CN117572432A - Sonar array and positioning method for seabed reference station - Google Patents
Sonar array and positioning method for seabed reference station Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 3
- 239000011159 matrix material Substances 0.000 claims description 15
- 238000003491 array Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 230000009897 systematic effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007670 refining Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/874—Combination of several spaced transponders or reflectors of known location for determining the position of a receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention belongs to the technical field of underwater navigation positioning, and particularly discloses a sonar array of a submarine reference station and a positioning method. The method is used for high-precision positioning of the seabed reference station, and effectively solves the problem of high-precision positioning of the seabed control point. A plurality of transponders are adopted to form a short baseline or ultra-short baseline regular polygon transponder array, and the transponders are fixedly connected by adopting a rigid material, so that time synchronization is realized. And carrying out single-phase or multi-phase observation on the transponder array through the sonar transducer, constructing an observation equation based on acoustic signal double-pass propagation time, constructing a constraint equation by utilizing transponder array base line information, combining the observation equation and the constraint equation, and carrying out multi-phase combined solution by taking transponder array coordinates and reference station transponder array base line length as common parameters. The invention can resist the influence of sound velocity change on the joint positioning of the submarine base stations.
Description
Technical Field
The invention belongs to the technical field of underwater navigation and positioning, and particularly relates to a sonar array of a submarine reference station and a positioning method.
Background
The submarine ground benchmark network is an important component part of national ground benchmark and is an important foundation for implementing activities such as ocean scientific research, ocean resource development, ocean economic development, ocean equity maintenance and the like in China. The establishment of the high-precision submarine geodetic standard network can provide technical support for all ocean strategies in China. Although few developed countries have already opened up research into submarine geodetic networks and achieved a series of research results, submarine geodetic networks that work stably for a long period of time have not yet been built. The construction of a submarine geodetic network faces a number of challenges, while high-precision positioning of the submarine control points is critical to the construction of the submarine geodetic network.
The GNSS and sonar combined positioning technology integrates satellite positioning and acoustic ranging, can realize high-precision positioning of a submarine target, and gradually develops into a common scheme of current underwater positioning. The invention provides a reference array configuration and a high-precision positioning method which can be used for accurately monitoring submarine crust movement and also can provide single-station underwater navigation positioning service. The array baseline information is fully utilized to resist the influence of sound velocity change on the joint positioning of the submarine base stations, so that the submarine geodetic monitoring application is realized, and meanwhile, the underwater carrier and the reference station array are used for communication ranging to provide short baseline or ultra-short baseline positioning service for the underwater carrier.
Disclosure of Invention
The invention aims to provide a sonar array of a submarine reference station, which effectively solves the problem of high-precision positioning of submarine control points.
In order to solve the technical problems, the invention adopts the following technical scheme: a sonar array of a submarine reference station is characterized in that a plurality of transponders are adopted to form a short baseline or ultra-short baseline regular polygon transponder array, the baseline distance of the transponder array is selected to be in the range of a plurality of centimeters, a plurality of decimeters or a plurality of meters, and the transponders are fixedly connected by adopting a rigid material and realize time synchronization.
Another object of the present invention is to provide a positioning method applied to the sonar array of the subsea reference station in the above embodiment, which includes the following steps: s1, carrying out single-phase or multi-phase observation on the transponder array through a sonar transducer arranged on a measuring vessel, and for the multi-phase observation, calibrating the baseline length of the transponder array by assuming that the geometric shape of the transponder array does not change with time.
S2, constructing a GNSS and sonar combined observation equation based on the propagation time of the acoustic signals from the sonar transducer to the transponder,in which, in the process,is the firstSonar transducer and the first observation epochThe actual distance between the individual transponders,，、andrespectively represent the firstThe sonar transducer coordinates in the east, north and sky directions when observing the epoch,、andrespectively represent the firstThe transponder is located in the east, north and sky direction coordinates,for the number of transponders to be used,andthe systematic error and the random error, respectively.
When only single-period observation is carried out on the transponder array, the constraint equation is constructed by using the fixed length of the baseline of the transponder array as a constraint condition, and when multi-period repeated observation is carried out on the transponder array, the constraint equation is constructed by using the difference of the lengths of the baselines of the adjacent transponder arrays as the constraint condition.
And combining the GNSS and sonar combined observation equation and the constraint equation, and carrying out multi-period combined solution by taking the transponder array coordinates and the transponder array baseline length as common parameters.
Further, in step S1, the following steps are included: a1, the measuring ship sails along a preset track, and a sonar transducer arranged on the measuring ship transmits an acoustic inquiry signal to the transponder array at certain time intervals.
A2, the transponders on the transponder array return an acoustic response signal after receiving the acoustic query signal.
A3, measuring the double-pass propagation time of the ship record acoustic signals and acquiring GNSS data and sound velocity profile data.
Further, in step S2, when only single-phase observation is performed on the transponder array, the measurement information of the baseline length of the transponder array is fixed as a constraint condition, a constraint equation is constructed, and the first is recordedPersonal transponder coordinates，，Is an intermediate parameter of the constraint equation, assuming transponder array number oneThe measurement information of the length of the strip base line is，Then there is a constraint equation:in which, in the process,andrepresentation of composition NoTwo transponder coordinates of the strip baseline.
When multi-period repeated observation is carried out on the transponder array, assuming that the geometry of the transponder array is unchanged during the observation, constructing a constraint equation by taking the difference of the baseline lengths of the adjacent transponder arrays as a constraint condition is as follows:wherein m is the number of observation periods.
Further, in step S2, the combined GNSS and sonar combined observation equation and constraint equation, the error equation is listed:record the firstCoordinates of sonar transducer during observation of epochThen，，Is the firstThe initial value of the coordinates of the individual transponders,andrespectively representing the residual errors of the GNSS and sonar combined observation equation and the constraint equation,is a matrix of coefficients of the observation equation,is a matrix of coefficients of the constraint equation,is a matrix of values that are known to be,is the coordinate parameter of all transponders.
When only a single-phase observation is performed,constraint equation (f)The strip baseline residual is:。
when multi-period repeated observation is performed, the first is recordedIn the time of the phase-out observation,in the followingRepresent the firstTranspose of the coefficient matrix of the constraint equation of the period,represent the firstStage 1Personal transponderPartial derivative of direction coordinatesConstraint equation (f)Stage 1The strip baseline residual is:。
under the least square rule, record，Simultaneously solving the coordinates of the transponder array as:，in which, in the process,representing the weight matrix.
Compared with the prior art, the invention has the beneficial technical effects that: (1) According to the invention, the transponders are arranged on the seabed reference station according to the regular polygon to form a transponder array, and the constraint equation is constructed by utilizing the baseline information of the transponder array, so that the positioning precision of the seabed reference station is improved.
(2) According to the invention, the transponder array is continuously observed through the sonar transducer arranged on the measuring ship. And constructing a GNSS and sonar combined observation equation based on the acoustic signal double-pass propagation time, constructing a constraint equation by utilizing array baseline information according to an observation mode, combining a multi-period observation equation with the constraint equation, and refining the transponder array configuration and the baseline length. The invention utilizes the baseline information of the transponder array to help resist the influence of sound velocity change on the joint positioning of the submarine reference station.
(3) The invention can be used for accurately monitoring the submarine crust movement and also can provide single-station underwater navigation positioning service. The invention fully utilizes the baseline information of the transponder array to resist the influence of sound velocity change on the joint positioning of the submarine base station, realizes the submarine geodetic monitoring application, and simultaneously, the underwater carrier and the transponder array of the reference station can provide short baseline or ultra-short baseline positioning service for the underwater carrier by communication ranging.
Drawings
FIG. 1 is a schematic diagram of the structure of a sonar array of a subsea reference station of the present invention.
The reference numerals include: 1-platform, 2-transponder, 3-cable.
Detailed Description
Example 1: as shown in figure 1, four transponders 2 are adopted on a platform 1 to form a regular quadrilateral transponder array with a short base line or an ultra-short base line, the base line distance of the transponder array is selected to be in the range of a plurality of centimeters, decimeters or meters, and the transponders are fixedly connected by adopting a cable 3, so that high-precision time synchronization is realized. Before the reference station is deployed, the baseline length of the transponder array is measured.
Example 2: a positioning method is applied to the sonar array of the seabed reference station in the embodiment 1, and comprises the following steps: s1, carrying out single-phase or multi-phase observation on the transponder array through a sonar transducer arranged on a measuring vessel, and for the multi-phase observation, calibrating the baseline length of the transponder array by assuming that the geometric shape of the transponder array does not change with time.
In step S1, the method specifically includes the following steps: (1) The survey vessel navigates along a predetermined trajectory and an acoustic interrogation signal is transmitted to the transponder array at time intervals by a sonar transducer mounted on the survey vessel. (2) The transponders on the transponder array return an acoustic reply signal upon receiving the acoustic interrogation signal. (3) The survey vessel records the round trip travel time of the acoustic signal between the sonar transducer and the transponder and acquires GNSS data and sound velocity profile data.
S2, constructing a GNSS and sonar combined observation equation based on the propagation time of the acoustic signals from the sonar transducer to the transponder,in which, in the process,is the firstSonar transducer and the first observation epochThe actual distance between the individual transponders,，、andrespectively represent the firstThe sonar transducer coordinates in the east, north and sky directions when observing the epoch,、andrespectively represent the firstThe transponder is located in the east, north and sky direction coordinates,andthe systematic error and the random error, respectively.
When only single-phase observation is carried out on the transponder array, a constraint equation is constructed by using the baseline length of the transponder array as a constraint condition, and the first is recordedPersonal transponder coordinates，，Is an intermediate parameter of the constraint equation, assuming transponder array number oneThe measurement information of the length of the strip base line is，Then there is a constraint equation:in which, in the process,andrepresentation of composition NoTwo transponder coordinates of the strip baseline.
When multi-period repeated observation is carried out on the transponder array, the geometrical shape of the transponder array is assumed to be unchanged during the observation, a constraint equation is constructed by taking the difference of the baseline lengths of the adjacent transponder arrays as a constraint condition,wherein m is the number of observation periods.
Combining the GNSS and sonar combined observation equation and constraint equation, and listing an error equation:record the firstCoordinates of sonar transducer during observation of epochThen，，Is the firstThe initial value of the coordinates of the individual transponders,andrespectively representing the residual errors of the GNSS and sonar combined observation equation and the constraint equation,is a matrix of coefficients of the observation equation,is a matrix of coefficients of the constraint equation,is a matrix of values that are known to be,is the coordinate parameter of all transponders.
When only a single-phase observation is performed,constraint equation (f)The strip baseline residual is:。indicating the number of transponders.
When multi-period repeated observation is performed, the first is recordedIn the time of the phase-out observation,in the followingRepresent the firstTranspose of the coefficient matrix of the constraint equation of the period,represent the firstStage 1Personal transponderPartial derivative of direction coordinatesConstraint equation (f)Stage 1The strip baseline residual is:。
under the least square rule, record，Simultaneously solving the coordinates of the transponder array as:，in which, in the process,representing the weight matrix.
According to the invention, the transponders are arranged on the seabed reference station according to the regular polygon to form a transponder array, and the constraint equation is constructed by utilizing the baseline information of the transponder array, so that the positioning precision of the seabed reference station is improved. The transponder array is continuously observed by a sonar transducer mounted on the survey vessel. And constructing a GNSS and sonar combined observation equation based on the acoustic signal double-pass propagation time, constructing a constraint equation by utilizing array baseline information according to an observation mode, combining a multi-period observation equation with the constraint equation, and refining the transponder array configuration and the baseline length. The invention utilizes the baseline information of the transponder array to help resist the influence of sound velocity change on the joint positioning of the submarine reference station.
The invention can be used for accurately monitoring the submarine crust movement and also can provide single-station underwater navigation positioning service. The invention fully utilizes the array baseline information to resist the influence of sound velocity change on the joint positioning of the submarine base stations, realizes the application of submarine geodetic monitoring, and simultaneously, the underwater carrier and the transponder array of the reference station can provide short baseline or ultra-short baseline positioning service for the underwater carrier by communication ranging.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. A sonar array of a submarine reference station is characterized in that a plurality of transponders are adopted to form a short baseline or ultra-short baseline regular polygon transponder array, the baseline distance of the transponder array is selected to be in the range of a plurality of centimeters, a plurality of decimeters or a plurality of meters, and the transponders are fixedly connected by adopting a rigid material and realize time synchronization.
2. A positioning method, applied to the sonar array of the seabed reference station in claim 1, comprising the following steps: s1, carrying out single-phase or multi-phase observation on a transponder array through a sonar transducer arranged on a measuring vessel, and for the multi-phase observation, calibrating the baseline length of the transponder array by assuming that the geometric shape of the transponder array does not change with time;
s2, constructing a GNSS and sonar combined observation equation based on the propagation time of the acoustic signals from the sonar transducer to the transponder,wherein->Is->Sonar transducer and the +.>The actual distance between the individual transponders, +.>，/>、/>And->Respectively represent +.>The sonar transducer coordinates in the east, north and sky directions when observing epoch>、/>And->Respectively represent +.>The transponder is located in the east, north and sky direction coordinates,/->For the number of transponders>And->Respectively a systematic error and a random error;
when only single-phase observation is carried out on the transponder array, a constraint equation is built by using the fixed length of the baseline of the transponder array as a constraint condition, and when multi-phase repeated observation is carried out on the transponder array, a constraint equation is built by using the difference of the lengths of the baselines of the adjacent transponder arrays as zero as the constraint condition;
and combining the GNSS and sonar combined observation equation and the constraint equation, and carrying out multi-period combined solution by taking the transponder array coordinates and the transponder array baseline length as common parameters.
3. A positioning method according to claim 2, characterized in that in step S1, it comprises the steps of:
a1, sailing the measuring ship according to a preset track, and transmitting an acoustic inquiry signal to the transponder array at a certain time interval by a sonar transducer arranged on the measuring ship;
a2, the transponder on the transponder array returns an acoustic response signal after receiving the acoustic query signal;
a3, measuring the double-pass propagation time of the ship record acoustic signals and acquiring GNSS data and sound velocity profile data.
4. A positioning method according to claim 3, wherein in step S2, when only single-phase observation is performed on the transponder array, the measurement information of the baseline length of the transponder array is fixed as a constraint condition, a constraint equation is constructed, and the first is recordedPersonal transponder coordinates->，，/>Is an intermediate parameter of the constraint equation, assuming the transponder array +.>The measurement information of the length of the strip base line is +.>，Then there is a constraint equation: />Wherein->And->Indicate composition->Two transponder coordinates of the strip baseline;
when multi-period repeated observation is carried out on the transponder array, the geometrical shape of the transponder array is assumed to be unchanged during the observation, a constraint equation is constructed by taking the difference of the baseline lengths of the adjacent transponder arrays as a constraint condition,wherein m is the number of observation periods.
5. A positioning method according to claim 4, wherein in step S2, the combined GNSS and sonar observation equations and constraint equations are combined, and the error equations are set:record->Coordinates of sonar transducer when observing epoch>Then->，，/>Is->Initial value of the coordinates of the individual transponder, +.>And->Residual errors of GNSS and sonar combined observation equation and constraint equation are respectively represented>Is a coefficient matrix of the observation equation,/->Is a coefficient matrix of constraint equations, < >>Is a matrix of known values +.>Coordinate parameters for all transponders;
when only a single-phase observation is performed,constraint equation->The strip baseline residual is: />；
When multi-period repeated observation is performed, the first is recordedIn the time of the phase-out observation,in the followingIndicate->Transpose of the coefficient matrix of the constraint equation of phase, +.>Indicate->Stage->Personal transponderPartial derivative of the direction coordinate, then->Constraint equation->Stage 1The strip baseline residual is: />；
Under the least square rule, record，/>Simultaneously solving the coordinates of the transponder array as:，/>wherein->Representing the weight matrix.
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