CN116840830A - 一种分体式有缆海床基浮体定位跟踪***及跟踪方法 - Google Patents
一种分体式有缆海床基浮体定位跟踪***及跟踪方法 Download PDFInfo
- Publication number
- CN116840830A CN116840830A CN202311099071.7A CN202311099071A CN116840830A CN 116840830 A CN116840830 A CN 116840830A CN 202311099071 A CN202311099071 A CN 202311099071A CN 116840830 A CN116840830 A CN 116840830A
- Authority
- CN
- China
- Prior art keywords
- detector
- sampling
- azimuth
- cable
- suspension
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000007667 floating Methods 0.000 title claims abstract description 23
- 238000005070 sampling Methods 0.000 claims abstract description 88
- 239000000725 suspension Substances 0.000 claims abstract description 61
- 230000008878 coupling Effects 0.000 claims abstract description 34
- 238000010168 coupling process Methods 0.000 claims abstract description 34
- 238000005859 coupling reaction Methods 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000004927 fusion Effects 0.000 claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 239000000523 sample Substances 0.000 claims description 20
- 238000004422 calculation algorithm Methods 0.000 claims description 11
- 238000005339 levitation Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000009897 systematic effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract 1
- 230000008054 signal transmission Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 102000012498 secondary active transmembrane transporter activity proteins Human genes 0.000 description 1
- 108040003878 secondary active transmembrane transporter activity proteins Proteins 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
-
- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Electromagnetism (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311099071.7A CN116840830B (zh) | 2023-08-30 | 2023-08-30 | 一种分体式有缆海床基浮体定位跟踪***及跟踪方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311099071.7A CN116840830B (zh) | 2023-08-30 | 2023-08-30 | 一种分体式有缆海床基浮体定位跟踪***及跟踪方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN116840830A true CN116840830A (zh) | 2023-10-03 |
CN116840830B CN116840830B (zh) | 2023-11-21 |
Family
ID=88165522
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202311099071.7A Active CN116840830B (zh) | 2023-08-30 | 2023-08-30 | 一种分体式有缆海床基浮体定位跟踪***及跟踪方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN116840830B (zh) |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3351973A1 (en) * | 2017-01-18 | 2018-07-25 | Qingdao Institute Of Marine Geology | Long-term seabed-based multi-point in-situ observation system |
CN108918908A (zh) * | 2018-07-27 | 2018-11-30 | 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) | 一种基于姿态监测***的坐底式adcp部署装置及方法 |
CN108917727A (zh) * | 2018-07-30 | 2018-11-30 | 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) | 一种海洋垂直剖面测量装置及其工作方法 |
US20190323836A1 (en) * | 2018-04-24 | 2019-10-24 | Zhejiang University | Multi-node data synchronous acquisition system and method for real-time monitoring of underwater surface deformation |
US20210041240A1 (en) * | 2018-06-22 | 2021-02-11 | Southeast University | Navigation and positioning system for underwater glider and up floating error correction method |
CN112558006A (zh) * | 2020-11-30 | 2021-03-26 | 华中科技大学 | 一种用于海底缆线的双三轴电磁探测及路由定位方法 |
CN113443572A (zh) * | 2021-07-30 | 2021-09-28 | 中国水产科学研究院渔业机械仪器研究所 | 一种水下清洁机器人脐带缆定位控制***及控制方法 |
CN114152773A (zh) * | 2021-11-10 | 2022-03-08 | 中国海洋大学 | 一种二维海面鬼波水体成像测量装置、方法及应用 |
CN114644097A (zh) * | 2022-03-22 | 2022-06-21 | 自然资源部第一海洋研究所 | 一种坐底式海洋设备释放***及其释放方法 |
CN114879143A (zh) * | 2022-05-25 | 2022-08-09 | 上海迈波科技有限公司 | 有缆水下机器人导航定位***及定位方法 |
CN114964227A (zh) * | 2022-04-21 | 2022-08-30 | 中煤科工集团上海有限公司 | 基于深度相机定位修正的采煤机组合导航定位***及方法 |
CN115657045A (zh) * | 2022-09-15 | 2023-01-31 | 河北汉光重工有限责任公司 | 基于方位信息多被动探测平台水下航行器数据的融合方法 |
-
2023
- 2023-08-30 CN CN202311099071.7A patent/CN116840830B/zh active Active
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3351973A1 (en) * | 2017-01-18 | 2018-07-25 | Qingdao Institute Of Marine Geology | Long-term seabed-based multi-point in-situ observation system |
US20190323836A1 (en) * | 2018-04-24 | 2019-10-24 | Zhejiang University | Multi-node data synchronous acquisition system and method for real-time monitoring of underwater surface deformation |
US20210041240A1 (en) * | 2018-06-22 | 2021-02-11 | Southeast University | Navigation and positioning system for underwater glider and up floating error correction method |
CN108918908A (zh) * | 2018-07-27 | 2018-11-30 | 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) | 一种基于姿态监测***的坐底式adcp部署装置及方法 |
CN108917727A (zh) * | 2018-07-30 | 2018-11-30 | 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) | 一种海洋垂直剖面测量装置及其工作方法 |
CN112558006A (zh) * | 2020-11-30 | 2021-03-26 | 华中科技大学 | 一种用于海底缆线的双三轴电磁探测及路由定位方法 |
CN113443572A (zh) * | 2021-07-30 | 2021-09-28 | 中国水产科学研究院渔业机械仪器研究所 | 一种水下清洁机器人脐带缆定位控制***及控制方法 |
CN114152773A (zh) * | 2021-11-10 | 2022-03-08 | 中国海洋大学 | 一种二维海面鬼波水体成像测量装置、方法及应用 |
CN114644097A (zh) * | 2022-03-22 | 2022-06-21 | 自然资源部第一海洋研究所 | 一种坐底式海洋设备释放***及其释放方法 |
CN114964227A (zh) * | 2022-04-21 | 2022-08-30 | 中煤科工集团上海有限公司 | 基于深度相机定位修正的采煤机组合导航定位***及方法 |
CN114879143A (zh) * | 2022-05-25 | 2022-08-09 | 上海迈波科技有限公司 | 有缆水下机器人导航定位***及定位方法 |
CN115657045A (zh) * | 2022-09-15 | 2023-01-31 | 河北汉光重工有限责任公司 | 基于方位信息多被动探测平台水下航行器数据的融合方法 |
Non-Patent Citations (4)
Title |
---|
JUN WANG ET AL.: "Array Shape Estimation of a Horizontal Suspension Hydrophone Line Array", 《IEEE SENSORS JOURNAL》, vol. 20, no. 3, pages 1550 - 1557, XP011767114, DOI: 10.1109/JSEN.2019.2947675 * |
JUNHE WAN ET AL.: "Multi-strategy fusion based on sea state codes for AUV motion control", 《OCEAN ENGINEERING》, pages 1 - 11 * |
于振等: "基于IGCF算法和CSF⁃PPSO⁃ESN算法的工业机器人末端执行器位姿重复性检测", 《仪器仪表学报》, vol. 44, no. 6, pages 43 - 53 * |
陈韶华等: "水下信息感知***及其关键技术", 《数字海洋与水下攻防》, vol. 3, no. 2, pages 140 - 145 * |
Also Published As
Publication number | Publication date |
---|---|
CN116840830B (zh) | 2023-11-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Eustice et al. | Experimental results in synchronous-clock one-way-travel-time acoustic navigation for autonomous underwater vehicles | |
CN106767752B (zh) | 一种基于偏振信息的组合导航方法 | |
CN110779521A (zh) | 一种多源融合的高精度定位方法与装置 | |
KR101755307B1 (ko) | 수중 이동체의 위치 측정 오차 보정 방법 | |
KR100906362B1 (ko) | 2개의 기준점에 대한 거리정보와 저정밀도 관성센서를 이용한 무인잠수정 선단의 의사 lbl 수중항법시스템 | |
US8224574B2 (en) | System for multiple navigation components | |
EP2187170A2 (en) | Method and system for estimation of inertial sensor errors in remote inertial measurement unit | |
CN109443188B (zh) | 一种双层多维滑坡监测方法 | |
CN110855343B (zh) | 一种水声定位与授时浮标及其工作方法 | |
KR101789188B1 (ko) | 수중 이동체의 위치 추적을 위한 수중 통합 항법 시스템 | |
CN109782289B (zh) | 一种基于基线几何结构约束的水下航行器定位方法 | |
CN102436004A (zh) | 定位***及定位方法 | |
CN108303079B (zh) | 一种水下usbl反向应用的数据平滑方法 | |
CN106840154B (zh) | 地下空间惯性测量与无线传感器组合定位***与方法 | |
CN110554359A (zh) | 一种融合长基线与单信标定位的海底飞行节点定位方法 | |
CN111578944B (zh) | 一种基于单信标的水下滑翔机定位方法 | |
CN113048983A (zh) | 一种异时序贯量测的改进分层式auv协同导航定位方法 | |
CN112147651A (zh) | 一种异步多车协同目标状态鲁棒估计方法 | |
CN109186614B (zh) | 一种航天器间近距离自主相对导航方法 | |
CN112083425B (zh) | 一种引入径向速度的sins/lbl紧组合导航方法 | |
CN113155134B (zh) | 一种基于惯性信息辅助的水声信道跟踪与预测方法 | |
CN110595465A (zh) | 一种基于gnss和imu的定位定姿*** | |
CN116840830B (zh) | 一种分体式有缆海床基浮体定位跟踪***及跟踪方法 | |
CN109211240B (zh) | 一种单目视觉水下航行器导航定位校正方法 | |
CN113063441A (zh) | 里程计累计推算误差的数据源纠正方法及装置 |
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 | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Liu Hailin Inventor after: Yu Jianfeng Inventor after: Han Mingzhi Inventor after: Wan Junhe Inventor after: Lv Bin Inventor after: Liu Min Inventor after: Ran Xiangtao Inventor before: Liu Hailin Inventor before: Yu Jianfeng Inventor before: Han Mingzhi Inventor before: Wan Junhe Inventor before: Lv Bin Inventor before: Liu Min Inventor before: Ran Xiangtao |