwater acoustic ranging method and system Download PDF

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CN114355287A
CN114355287A CN202210055207.3A CN202210055207A CN114355287A CN 114355287 A CN114355287 A CN 114355287A CN 202210055207 A CN202210055207 A CN 202210055207A CN 114355287 A CN114355287 A CN 114355287A
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grazing angle
alpha
sound
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CN114355287B (en
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王广才
崔庆佳
胡满江
秦晓辉
徐彪
边有钢
秦洪懋
秦兆博
谢国涛
王晓伟
丁荣军
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Wuxi Institute Of Intelligent Control Hunan University
Hunan University
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Hunan University
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Abstract

The invention discloses an ultra-short baseline underwater acoustic distance measurement method and a system, wherein the ultra-short baseline underwater acoustic distance measurement method comprises the following steps: step 1, obtaining an initial grazing angle estimation value of an acoustic line of an ultra-short baseline positioning system; step 2, calculating the current effective sound velocity c in real time according to the mapping table corresponding to the initial grazing angle estimation value and the acoustic array heighte(ii) a Step 3, according to the ceAnd multiplying the measured sound ray propagation time length tau to obtain the slant distance of the transponder. The invention can improve the efficiency of measuring the slant distance of the underwater sound and avoid the complex operation of the traditional sound ray tracking algorithm for reducing the underwater sound propagation track in real time.

Description

Ultra-short baseline underwater acoustic ranging method and system
Technical Field
The invention relates to the technical field of underwater sound positioning and navigation, in particular to an ultra-short baseline underwater sound distance measurement method and system.
Background
Under the scene with low precision requirement, the propagation speed of sound in water can be approximate to 1500m/s, but the sound velocity can change in real time along with the change of factors such as temperature, salinity and pressure of a water body, and the error caused by the simple approximation is called sound velocity error, and the sound velocity error is not only a main factor influencing the position estimation precision of a transponder, but also a main error source causing the measurement of the slant distance and the azimuth angle of an ultra-short BaseLine (USBL).
In the current research, there are two main methods for correcting the sound speed error: RT (Ray Tracing) method and EESP (Equivalent Sound velocity Profile) method.
The RT method divides the water body into a plurality of water layers with equal thickness, and assumes that the sound velocity only changes between the water layers and does not change in the water layers, then the propagation track of the sound ray in the water can be simulated according to a standard light equation, and the effect of approximate integration can be achieved by accumulating the track length of each layer, so as to obtain the total length of the sound propagation track, and the ratio of the total length to the sound propagation time (measured by other methods) is the sound velocity to be obtained. The sound velocity obtained by the method is high in precision, but the process is extremely complex, and the accurate sound velocity value can be updated in real time only by continuously repeating the whole process.
In the EESP algorithm, the change gradient of the sound velocity between layers is assumed to be a constant value, so that the sound velocity change does not need to be calculated layer by layer, and the solving process of the RT method is effectively simplified. However, under this assumption, the propagation trajectory of sound is close to an arc with constant curvature, and when the trajectory is short, the calculation error of the algorithm is not obvious, but when the trajectory is long, the change of the surrounding environment is complicated and changeable, and the real shape of the sound ray gradually deviates from the arc, resulting in an increase in calculation error, so the ESSP is generally applied to the USBL with a working distance of only several tens of meters.
Disclosure of Invention
The invention aims to provide an ultra-short baseline underwater acoustic ranging method and system which have the ranging accuracy and efficiency.
In order to achieve the above object, the present invention provides an ultra-short baseline underwater acoustic ranging method, which comprises:
step 1, obtaining an initial grazing angle estimation value of an acoustic line of an ultra-short baseline positioning system;
step 2, calculating the current effective sound velocity c in real time according to the mapping table corresponding to the initial grazing angle estimation value and the acoustic array heighte；
Step 3, according to the ceAnd multiplying the measured sound ray propagation time length tau to obtain the slant distance of the transponder.
Further, in step 1, the method for obtaining the initial grazing angle estimation value specifically includes:
step 11, setting the depth p of the transponderrzInitial grazing angle range [ alpha ]0(1),α0(m)]And search stop threshold τtLoading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradient;
step 12, obtaining an initial grazing angle alpha according to the range of the initial grazing angle0；
Step 13, according to the alpha0Determining the grazing angle alpha of sound ray of the k-th water layerkCalculating the sound ray propagation time length tau' by using the following formula (1);
Figure BDA0003476201740000021
wherein, gkIs the sound velocity gradient of the kth water layer described by the formula (2), c (z)k) And c (z)k+1) Respectively depth zkAnd zk+1A lower acoustic velocity;
Figure BDA0003476201740000022
step 14, comparing the τ 'with the actually measured sound ray propagation time τ, if | τ' - τ -<τtThen stop the search and compare the current alpha0Outputting the initial grazing angle estimation value; otherwise, update alpha0And (3) repeating step 12 and step 13.
Further, in the step 14, α is updated0The method of (d) specifically includes:
if τ' - τ ≦ 0, then
Figure BDA0003476201740000023
If τ' - τ>0, then
Figure BDA0003476201740000024
Further, the mapping table is obtained by the following offline method:
step 21, dividing the target water area into K layers of water layers connected in a constant depth gradient manner;
step 22, setting the acoustic array height range [ p ]tz(1),ptz(n)]And the initial grazing angle range [ alpha ] of sound ray0(1),α0(m)]And sampling at equal intervals to form a sampling value combination vector: { ptz(i)、α0(j)}，ptz(i) Is represented by [ p ]tz(1),ptz(n)]The ith equal-interval sampling value in the sampling is obtained by calculation of formula (3); alpha is alpha0(j) Is represented by [ alpha ]0(1),α0(m)]The jth equal-interval sampling value in the sampling table is obtained by calculation of formula (4); i | i is less than or equal to N, i belongs to N*，j|j≤m,j∈N*，N*Represents a set of positive integers;
Figure BDA0003476201740000031
Figure BDA0003476201740000032
step 23, calculating the sound ray length by using the following formula (5):
Figure BDA0003476201740000033
wherein x (i, j) and r (i, j) each represent ptz(i) And alpha0(j) The corresponding transponder horizontal distance and acoustic line length; p is a radical ofrzIndicating the height of the transponder;
step 24, solving the sound ray propagation time length by using the following formula (6);
Figure BDA0003476201740000034
wherein τ (i, j) represents an acoustic matrix height ptz(i) The initial grazing angle of sound ray is alpha0(j) The time-lapse sound ray propagation duration; alpha is alphakThe grazing angle of the sound ray of the kth water layer; gkIs the gradient of the speed of sound of the kth water layer,
Figure BDA0003476201740000035
c(zk) And c (z)k+1) Respectively depth zkAnd zk+1A lower acoustic velocity;
step 25, solving the equivalent sound velocity c by using the following formula (7)e(i,j)：
Figure BDA0003476201740000036
Step 26, traversing the step 22 to obtain all sampling value combination vectors, returning to the step 13, and establishing the sampling value combination vectors and the corresponding equivalent sound speeds as the mapping table.
Further, in the step 2, c is obtained by using the formula (8) and the formula (9) according to the mapping tablee(i) And ce(i +1) obtaining c from the formula (10)e：
Figure BDA0003476201740000037
Figure BDA0003476201740000038
Figure BDA0003476201740000039
Wherein, ce(i, j) denotes the acoustic array height ptz(i) Initial grazing angle of sound ray of alpha0(j) Equivalent speed of sound of time, ce(i, j +1) denotes an acoustic matrix height of ptz(i) Initial grazing angle of sound ray of alpha0Equivalent sound velocity at (j +1), ce(i +1, j) denotes the acoustic array height ptz(i +1) and the initial grazing angle of sound ray is alpha0(j) Equivalent speed of sound of time, ce(i +1, j +1) denotes an acoustic matrix height of ptz(i +1) and the initial grazing angle of sound ray is alpha0Equivalent sound velocity at (j +1), α0Representing the initial grazing angle estimate, ptzRepresenting an acoustic matrix height measurement.
The invention also provides an ultra-short baseline underwater acoustic ranging system, which comprises:
the initial grazing angle estimation unit is used for acquiring an initial grazing angle estimation value of the sound ray of the ultra-short baseline positioning system;
a current effective sound velocity obtaining unit, configured to calculate a current effective sound velocity c in real time according to a mapping table in which the initial grazing angle estimation value corresponds to an acoustic array heighte；
A transponder slope distance acquisition unit for acquiring the slope distance according to the ceAnd multiplying the measured sound ray propagation time length tau to obtain the slant distance of the transponder.
Further, the initial grazing angle estimation unit specifically includes:
a parameter presetting subunit for setting the depth p of the transponderrzInitial grazing angle range [ alpha ]0(1),α0(m)]And search stop threshold τtLoading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradient;
an initial grazing angle calculation subunit for acquiring an initial grazing angle alpha according to the initial grazing angle range0；
A sound ray propagation time length calculating subunit for calculating the time length according to the alpha0Determining the grazing angle alpha of sound ray of the k-th water layerkCalculating the sound ray propagation time length tau' by using the following formula (1);
Figure BDA0003476201740000041
wherein, gkIs the sound velocity gradient of the kth water layer described by the formula (2), c (z)k) And c (z)k+1) Respectively depth zkAnd zk+1A lower acoustic velocity;
Figure BDA0003476201740000042
initial glancing offAn angle estimate value operator unit for comparing said τ 'with an actually measured sound ray propagation time τ if | τ' - τ<τtThen stop the search and compare the current alpha0Outputting the initial grazing angle estimation value; otherwise, update alpha0The value of (c).
Further, the initial grazing angle estimate operator unit updates α0The method of (d) specifically includes:
if τ' - τ ≦ 0, then
Figure BDA0003476201740000043
If τ' - τ>0, then
Figure BDA0003476201740000044
Further, the current effective sound velocity obtaining unit obtains c using equation (8) and equation (9) specifically according to the mapping tablee(i) And ce(i +1) obtaining c from the formula (10)e：
Figure BDA0003476201740000051
Figure BDA0003476201740000052
Figure BDA0003476201740000053
Wherein, ce(i, j) denotes the acoustic array height ptz(i) Initial grazing angle of sound ray of alpha0(j) Equivalent speed of sound of time, ce(i, j +1) denotes an acoustic matrix height of ptz(i) Initial grazing angle of sound ray of alpha0Equivalent sound velocity at (j +1), ce(i +1, j) denotes the acoustic array height ptz(i +1) and the initial grazing angle of sound ray is alpha0(j) Equivalent speed of sound of time, ce(i +1, j +1) represents acousticsHeight of array ptz(i +1) and the initial grazing angle of sound ray is alpha0Equivalent sound velocity at (j +1), α0Representing the estimated value of the initial grazing angle, wherein the value range of the initial grazing angle of the sound ray is [ alpha ]0(1),α0(m)]，ptzRepresenting an acoustic matrix height measurement.
Furthermore, the mapping table is obtained offline through an upper computer, the initial grazing angle estimation unit, the current effective sound velocity acquisition unit and the responder slope distance acquisition unit are all preset in an embedded navigation computer, the upper computer is connected with the embedded navigation computer through a switch, the upper computer provides the mapping table for the embedded navigation computer in a communication state of the switch, and the upper computer is disconnected from the embedded navigation computer in a disconnection state of the switch.
Due to the adoption of the technical scheme, the invention has the following advantages: the invention utilizes the mapping table to calculate the current effective sound velocity in real time, and omits the calculation process of repeatedly restoring the sound ray propagation track, thereby having the advantage of high calculation efficiency.
Drawings
Fig. 1 is a block diagram of an ultra-short baseline underwater acoustic ranging system provided in an embodiment of the present invention;
fig. 2 is a flowchart of an ultra-short baseline underwater acoustic ranging method according to an embodiment of the present invention;
FIG. 3 is a sound diagram under the layered approximation of linear sound velocities provided by embodiments of the present invention; as shown in fig. 3, according to a depth gradient Δ ziThe target water area with the depth z is divided into a plurality of layers of deep media (shown by dotted lines in the figure). In the figure, (z) represents a sound speed value at a depth z; x is the horizontal distance; alpha is alpha0Representing the initial grazing angle of the sound ray; alpha is alphaiAnd alphai+1The grazing angles of the sound rays for the i-th and i + 1-th water layers, respectively, are shown.
Fig. 4 is a flowchart of the initial grazing angle search according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The ultra-short baseline underwater acoustic distance measurement method provided by the embodiment of the invention comprises the following steps:
step 1, obtaining an initial grazing angle estimated value of an acoustic ray of the ultra-short baseline positioning system.
Step 2, calculating the current effective sound velocity c in real time according to the mapping table corresponding to the initial grazing angle estimation value and the acoustic array heighte。
Step 3, according to the ceThe product of the measured sound ray propagation time length tau is: r ═ ceτ, obtaining the transponder slope distance.
The embodiment of the invention utilizes the mapping table to calculate the current effective sound velocity in real time, and omits the calculation process of repeatedly restoring the sound ray propagation track, thereby having the advantage of high calculation efficiency.
In an embodiment, as shown in fig. 4, in step 1, the method for obtaining the initial grazing angle estimated value specifically includes:
step 11, setting the depth p of the transponderrzInitial grazing angle range [ alpha ]0(1),α0(m)]And search stop threshold τtAnd loading a sound velocity profile c (z) to divide the target water area into K layers of water layers connected by constant depth gradient. Wherein, tautBut may not be limited to 0.1.
Step 12, obtaining an initial grazing angle alpha according to the range of the initial grazing angle0. The initial grazing angle can be predicted, for example, by a dichotomy represented by:
Figure BDA0003476201740000061
step 13, according to the alpha0Determining the grazing angle alpha of sound ray of the k-th water layer according to Snell theoremkAnd the sound ray propagation time τ' is calculated using the following formula (1):
Figure BDA0003476201740000062
wherein, gkIs the sound of the kth water layer described by formula (2)Velocity gradient, c (z)k) And c (z)k+1) Respectively depth zkAnd zk+1The following sound velocities:
Figure BDA0003476201740000063
step 14, comparing the τ 'with the actually measured sound ray propagation time τ, if | τ' - τ -<τtThen stop the search and compare the current alpha0Outputting the initial grazing angle estimation value; otherwise, update alpha0And (3) repeating step 12 and step 13.
In one embodiment, in step 14, α is updated0The method of (d) specifically includes:
if τ' - τ ≦ 0, then
Figure BDA0003476201740000071
If τ' - τ>0, then
Figure BDA0003476201740000072
In an embodiment, the mapping table may be, but is not limited to, set in an upper computer, in an offline stage, traverse the acoustic base array working height of the ultra-short baseline positioning system in the target water area and the initial grazing angle of the acoustic ray, and establish a typical value mapping table between the mapping table and the effective sound velocity value based on a high-precision acoustic ray tracking method, as shown in fig. 2, specifically including:
step 21, dividing the target water area into K layers of water layers connected by constant depth gradient, namely, replacing the continuously changing sound velocity distribution with the sound velocity distribution layered as a broken line, as shown in fig. 3.
Step 22, setting the height range of the acoustic array and the value range of the initial grazing angle of the sound ray, and sampling at equal intervals to form a sampling value combination vector: { ptz(i)、α0(j)}，ptz(i) Is represented by [ p ]tz(1),ptz(n)]The ith equal-interval sampling value in the sampling is obtained by calculation of formula (3); alpha is alpha0(j) Is represented by [ alpha ]0(1),α0(m)]The jth equal-interval sampling value in the sampling table is obtained by calculation of formula (4); i | i is less than or equal to N, i belongs to N*，j|j≤m,j∈N*，N*Representing a set of positive integers.
Figure BDA0003476201740000073
Figure BDA0003476201740000074
Step 23, calculating the sound ray length by using the following formula (5):
Figure BDA0003476201740000075
wherein x (i, j) and r (i, j) each represent ptz(i) And alpha0(j) The corresponding transponder horizontal distance and acoustic line length; p is a radical ofrzThe height of the transponder is shown, and the height value of the transponder is regarded as a constant value because the transponder is fixed on the water bottom.
It should be noted that the acoustic array height range and the acoustic line initial grazing angle range must completely cover all possible values of the two variables, and need to be set according to the actual working scene of the ultra-short baseline measurement. In addition, the value interval of the two variables mainly influences the calculation efficiency and precision of the algorithm, namely the smaller the value interval is, the greater the number of sound ray segments is, the higher the sound ray reduction precision is, and the greater the corresponding calculation pressure is; otherwise, the sound ray reduction precision is reduced, and the calculation pressure is reduced. The method can be flexibly adjusted according to the actual application requirements, and the balance between the calculation precision and the efficiency is realized.
Step 24, solving the sound ray propagation time length by using the following formula (6):
Figure BDA0003476201740000076
wherein τ (i, j) represents an acoustic matrix height ptz(i) Initial grazing of sound rayAngle alpha0(j) The time-lapse sound ray propagation duration; alpha is alphakThe grazing angle of the sound ray of the kth water layer; gkIs the gradient of the speed of sound of the kth water layer,
Figure BDA0003476201740000081
c(zk) And (z)k+1) Respectively depth zkAnd zk+1Lower speed of sound.
Step 25, solving the equivalent sound velocity c by using the following formula (7)e(i,j)：
Figure BDA0003476201740000082
Step 26, traversing the step 22 to obtain all sampling value combination vectors, returning to the step 13, and establishing the sampling value combination vectors and the corresponding equivalent sound speeds as the mapping table.
And substituting all possible values in the value ranges of the acoustic array height and the initial grazing angle of the sound line into the process, calculating corresponding equivalent sound velocity, and establishing a mapping table of the three variable typical values.
In one embodiment, in step 2, c is obtained by using equation (8) and equation (9) according to the mapping tablee(i) And ce(i +1), substituting the initial grazing angle estimated value and the actually measured acoustic array height into a mapping table, and determining the current effective sound velocity value c by using an interpolation method represented by the formula (10)e：
Figure BDA0003476201740000083
Figure BDA0003476201740000084
Figure BDA0003476201740000085
Wherein, ce(i, j) denotes an acoustic matrixHeight ptz(i) The initial grazing angle of sound ray is alpha0(j) Equivalent speed of sound of time, ce(i, j +1) denotes an acoustic matrix height of ptz(i) Initial grazing angle of sound ray of alpha0Equivalent sound velocity at (j +1), ce(i +1, j) denotes the acoustic array height ptz(i +1) and the initial grazing angle of sound ray is alpha0(j) Equivalent speed of sound of time, ce(i +1, j +1) denotes an acoustic matrix height of ptz(i +1) and the initial grazing angle of sound ray is alpha0Equivalent sound velocity at (j +1), α0Representing the initial grazing angle estimate, α0(j) Represents the jth equal-interval sampling value, alpha, in the range of the initial grazing angle of the sound ray0(j +1) represents the j +1 equally-spaced sampling value in the sound ray initial grazing angle range, and the sound ray initial grazing angle range is [ alpha ]0(1),α0(m)]，ptzRepresenting acoustic array height measurements, ptz(i) Representing the ith equally spaced sample value, p, over the acoustic array heighttz(i +1) represents the i +1 th equally spaced sample value within the acoustic array height range, which is [ p ]tz(1),ptz(n)]。
The ultra-short baseline underwater acoustic ranging system provided by the embodiment of the invention comprises an initial grazing angle estimation unit, a current effective sound velocity acquisition unit and a transponder slope distance acquisition unit, wherein:
the initial grazing angle estimation unit is used for acquiring an initial grazing angle estimation value of the sound ray of the ultra-short baseline positioning system.
The current effective sound velocity obtaining unit is used for calculating the current effective sound velocity c in real time according to the mapping table corresponding to the initial grazing angle estimated value and the acoustic array heighte。
The transponder slope distance acquisition unit is used for acquiring the slope distance according to the ceAnd multiplying the measured sound ray propagation time length tau to obtain the slant distance of the transponder.
In one embodiment, the initial grazing angle estimation unit specifically includes a parameter presetting subunit, an initial grazing angle calculating subunit, a sound ray propagation time length calculating subunit, and an initial grazing angle estimation value calculating subunit, where:
the parameter presetting subunit is used for setting the depth p of the transponderrzInitial grazing angle range [ alpha ]0(1),α0(m)]And search stop threshold τtAnd loading a sound velocity profile c (z) to divide the target water area into K layers of water layers connected by constant depth gradient.
The initial grazing angle calculation subunit is used for acquiring an initial grazing angle alpha according to the initial grazing angle range0。
A sound ray propagation time length calculating subunit for calculating the time length according to the alpha0Determining the grazing angle alpha of sound ray of the k-th water layerkAnd the sound ray propagation time τ' is calculated using the following formula (1):
Figure BDA0003476201740000091
wherein, gkIs the sound velocity gradient of the kth water layer described by the formula (2), c (z)k) And c (z)k+1) Respectively depth zkAnd zk+1Lower speed of sound.
Figure BDA0003476201740000092
An initial grazing angle estimate operator unit for comparing said τ 'with an actually measured sound ray propagation time τ if | τ' - τ |)<τtThen stop the search and compare the current alpha0Outputting the initial grazing angle estimation value; otherwise, update alpha0The value of (c).
In one embodiment, the initial grazing angle estimate operator unit updates α0The method of (d) specifically includes:
if τ' - τ ≦ 0, then
Figure BDA0003476201740000093
If τ' - τ>0, then
Figure BDA0003476201740000094
In one embodiment, the current effective sound speed obtaining unit obtains c by using equations (8) and (9) specifically according to the mapping tablee(i) And ce(i +1) obtaining c from the formula (10)e：
Figure BDA0003476201740000101
Figure BDA0003476201740000102
Figure BDA0003476201740000103
Wherein, ce(i, j) denotes the acoustic array height ptz(i) Initial grazing angle of sound ray of alpha0(j) Equivalent speed of sound of time, ce(i, j +1) denotes an acoustic matrix height of ptz(i) Initial grazing angle of sound ray of alpha0Equivalent sound velocity at (j +1), ce(i +1, j) denotes the acoustic array height ptz(i +1) and the initial grazing angle of sound ray is alpha0(j) Equivalent speed of sound of time, ce(i +1, j +1) denotes an acoustic matrix height of ptz(i +1) and the initial grazing angle of sound ray is alpha0Equivalent sound velocity at (j +1), α0Representing the initial grazing angle estimate, α0(j) Represents the jth equal-interval sampling value, alpha, in the range of the initial grazing angle of the sound ray0(j +1) represents the j +1 equally-spaced sampling value in the sound ray initial grazing angle range, and the sound ray initial grazing angle range is [ alpha ]0(1),α0(m)]，ptzRepresenting acoustic array height measurements, ptz(i) Representing the ith equally spaced sample value, p, over the acoustic array heighttz(i +1) represents the i +1 th equally spaced sample value within the acoustic array height range, which is [ p ]tz(1),ptz(n)]。
In one embodiment, the mapping table is obtained offline through an upper computer, the initial grazing angle estimation unit, the current effective sound velocity acquisition unit and the responder slope distance acquisition unit are all preset in an embedded navigation computer, the upper computer is connected with the embedded navigation computer through a switch, the upper computer provides the mapping table for the embedded navigation computer in a communication state of the switch, and the upper computer is disconnected from the embedded navigation computer in a disconnection state of the switch so as to reduce data forwarding burden of the embedded navigation computer. The sensor comprises an ultra-short baseline positioning system, a depth meter and a sound velocity profiler, wherein the ultra-short baseline positioning system consists of an acoustic array and a transponder, the ultra-short baseline positioning system can calculate the relative distance between the ultra-short baseline positioning system and the transponder by sending sound waves to the ultra-short baseline positioning system and measuring the round trip time of the sound waves. Since the acoustic array is made up of an array of multiple closely spaced acoustic transducers (i.e., baselines), the system is referred to as an ultra-short baseline positioning system.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. An ultra-short baseline underwater acoustic ranging method is characterized by comprising the following steps:
step 1, obtaining an initial grazing angle estimation value of an acoustic line of an ultra-short baseline positioning system;
step 2, calculating the current effective sound velocity c in real time according to the mapping table corresponding to the initial grazing angle estimation value and the acoustic array heighte；
Step 3, according to the ceAnd multiplying the measured sound ray propagation time length tau to obtain the slant distance of the transponder.
2. The ultra-short baseline underwater acoustic ranging method of claim 1, wherein in the step 1, the method for obtaining the initial grazing angle estimation value specifically comprises:
step 11, setting the depth p of the transponderrzInitial grazing angle range [ alpha ]0(1)，α0(m)]And search stop threshold τtLoading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradient;
step 12, obtaining an initial grazing angle alpha according to the range of the initial grazing angle0；
Step 13, according to the alpha0Determining the grazing angle alpha of sound ray of the k-th water layerkCalculating the sound ray propagation time length tau' by using the following formula (1);
Figure FDA0003476201730000011
wherein, gkIs the sound velocity gradient of the kth water layer described by the formula (2), c (z)k) And c (z)k+1) Respectively depth zkAnd zk+1A lower acoustic velocity;
Figure FDA0003476201730000012
step 14, comparing the τ 'with the actually measured sound ray propagation duration τ, if | τ' - τ | < τtThen stop the search and compare the current alpha0Outputting the initial grazing angle estimation value; otherwise, update alpha0And (3) repeating step 12 and step 13.
3. The ultra-short baseline underwater acoustic ranging method of claim 2, wherein in said step 14, α is updated0The method of (d) specifically includes:
if τ' - τ ≦ 0, then
Figure FDA0003476201730000013
If τ' - τ > 0, then
Figure FDA0003476201730000014
4. The ultra short baseline underwater acoustic ranging method of claim 1, 2 or 3, wherein said mapping table is obtained by an offline method of:
step 21, dividing the target water area into K layers of water layers connected in a constant depth gradient manner;
step 22, setting the acoustic array height range [ p ]tz(1)，ptz(n)]And the initial grazing angle range [ alpha ] of sound ray0(1)，α0(m)]And sampling at equal intervals to form a sampling value combination vector: { ptz(i)、α0(j)}，ptz(i) Is represented by [ p ]tz(1)，ptz(n)]The ith equal-interval sampling value in the sampling is obtained by calculation of formula (3); alpha is alpha0(j) Is represented by [ alpha ]0(1)，α0(m)]The jth equal-interval sampling value in the sampling table is obtained by calculation of formula (4); i | i is less than or equal to N, i belongs to N*，j|j≤m，j∈N*，N*Represents a set of positive integers;
Figure FDA0003476201730000021
Figure FDA0003476201730000022
step 23, calculating the sound ray length by using the following formula (5):
Figure FDA0003476201730000023
wherein x (i, j) and r (i, j) each represent ptz(i) And alpha0(j) The corresponding transponder horizontal distance and acoustic line length; p is a radical ofrzIndicating the height of the transponder;
step 24, solving the sound ray propagation time length by using the following formula (6);
Figure FDA0003476201730000024
wherein τ (i, j) represents an acoustic matrix height ptz(i) The initial grazing angle of sound ray is alpha0(j) The time-lapse sound ray propagation duration; alpha is alphakThe grazing angle of the sound ray of the kth water layer; gkIs the gradient of the speed of sound of the kth water layer,
Figure FDA0003476201730000025
Figure FDA0003476201730000026
c(zk) And c (z)k+1) Respectively depth zkAnd zk+1A lower acoustic velocity;
step 25, solving the equivalent sound velocity c by using the following formula (7)e(i，j)：
Figure FDA0003476201730000027
Step 26, traversing the step 22 to obtain all sampling value combination vectors, returning to the step 13, and establishing the sampling value combination vectors and the corresponding equivalent sound speeds as the mapping table.
5. The ultra-short baseline underwater acoustic ranging method of claim 4, wherein in said step 2, c is obtained by using formula (8) and formula (9) according to said mapping tablee(i) And ce(i +1) obtaining c from the formula (10)e：
Figure FDA0003476201730000028
Figure FDA0003476201730000031
Figure FDA0003476201730000032
Wherein, ce(i, j) denotes the acoustic array height ptz(i) Initial grazing angle of sound ray of alpha0(j) Equivalent speed of sound of time, ce(i, j +1) denotes an acoustic matrix height of ptz(i) Initial grazing angle of sound ray of alpha0Equivalent sound velocity at (j +1), ce(i +1, j) denotes the acoustic array height ptz(i +1) and the initial grazing angle of sound ray is alpha0(j) Equivalent speed of sound of time, ce(i +1, j +1) denotes an acoustic matrix height of ptz(i +1) and the initial grazing angle of sound ray is alpha0Equivalent sound velocity at (j +1), α0Representing the initial grazing angle estimate, ptzRepresenting an acoustic matrix height measurement.
6. An ultra-short baseline underwater acoustic ranging system, comprising:
the initial grazing angle estimation unit is used for acquiring an initial grazing angle estimation value of the sound ray of the ultra-short baseline positioning system;
a current effective sound velocity obtaining unit, configured to calculate a current effective sound velocity c in real time according to a mapping table in which the initial grazing angle estimation value corresponds to an acoustic array heighte；
A transponder slope distance acquisition unit for acquiring the slope distance according to the ceAnd multiplying the measured sound ray propagation time length tau to obtain the slant distance of the transponder.
7. The ultra-short baseline underwater acoustic ranging system of claim 6, wherein the initial grazing angle estimation unit specifically includes:
a parameter presetting subunit for setting the depth p of the transponderrzInitial grazing angle range [ alpha ]0(1)，α0(m)]And search stop thresholdValue τtLoading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradient;
an initial grazing angle calculation subunit for acquiring an initial grazing angle alpha according to the initial grazing angle range0；
A sound ray propagation time length calculating subunit for calculating the time length according to the alpha0Determining the grazing angle alpha of sound ray of the k-th water layerkCalculating the sound ray propagation time length tau' by using the following formula (1);
Figure FDA0003476201730000033
wherein, gkIs the sound velocity gradient of the kth water layer described by the formula (2), c (z)k) And c (z)k+1) Respectively depth zkAnd zk+1A lower acoustic velocity;
Figure FDA0003476201730000034
an initial grazing angle estimate calculator operator unit for comparing said τ 'with an actually measured sound ray propagation duration τ if τ' - τ | < τtThen stop the search and compare the current alpha0Outputting the initial grazing angle estimation value; otherwise, update alpha0The value of (c).
8. The ultra-short baseline underwater acoustic ranging system of claim 7, wherein the initial grazing angle estimate value operator unit updates α0The method of (d) specifically includes:
if τ' - τ ≦ 0, then
Figure FDA0003476201730000041
If τ' - τ > 0, then
Figure FDA0003476201730000042
9. The ultra-short baseline underwater acoustic ranging system of any one of claims 6 to 8, wherein the current effective sound speed obtaining unit obtains c using equation (8) and equation (9) specifically according to the mapping tablee(i) And ce(i +1) obtaining c from the formula (10)e：
Figure FDA0003476201730000043
Figure FDA0003476201730000044
Figure FDA0003476201730000045
Wherein, ce(i, j) denotes the acoustic array height ptz(i) Initial grazing angle of sound ray of alpha0(j) Equivalent speed of sound of time, ce(i, j +1) denotes an acoustic matrix height of ptz(i) Initial grazing angle of sound ray of alpha0Equivalent sound velocity at (j +1), ce(i +1, j) denotes the acoustic array height ptz(i +1) and the initial grazing angle of sound ray is alpha0(j) Equivalent speed of sound of time, ce(i +1, j +1) denotes an acoustic matrix height of ptz(i +1) and the initial grazing angle of sound ray is alpha0Equivalent sound velocity at (j +1), α0Representing the estimated value of the initial grazing angle, wherein the value range of the initial grazing angle of the sound ray is [ alpha ]0(1)，α0(m)]，ptzRepresenting an acoustic matrix height measurement.
10. The ultra-short baseline underwater acoustic ranging system of claim 6, 7 or 8, wherein the mapping table is obtained offline by an upper computer, the initial grazing angle estimation unit, the current effective sound velocity acquisition unit and the transponder slope distance acquisition unit are all preset in an embedded navigation computer, the upper computer is connected with the embedded navigation computer by a switch, the upper computer provides the mapping table for the embedded navigation computer in a communication state of the switch, and the upper computer is disconnected from the embedded navigation computer in a disconnection state of the switch.
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