CN117607786B - Position determining method and device for deep sea submerged buoy and electronic equipment - Google Patents
Position determining method and device for deep sea submerged buoy and electronic equipment Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 244
- 238000004891 communication Methods 0.000 claims abstract description 86
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- 238000007667 floating Methods 0.000 claims description 17
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- 238000004364 calculation method Methods 0.000 claims description 10
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/76—Systems for determining direction or position line
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/725—Marker, boundary, call-sign or like beacons transmitting signals not carrying directional information
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The embodiment of the specification discloses a method and a device for determining the position of a deep sea submerged buoy and electronic equipment. The method comprises the steps of receiving a calibration instruction aiming at a target submerged buoy, responding to the calibration instruction, acquiring initial coordinate information of a communication object, and determining information sending time of the initial coordinate information; respectively acquiring first detection information of each detection node, and calculating standard coordinate information of a communication object based on the initial coordinate information and each first detection information; the current coordinate information of the communication object is calculated based on the standard coordinate information and each of the second detection information. The target submerged buoy positioned by the embodiment of the specification is accurate in position and small in error, and the accuracy of positioning the moving target according to the submerged buoy is improved.
Description
Technical Field
One or more embodiments of the present disclosure relate to positioning calibration technologies, and in particular, to a method and apparatus for determining a position of a deep sea submerged buoy, and an electronic device.
Background
A measuring ship on the sea surface is required to position a moving target in the deep sea, a deep sea submerged buoy is generally taken as a positioning reference point, an acoustic signal is sent by the moving target, and the position of the moving target for sending the acoustic signal is reversely estimated by determining the time sequence of detecting the acoustic signal by a plurality of deep sea submerged buoy. However, when the submerged buoy is laid on the seabed, in order to prevent the sediment from burying, and also in order to prevent the influence of shielding of a submarine hillock between submerged buoy, the holding power anchor of the submerged buoy is generally fixed at the bottom, the submerged buoy is in a suspended state in water through flexible connection of a rope, and the length of the rope may be tens of meters, hundreds of meters or longer according to different use conditions. This causes the submerged buoy to tilt under the influence of the ocean currents in practice, resulting in the actual position of the submerged buoy being changed as the ocean currents flow instead of being a fixed position. At present, the actual position of the submerged buoy is difficult to accurately determine by the measuring ship, and the initially detected submerged buoy position is used as the actual position of the submerged buoy for positioning in many times, so that a large error occurs in positioning of a moving target due to inaccurate submerged buoy position.
Disclosure of Invention
In order to solve the above problems, one or more embodiments of the present disclosure describe a method, an apparatus, and an electronic device for determining a position of a deep sea submerged buoy.
According to a first aspect, there is provided a method of determining the position of a deep sea submerged buoy, the method comprising:
Receiving a calibration instruction aiming at a target submerged buoy, responding to the calibration instruction, acquiring initial coordinate information of a communication object, and determining information sending time of the initial coordinate information, wherein the target submerged buoy comprises a floating body, a connecting rope and a grabbing anchor which are sequentially connected, the communication object is arranged on the floating body, at least two detection nodes are arranged on the connecting rope, and each detection node is provided with an inclination angle sensor and an azimuth angle sensor;
respectively acquiring first detection information of each detection node, and calculating standard coordinate information of the communication object based on the initial coordinate information and the first detection information, wherein the first detection information is detection information corresponding to the detection node at the information sending moment, the detection information comprises first angle information detected by the inclination sensor and second angle information detected by the azimuth sensor, and the standard coordinate information is coordinate information when the first angle information is a first preset angle and the second angle information is a second preset angle;
and calculating current coordinate information of the communication object based on the standard coordinate information and each piece of second detection information, wherein the second detection information is the detection information corresponding to the detection node at the current moment.
Preferably, the acquiring first detection information of each detection node, and calculating standard coordinate information of the communication object based on the initial coordinate information and each first detection information, includes:
sending a control instruction to the communication object, wherein the control instruction is used for indicating the communication object to reciprocally regulate and control the connection length of the connection rope based on a target adjustment distance;
respectively acquiring first detection information and third detection information of each detection node, and determining a water flow area range corresponding to each water flow layer based on the first detection information and the third detection information, wherein the third detection information is corresponding detection information of the detection nodes in the connection rope regulation and control process;
and calculating standard coordinate information of the communication object based on the initial coordinate information, the first detection information and the water flow area range.
Preferably, the sending a control instruction to the communication object includes:
Calculating the initial length of the connecting rope based on a preset distance determining rule to obtain a target regulation and control distance;
And generating a control instruction based on the target regulation distance, and sending the control instruction to the communication object.
Preferably, the detection node is further provided with a depth sensor, and the detection information further includes depth information detected by the depth sensor;
The determining the water flow area range corresponding to each water flow layer based on the first detection information and the third detection information comprises the following steps:
Comparing the first detection information and the third detection information corresponding to the same detection node, and determining target depth information when the first angle information is mutated;
And determining a water flow area range corresponding to each water flow layer based on each target depth information corresponding to each detection node.
Preferably, the calculating the current coordinate information of the communication object based on the standard coordinate information and each second detection information includes:
And matching each second detection information with each water flow area range based on each depth information corresponding to each detection node, and calculating current coordinate information of the communication object based on the standard coordinate information, each second detection information and each water flow area range.
Preferably, the method further comprises:
Transmitting a positioning instruction to a positioning object, wherein the positioning instruction is used for indicating the positioning object to transmit an acoustic signal at a preset moment;
respectively determining each signal receiving time of each target submerged buoy, and respectively calculating each first coordinate information when each target submerged buoy receives the acoustic signal based on each signal receiving time;
and determining second coordinate information of the positioning object based on each piece of first coordinate information, each signal receiving moment and a preset moment.
Preferably, the calculating, based on each of the signal receiving moments, each first coordinate information when each target submerged buoy receives the acoustic signal includes:
And respectively calculating first coordinate information when each target submerged buoy receives the acoustic signal based on the standard coordinate information and fourth detection information, wherein the fourth detection information is the detection information corresponding to the detection node at the signal receiving moment.
According to a second aspect, there is provided a position determining device for a deep sea submerged buoy, the device comprising:
The receiving module is used for receiving a calibration instruction aiming at a target submerged buoy, responding to the calibration instruction, acquiring initial coordinate information of a communication object, and determining information sending time of the initial coordinate information, wherein the target submerged buoy comprises a floating body, a connecting rope and a grabbing anchor which are sequentially connected, the communication object is arranged on the floating body, at least two detection nodes are arranged on the connecting rope, and each detection node is provided with an inclination angle sensor and an azimuth angle sensor;
The first calculation module is configured to obtain first detection information of each detection node, calculate standard coordinate information of the communication object based on the initial coordinate information and the first detection information, where the first detection information is detection information corresponding to the detection node at the information sending time, the detection information includes first angle information detected by the inclination sensor and second angle information detected by the azimuth sensor, and the standard coordinate information is coordinate information when the first angle information is a first preset angle and the second angle information is a second preset angle;
And the second calculation module is used for calculating the current coordinate information of the communication object based on the standard coordinate information and each piece of second detection information, wherein the second detection information is the detection information corresponding to the detection node at the current moment.
According to a third aspect, there is provided an electronic device comprising a processor and a memory;
The processor is connected with the memory;
The memory is used for storing executable program codes;
The processor runs a program corresponding to executable program code stored in the memory by reading the executable program code for performing the steps of the method as provided in the first aspect or any one of the possible implementations of the first aspect.
According to a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program having instructions stored therein which, when run on a computer or processor, cause the computer or processor to perform a method as provided by any one of the possible implementations of the first aspect or the first aspect.
According to the method and the device provided by the embodiment of the specification, the first detection information acquired by each detection node on the connecting rope can be acquired according to the information transmission moment of the initial coordinate information transmitted by the target submerged buoy, the standard coordinate information of the target submerged buoy under the ideal condition that the target submerged buoy is not influenced by the water flow layer is calculated, the current position of the target submerged buoy is determined according to the standard coordinate information and the second detection information detected in real time, the positioned position of the target submerged buoy is accurate, the error is small, and the accuracy of positioning the moving target according to the submerged buoy is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for determining a position of a submerged buoy in a deep sea according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of an operating state of the target submerged buoy according to an embodiment of the present disclosure after the target submerged buoy is disposed on the seabed.
Fig. 3 is a schematic structural view of a position determining apparatus for a deep sea submerged buoy according to an embodiment of the present disclosure.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.
In the following description, the terms "first," "second," and "first," are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The following description provides various embodiments of the application that may be substituted or combined between different embodiments, and thus the application is also to be considered as embracing all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes feature A, B, C and another embodiment includes feature B, D, then the application should also be seen as embracing one or more of all other possible combinations of one or more of A, B, C, D, although such an embodiment may not be explicitly recited in the following.
The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the application. Various examples may omit, replace, or add various procedures or components as appropriate. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for determining a position of a deep sea submerged buoy according to an embodiment of the present application. In an embodiment of the present application, the method includes:
s101, receiving a calibration instruction aiming at a target submerged buoy, responding to the calibration instruction, acquiring initial coordinate information of a communication object, and determining information sending time of the initial coordinate information.
The target submerged buoy comprises a floating body, a connecting rope and a grabbing anchor which are sequentially connected, wherein the floating body is provided with a communication object, the connecting rope is provided with at least two detection nodes, and each detection node is provided with an inclination sensor and an azimuth sensor.
The execution subject of the present application may be a server provided on a measuring vessel.
In the embodiment of the specification, after the staff on the measuring ship puts the target submerged buoy into the sea, the specific coordinate position of the target submerged buoy in the sea needs to be determined. The staff can send a calibration instruction to the server through the terminal used by the staff, and the server can send a coordinate sending instruction to a communication object of the target submerged buoy after receiving the calibration instruction, so that the communication object sends a positioning signal to the server after receiving the coordinate sending instruction. The server may calculate and obtain initial coordinate information of the communication object by using the long baseline positioning principle after receiving the positioning signal and calculating the receiving time, and determine the time when the target submerged buoy transmits the positioning signal from the time information added by the positioning signal transmitted by the communication object, that is, the information transmitting time corresponding to the initial coordinate information. The floating body can move within a certain range under the action of the submarine water flow, so that the positioning position of the target submerged buoy, namely the position of a communication object, can be changed continuously. In order to obtain the initial position information for the accuracy in the subsequent positioning of the moving target in the sea, the server also needs to calibrate the initial position information in the subsequent step to determine the standard coordinates of the target submerged buoy when the target submerged buoy is kept in a vertical state without being influenced by water flow.
The structural state of the target submerged buoy after being placed on the seabed can be shown as in fig. 2, and the target submerged buoy is fixed on the seabed under the action of the lowest holding power anchor in the drawing. The communication object is suspended in the sea together with the floating body, a plurality of detection nodes are arranged on a connecting rope for connecting the floating body and the grabbing anchor, and an inclination sensor and an azimuth sensor are arranged on each detection node. The communication object may be an underwater acoustic communication machine, the inclination sensor is for determining an inclination angle of the position of the detection node in a vertical direction, and the azimuth sensor is for determining an offset angle of the position of the detection node in a horizontal direction.
S102, respectively acquiring first detection information of each detection node, and calculating standard coordinate information of the communication object based on the initial coordinate information and each first detection information.
The first detection information is detection information corresponding to the detection node at the information sending time, the detection information comprises first angle information detected by the inclination sensor and second angle information detected by the azimuth sensor, and the standard coordinate information is coordinate information when the first angle information is a first preset angle and the second angle information is a second preset angle.
In the embodiment of the present disclosure, the inclination sensor and the azimuth sensor on the detection node can always detect the first angle information and the second angle information, and the server may acquire the first detection information corresponding to each detection node at the time of information transmission. The first detection information can show the position deviation condition of the target submerged buoy in the sea water when the positioning signal corresponding to the initial coordinate information is sent, so that the server can calibrate the initial coordinate information through the first detection information to obtain standard coordinate information of a communication object, namely the coordinate information of the communication object in a vertical state of a connecting rope. In the vertical state, the first angle information detected by the inclination angle sensor should be 90 degrees, and the second angle information detected by the azimuth angle sensor should be 0 degrees.
The water flow distribution in the ocean is not necessarily uniform, and different sections of the connecting rope are positioned in water flow layers with different directions and/or different flow rates, so that the connecting rope is not simply inclined towards a certain direction under the action of water flow, but may be inclined irregularly in sections. Therefore, the application can set a plurality of detection nodes on the connecting rope to detect the inclined states of different positions on the connecting rope. Similarly, in this case, in order to calculate the standard coordinate information from the first detection information, the coordinates corresponding to the initial coordinate information should be adjusted stepwise from the uppermost detection node based on the first detection information corresponding to each detection node. After the coordinate adjustment of the first detection information of the lowest detection node is completed, the finally obtained coordinate is the standard coordinate information.
As an example, for a tilt angle detected by a sensor of a detection nodeAnd horizontal rotation angle/>X-axis deviation/>, of this section of connecting ropeAnd y-axis deviation/>The calculation formula of (2) is as follows:
In combination with the known length of the connecting rope, the location of the detection node on the connecting rope is also known, and the length of each segment of the connecting rope divided by the detection node can be determined. Therefore, the coordinate adjustment value of the initial coordinate information on the paragraph can be determined through the length of the paragraph, the x-axis deviation and the y-axis deviation, and finally, the initial coordinate information is sequentially adjusted through the x-axis deviation and the y-axis deviation of each paragraph, so that the final standard coordinate information can be obtained.
In one embodiment, the acquiring the first detection information of each detection node, and calculating the standard coordinate information of the communication object based on the initial coordinate information and each first detection information, includes:
sending a control instruction to the communication object, wherein the control instruction is used for indicating the communication object to reciprocally regulate and control the connection length of the connection rope based on a target adjustment distance;
respectively acquiring first detection information and third detection information of each detection node, and determining a water flow area range corresponding to each water flow layer based on the first detection information and the third detection information, wherein the third detection information is corresponding detection information of the detection nodes in the connection rope regulation and control process;
and calculating standard coordinate information of the communication object based on the initial coordinate information, the first detection information and the water flow area range.
In the embodiment of the present disclosure, it is obvious that the position corresponding to the detection node is not necessarily exactly the boundary position of the different water flow layers, but the connection rope should only change the angle when entering the different water flow layers (i.e. at the boundary position of the water flow layers), so the foregoing process of directly using the default position of the detection node as the position of the angle change and calibrating the standard coordinate information of the target submerged buoy according to the corresponding first detection information still has a certain error. In order to further improve the accuracy of the calculation result, a rope reel may be provided between the grab anchor and the connection location of the connecting rope. After the server sends a control instruction to the communication object, the communication object can communicate with the rope reel, and the rope reel is controlled to recover part of the connecting ropes, so that the change of the connecting length of the connecting ropes is realized. In the process of changing the connection length of the connection rope, the depth position of each detection node also changes, and if a certain detection node just enters into another water flow layer from a certain water flow layer in the moving process, the corresponding third detection information of the detection node is suddenly changed relative to the first detection information. The server uses the depth position when the detection information of each detection node is suddenly changed as the boundary position of each water flow layer, so as to divide the range of the water flow area of the water flow layer. Then, the server performs the process of calculating the sectional deviation distance by taking the boundary position corresponding to the water flow area range as the angle change point, and finally obtains the standard coordinate information of the communication object, so that the obtained standard coordinate information is more accurate.
The specific adjustment process of the rope winder for the connection length is that the communication object determines the target adjustment distance of the control adjustment from the control instruction, and generates corresponding control information to be sent to the rope winder. The rope reel shortens the length of the connecting rope according to the control information sent by the communication object, and after the target adjustment distance is shortened, the rope reel can re-extend the connecting rope until the connecting rope is restored, so that a reciprocating regulation and control process is formed.
In one embodiment, the sending a control instruction to the communication object includes:
Calculating the initial length of the connecting rope based on a preset distance determining rule to obtain a target regulation and control distance;
And generating a control instruction based on the target regulation distance, and sending the control instruction to the communication object.
In the embodiment of the present disclosure, the specific size of the target regulation distance may be determined according to the initial length of the connecting rope. The worker may set a distance determination rule in the server in advance, and the distance determination rule may be set to take one twentieth of the initial length as the adjustment distance, and then the determined target adjustment distance is one twentieth of the initial length. After the target regulation and control distance is determined, the server generates a corresponding control instruction according to the target regulation and control distance and sends the control instruction to the communication object so that the communication object can control the length of the connecting rope.
In one embodiment, the detection node is further provided with a depth sensor, and the detection information further includes depth information detected by the depth sensor;
The determining the water flow area range corresponding to each water flow layer based on the first detection information and the third detection information comprises the following steps:
Comparing the first detection information and the third detection information corresponding to the same detection node, and determining target depth information when the first angle information is mutated;
And determining a water flow area range corresponding to each water flow layer based on each target depth information corresponding to each detection node.
In the embodiment of the present disclosure, a depth sensor is further disposed on each detection node, and the depth of each detection node can be directly determined by the depth sensor, so that the server can determine the target depth information corresponding to the abrupt change of the first angle information by comparing the first detection information with the third detection information. The depth position corresponding to the target depth information is the boundary position of the water flow layer. After determining the target depth information, the server can determine the boundary position of each water flow layer, and further determine the water flow area range of each water flow layer.
S103, calculating current coordinate information of the communication object based on the standard coordinate information and each piece of second detection information.
The second detection information is the detection information corresponding to the detection node at the current moment.
In the embodiment of the present disclosure, after the standard coordinate information is obtained by calculation, the server only needs to obtain the second detection information collected by each detection node at the current moment, and can determine the current coordinate information of the communication object by calculating the reverse calculation process of the standard coordinate information. The current coordinate information is reversely deduced according to the standard coordinate information and the second detection information, so that the obtained current coordinate information is accurate, and the accurate position of the target potential mark at the current moment can be represented. The result obtained by the moving object positioning process performed by calibrating the determined current coordinate information is more accurate.
In one embodiment, the calculating the current coordinate information of the communication object based on the standard coordinate information and each second detection information includes:
And matching each second detection information with each water flow area range based on each depth information corresponding to each detection node, and calculating current coordinate information of the communication object based on the standard coordinate information, each second detection information and each water flow area range.
In this embodiment of the present disclosure, after the water flow area is divided, the server matches each second detection information with the water flow area according to the depth information, that is, matches the angle information with the water flow area. And then, the server reversely calculates the standard coordinate information by combining the depth corresponding to the boundary position of the water flow area range and the inclination angle and the azimuth angle corresponding to the second detection information so as to obtain the current coordinate information of the communication object.
In one embodiment, the method further comprises:
Transmitting a positioning instruction to a positioning object, wherein the positioning instruction is used for indicating the positioning object to transmit an acoustic signal at a preset moment;
respectively determining each signal receiving time of each target submerged buoy, and respectively calculating each first coordinate information when each target submerged buoy receives the acoustic signal based on each signal receiving time;
and determining second coordinate information of the positioning object based on each piece of first coordinate information, each signal receiving moment and a preset moment.
In the embodiment of the specification, when a worker wants to accurately locate a certain locating object moving in the deep sea, the worker generates a locating instruction through operation on a terminal and sends the locating instruction to the locating object through a server. After receiving the positioning instruction, the positioning object can emit an acoustic signal at a preset moment corresponding to the positioning instruction. The acoustic signals are detected by target submerged buoy arranged on the seabed, the target submerged buoy records the corresponding signal receiving time when receiving the acoustic signals, and the signal receiving time is fed back to the server. The server will confirm the first coordinate information of each target submerged buoy when receiving the acoustic signal through the signal receiving moment in combination with the standard coordinate information again. And then, the server determines the time length spent by transmitting the acoustic signal to the target submerged buoy according to the difference between the signal receiving time and the preset time, and further determines the distance between each target submerged buoy and the positioning object. By generating each sphere with the first coordinate information as the center and the distance as the radius, the intersection point of the spheres is the second coordinate information of the positioning object.
In one embodiment, the calculating, based on each of the signal receiving moments, each first coordinate information when each target submerged buoy receives the acoustic signal includes:
And respectively calculating first coordinate information when each target submerged buoy receives the acoustic signal based on the standard coordinate information and fourth detection information, wherein the fourth detection information is the detection information corresponding to the detection node at the signal receiving moment.
In the embodiment of the present disclosure, the server calculates the real-time position of the target submerged buoy according to the fourth detection information of the detection node at the signal receiving moment in combination with the standard coordinate information, so as to determine the first coordinate information corresponding to each target submerged buoy when receiving the acoustic signal.
The following describes in detail the position determining device for a deep sea submerged buoy according to the embodiment of the present application with reference to fig. 3. It should be noted that, the position determining device of the deep sea submerged buoy shown in fig. 3 is used for executing the method of the embodiment of fig. 1 of the present application, for convenience of explanation, only the portion relevant to the embodiment of the present application is shown, and specific technical details are not disclosed, please refer to the embodiment of fig. 1 of the present application.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a position determining device for a deep sea submerged buoy according to an embodiment of the present application. As shown in fig. 3, the apparatus includes:
The receiving module 301 is configured to receive a calibration instruction for a target submerged buoy, obtain initial coordinate information of a communication object in response to the calibration instruction, and determine an information sending time of the initial coordinate information, where the target submerged buoy includes a floating body, a connecting rope, and a grab anchor that are sequentially connected, the floating body is provided with the communication object, the connecting rope is provided with at least two detection nodes, and each detection node is provided with an inclination sensor and an azimuth sensor;
A first calculation module 302, configured to obtain first detection information of each detection node, and calculate standard coordinate information of the communication object based on the initial coordinate information and each first detection information, where the first detection information is detection information corresponding to the detection node at the information sending time, the detection information includes first angle information detected by the tilt sensor and second angle information detected by the azimuth sensor, and the standard coordinate information is coordinate information when each first angle information is a first preset angle and each second angle information is a second preset angle;
And a second calculating module 303, configured to calculate current coordinate information of the communication object based on the standard coordinate information and second detection information, where the second detection information is the detection information corresponding to the detection node at the current time.
In one implementation, the first computing module 302 is specifically configured to:
sending a control instruction to the communication object, wherein the control instruction is used for indicating the communication object to reciprocally regulate and control the connection length of the connection rope based on a target adjustment distance;
respectively acquiring first detection information and third detection information of each detection node, and determining a water flow area range corresponding to each water flow layer based on the first detection information and the third detection information, wherein the third detection information is corresponding detection information of the detection nodes in the connection rope regulation and control process;
and calculating standard coordinate information of the communication object based on the initial coordinate information, the first detection information and the water flow area range.
In one implementation, the first computing module 302 is specifically further configured to:
Calculating the initial length of the connecting rope based on a preset distance determining rule to obtain a target regulation and control distance;
And generating a control instruction based on the target regulation distance, and sending the control instruction to the communication object.
In one embodiment, the detection node is further provided with a depth sensor, and the detection information further includes depth information detected by the depth sensor;
The first computing module 302 is specifically further configured to:
Comparing the first detection information and the third detection information corresponding to the same detection node, and determining target depth information when the first angle information is mutated;
And determining a water flow area range corresponding to each water flow layer based on each target depth information corresponding to each detection node.
In one embodiment, the second computing module 303 is specifically configured to:
And matching each second detection information with each water flow area range based on each depth information corresponding to each detection node, and calculating current coordinate information of the communication object based on the standard coordinate information, each second detection information and each water flow area range.
In one embodiment, the apparatus further comprises:
the sending module is used for sending a positioning instruction to a positioning object, wherein the positioning instruction is used for indicating the positioning object to emit an acoustic signal at a preset moment;
The third calculation module is used for respectively determining each signal receiving time of each target submerged buoy and respectively calculating each first coordinate information when each target submerged buoy receives the acoustic signal based on each signal receiving time;
And the determining module is used for determining second coordinate information of the positioning object based on the first coordinate information, the signal receiving time and the preset time.
In one embodiment, the third computing module is specifically configured to:
And respectively calculating first coordinate information when each target submerged buoy receives the acoustic signal based on the standard coordinate information and fourth detection information, wherein the fourth detection information is the detection information corresponding to the detection node at the signal receiving moment.
It will be clear to those skilled in the art that the technical solutions of the embodiments of the present application may be implemented by means of software and/or hardware. "unit" and "module" in this specification refer to software and/or hardware capable of performing a particular function, either alone or in combination with other components, such as Field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA), integrated circuits (INTEGRATED CIRCUIT, ICs), and the like.
The processing units and/or modules of the embodiments of the present application may be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or may be implemented by software that executes the functions described in the embodiments of the present application.
Referring to fig. 4, a schematic structural diagram of an electronic device according to an embodiment of the present application is shown, where the electronic device may be used to implement the method in the embodiment shown in fig. 1. As shown in fig. 4, the electronic device 400 may include: at least one central processor 401, at least one network interface 404, a user interface 403, a memory 405, at least one communication bus 402.
Wherein communication bus 402 is used to enable connected communications between these components.
The user interface 403 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 403 may further include a standard wired interface and a standard wireless interface.
The network interface 404 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
Wherein the central processor 401 may comprise one or more processing cores. The central processor 401 connects various parts within the entire electronic device 400 using various interfaces and lines, performs various functions of the terminal 400 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 405, and calling data stored in the memory 405. Alternatively, the central processor 401 may be implemented in at least one hardware form of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The central processor 401 may integrate one or a combination of several of a central processor (Central Processing Unit, CPU), an image central processor (Graphics Processing Unit, GPU), a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the cpu 401 and may be implemented by a single chip.
The memory 405 may include a random access memory (Random Access Memory, RAM) or a Read-only memory (Read-only memory). Optionally, the memory 405 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 405 may be used to store instructions, programs, code sets, or instruction sets. The memory 405 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described various method embodiments, etc.; the storage data area may store data or the like referred to in the above respective method embodiments. The memory 405 may also optionally be at least one storage device located remotely from the aforementioned central processor 401. As shown in fig. 4, an operating system, a network communication module, a user interface module, and program instructions may be included in the memory 405, which is a type of computer storage medium.
In the electronic device 400 shown in fig. 4, the user interface 403 is mainly used as an interface for providing input for a user, and obtains data input by the user; and the central processor 401 may be used to call the position determining application program of the deep sea submerged buoy stored in the memory 405, and specifically perform the following operations:
Receiving a calibration instruction aiming at a target submerged buoy, responding to the calibration instruction, acquiring initial coordinate information of a communication object, and determining information sending time of the initial coordinate information, wherein the target submerged buoy comprises a floating body, a connecting rope and a grabbing anchor which are sequentially connected, the communication object is arranged on the floating body, at least two detection nodes are arranged on the connecting rope, and each detection node is provided with an inclination angle sensor and an azimuth angle sensor;
respectively acquiring first detection information of each detection node, and calculating standard coordinate information of the communication object based on the initial coordinate information and the first detection information, wherein the first detection information is detection information corresponding to the detection node at the information sending moment, the detection information comprises first angle information detected by the inclination sensor and second angle information detected by the azimuth sensor, and the standard coordinate information is coordinate information when the first angle information is a first preset angle and the second angle information is a second preset angle;
and calculating current coordinate information of the communication object based on the standard coordinate information and each piece of second detection information, wherein the second detection information is the detection information corresponding to the detection node at the current moment.
The present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the above method. The computer-readable storage medium may include, among other things, any type of disk including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, such as the division of the units, merely a logical function division, and there may be additional manners of dividing the actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some service interface, device or unit indirect coupling or communication connection, electrical or otherwise.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on this understanding, the technical solution of the present application may be embodied essentially or partly in the form of a software product, or all or part of the technical solution, which is stored in a memory, and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be performed by hardware associated with a program that is stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the scope of the present disclosure. That is, equivalent changes and modifications are contemplated by the teachings of this disclosure, which fall within the scope of the present disclosure. Embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a scope and spirit of the disclosure being indicated by the claims.
Claims (10)
1. A method for determining the position of a deep sea submerged buoy, the method comprising:
Receiving a calibration instruction aiming at a target submerged buoy, responding to the calibration instruction, acquiring initial coordinate information of a communication object, and determining information sending time of the initial coordinate information, wherein the target submerged buoy comprises a floating body, a connecting rope and a grabbing anchor which are sequentially connected, the communication object is arranged on the floating body, at least two detection nodes are arranged on the connecting rope, and each detection node is provided with an inclination angle sensor and an azimuth angle sensor;
Respectively acquiring first detection information of each detection node, and calculating standard coordinate information of the communication object based on the initial coordinate information and the first detection information, wherein the first detection information is detection information corresponding to the detection node at the information sending time, the detection information comprises first angle information detected by the inclination sensor and second angle information detected by the azimuth sensor, the standard coordinate information is coordinate information when the first angle information is a first preset angle and the second angle information is a second preset angle, the first preset angle is 90 degrees, and the second preset angle is 0 degree;
and calculating current coordinate information of the communication object based on the standard coordinate information and each piece of second detection information, wherein the second detection information is the detection information corresponding to the detection node at the current moment.
2. The method according to claim 1, wherein the acquiring first detection information of each of the detection nodes, respectively, calculating standard coordinate information of the communication object based on the initial coordinate information and each of the first detection information, comprises:
sending a control instruction to the communication object, wherein the control instruction is used for indicating the communication object to reciprocally regulate and control the connection length of the connection rope based on a target adjustment distance;
respectively acquiring first detection information and third detection information of each detection node, and determining a water flow area range corresponding to each water flow layer based on the first detection information and the third detection information, wherein the third detection information is corresponding detection information of the detection nodes in the connection rope regulation and control process;
and calculating standard coordinate information of the communication object based on the initial coordinate information, the first detection information and the water flow area range.
3. The method of claim 2, wherein the sending a control instruction to the communication object comprises:
Calculating the initial length of the connecting rope based on a preset distance determining rule to obtain a target regulation and control distance;
And generating a control instruction based on the target regulation distance, and sending the control instruction to the communication object.
4. The method according to claim 2, wherein the detection node is further provided with a depth sensor, and the detection information further comprises depth information detected by the depth sensor;
The determining the water flow area range corresponding to each water flow layer based on the first detection information and the third detection information comprises the following steps:
Comparing the first detection information and the third detection information corresponding to the same detection node, and determining target depth information when the first angle information is mutated;
And determining a water flow area range corresponding to each water flow layer based on each target depth information corresponding to each detection node.
5. The method according to claim 4, wherein calculating current coordinate information of the communication object based on the standard coordinate information and each second detection information includes:
And matching each second detection information with each water flow area range based on each depth information corresponding to each detection node, and calculating current coordinate information of the communication object based on the standard coordinate information, each second detection information and each water flow area range.
6. The method according to claim 1, wherein the method further comprises:
Transmitting a positioning instruction to a positioning object, wherein the positioning instruction is used for indicating the positioning object to transmit an acoustic signal at a preset moment;
respectively determining each signal receiving time of each target submerged buoy, and respectively calculating each first coordinate information when each target submerged buoy receives the acoustic signal based on each signal receiving time;
and determining second coordinate information of the positioning object based on each piece of first coordinate information, each signal receiving moment and a preset moment.
7. The method of claim 6, wherein calculating first coordinate information of each target submerged buoy when the acoustic signal is received based on each signal receiving time, respectively, comprises:
And respectively calculating first coordinate information when each target submerged buoy receives the acoustic signal based on the standard coordinate information and fourth detection information, wherein the fourth detection information is the detection information corresponding to the detection node at the signal receiving moment.
8. A position determining apparatus for a deep sea submerged buoy, the apparatus comprising:
The receiving module is used for receiving a calibration instruction aiming at a target submerged buoy, responding to the calibration instruction, acquiring initial coordinate information of a communication object, and determining information sending time of the initial coordinate information, wherein the target submerged buoy comprises a floating body, a connecting rope and a grabbing anchor which are sequentially connected, the communication object is arranged on the floating body, at least two detection nodes are arranged on the connecting rope, and each detection node is provided with an inclination angle sensor and an azimuth angle sensor;
The first calculation module is configured to obtain first detection information of each detection node, calculate standard coordinate information of the communication object based on the initial coordinate information and the first detection information, where the first detection information is detection information corresponding to the detection node at the information sending time, the detection information includes first angle information detected by the inclination sensor and second angle information detected by the azimuth sensor, the standard coordinate information is coordinate information when the first angle information is a first preset angle and the second angle information is a second preset angle, the first preset angle is 90 degrees, and the second preset angle is 0 degree;
And the second calculation module is used for calculating the current coordinate information of the communication object based on the standard coordinate information and each piece of second detection information, wherein the second detection information is the detection information corresponding to the detection node at the current moment.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-7 when the computer program is executed.
10. A computer readable storage medium having stored thereon a computer program having instructions stored therein, which when run on a computer or processor, cause the computer or processor to perform the steps of the method according to any of claims 1-7.
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