CN117853594B

CN117853594B - Submarine array submerged-buoy position calibration method and device, storage medium and electronic equipment

Info

Publication number: CN117853594B
Application number: CN202410259507.2A
Authority: CN
Inventors: 申和平; 赵冲; 陈稳骐; 孙春艳; 李凯; 张海兵
Original assignee: Beijing Appsoft Technology Co ltd; Wuhan Puhui Ocean Photoelectric Technology Co ltd
Current assignee: Beijing Appsoft Technology Co ltd; Wuhan Puhui Ocean Photoelectric Technology Co ltd
Priority date: 2024-03-07
Filing date: 2024-03-07
Publication date: 2024-06-14
Anticipated expiration: 2044-03-07
Also published as: CN117853594A

Abstract

The application discloses a submarine array submerged buoy position calibration method, a submarine array submerged buoy position calibration device, a storage medium and electronic equipment, which are applied to the technical field of underwater positioning, wherein the method comprises the following steps: the method comprises the steps of taking a current submarine array to be calibrated as a center, and determining the initial submarine array position of each submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in a target calibration area based on the initial submarine array positions of the submarine arrays to be calibrated adjacent to the center and the position relation between each submarine array to be calibrated and each submerged buoy to be calibrated in the target calibration area; sequentially centering each submarine array to be calibrated, calibrating the submarine array position of any submarine array to be calibrated based on the obtained initial submarine array position of any submarine array to be calibrated, and calibrating the submerged buoy position of any submerged buoy to be calibrated based on the obtained initial submerged buoy position of any submerged buoy to be calibrated. The method and the device provided by the application improve the position calibration efficiency and the calibration accuracy of the submarine array and the submerged buoy.

Description

Submarine array submerged-buoy position calibration method and device, storage medium and electronic equipment

Technical Field

The application relates to the technical field of underwater positioning, in particular to a submarine array submerged buoy position calibration method, a submarine array submerged buoy position calibration device, a storage medium and electronic equipment.

Background

The position information of the submarine array and the submerged buoy is a reference standard for positioning a long baseline, and the conventional water surface calibration method is seriously influenced by sea condition, a mother ship track and sound velocity distribution during deep sea operation, so that a high-precision calibration result is difficult to obtain. The conventional calibration method comprises absolute calibration and relative calibration, and has the advantages of long absolute calibration time consumption, low calibration efficiency and low calibration accuracy; the relative calibration can only determine the array type, and cannot determine the specific positions of each submarine array and the submerged buoy.

Therefore, how to calibrate the positions of the submarine array and the submerged buoy and improve the calibration efficiency and the calibration accuracy become technical problems to be solved urgently in the industry.

Disclosure of Invention

The application provides a submarine array submerged buoy position calibration method, a submarine array submerged buoy position calibration device, a storage medium and electronic equipment, which are used for solving the technical problems of how to calibrate the submarine array and the submerged buoy position and improving the calibration efficiency and the calibration accuracy in the prior art.

In a first aspect, the application provides a submarine array submerged buoy position calibration method, which comprises the following steps:

Taking a current submarine array to be calibrated as a center, and acquiring an initial submarine array position of the center;

Determining the initial submarine array position of each submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in a target calibration area based on the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated in the center and the position relationship between each submarine array to be calibrated and each submerged buoy to be calibrated in the target calibration area;

Sequentially centering each submarine array to be calibrated in the target calibration area, calibrating the submarine array position of any submarine array to be calibrated based on the obtained initial submarine array position of any submarine array to be calibrated, and calibrating the submerged buoy position of any submerged buoy to be calibrated based on the obtained initial submerged buoy position of any submerged buoy to be calibrated.

In some embodiments, the obtaining, with the current submarine array to be calibrated as a center, an initial submarine array position of the center includes:

Taking a current submarine array to be calibrated as a center, and controlling sound source equipment to do circular motion around the center;

and determining the initial submarine array position of the current submarine array to be calibrated based on the signal interaction between the current submarine array to be calibrated and the sound source equipment in the circular motion process.

In some embodiments, the current submarine array to be calibrated comprises a plurality of array elements; the determining the initial submarine array position of the current submarine array to be calibrated based on the signal interaction between the current submarine array to be calibrated and the sound source device in the circular motion process comprises the following steps:

acquiring the equipment position of the sound source equipment; continuously transmitting acoustic signals to each array element in the current submarine array to be calibrated by the sound source equipment in the motion process;

Determining the relative position of each array element relative to the sound source equipment based on the time difference of the sound wave signal transmitted from the sound source equipment to each array element;

Determining the absolute position of each array element based on the device position and the relative position;

and determining the initial submarine array position of the current submarine array to be calibrated based on the absolute position of each array element.

In some embodiments, the determining the initial sea floor array position of each sea floor array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area includes:

Constructing a plurality of four-element arrays based on the position relationship between each submarine array to be calibrated and each submarine buoy to be calibrated in the target calibration area, wherein each four-element array comprises two adjacent submarine arrays to be calibrated and two submarine arrays to be calibrated which have communication relationship with the two adjacent submarine arrays to be calibrated;

And determining the initial submarine array position of each submarine array to be calibrated and the initial submarine label position of each submarine array to be calibrated in the target calibration area based on the communication relation between each submarine array to be calibrated in the adjacent four-element arrays and each submarine array to be calibrated in the adjacent four-element arrays.

In some embodiments, the determining the initial submarine array position of each submarine array to be calibrated and the initial submarine array position of each submarine array to be calibrated in the target calibration area based on the communication relationship between each submarine array to be calibrated in the adjacent four-element array and each submarine array to be calibrated in the adjacent four-element array includes:

acquiring first initial submarine array positions of two first submarine arrays in the current four-element array;

Obtaining a first initial submerged buoy position of the first submerged buoy based on the first initial submerged buoy position and the distance between the first submerged buoy in the current four-element array and the two first submerged arrays respectively;

Obtaining a second initial submerged buoy position of the second submerged buoy based on the first initial submerged buoy position and the distance between the second submerged buoy in the first adjacent four-element array of the current four-element array and the two first submerged arrays respectively; the first adjacent four-element array shares the first submarine array with the current four-element array, and the first submerged buoy and the second submerged buoy are symmetrical relative to the first submarine array;

Determining a second initial sea-bottom array position of a second adjacent four-element array of the current four-element array based on a first submerged buoy and a second submerged buoy in communication with a second sea-bottom array of the second adjacent four-element array; the second adjacent four-element array shares a first submarine array and a first submerged buoy with the current four-element array;

updating the current four-element array based on the second adjacent four-element array until the initial submarine array position of each submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area are obtained.

In some embodiments, the obtaining the first initial submerged buoy position of the first submerged buoy based on the first initial submerged buoy position and the distances between the first submerged buoy in the current four-element array and the two first submerged arrays, respectively, includes:

obtaining an estimated submerged buoy position of the first submerged buoy based on the first initial submerged buoy position and the distances between the first submerged buoy and the two first submerged buoy respectively;

Constructing a adjustment model of the first submerged buoy based on the operation relation between the first initial submerged array position and the first distance and the position of the first submerged buoy when the first submerged buoy is installed; the first distance is the distance between the first submerged buoy and the first submarine array;

and correcting the estimated potential logo position based on the adjustment model and a least square method to obtain the first initial potential logo position.

In some embodiments, the sequentially centering on each of the to-be-calibrated submarine arrays in the target calibration area and calibrating the submarine array position of any of the to-be-calibrated submarine arrays based on the obtained initial submarine array positions of the any of the to-be-calibrated submarine arrays includes:

Sequentially centering each submarine array to be calibrated in the target calibration area to obtain each initial submarine array position of any submarine array to be calibrated;

Determining the initial submarine array positions with the difference value larger than a preset threshold value from the average value of the initial submarine array positions as abnormal positions;

And calibrating the submarine array position of any submarine array to be calibrated based on the average value of all the initial submarine array positions remained after the abnormal position is removed.

In a second aspect, the present application provides a submarine array submerged buoy position calibration device, comprising:

the acquisition module is used for taking the current submarine array to be calibrated as a center and acquiring the initial submarine array position of the center;

The determining module is used for determining the initial submarine array position of each submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area based on the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated of the center and the position relation between each submarine array to be calibrated and each submerged buoy to be calibrated in the target calibration area;

The calibration module is used for sequentially centering on each submarine array to be calibrated in the target calibration area, calibrating the submarine array position of any submarine array to be calibrated based on the obtained initial submarine array position of any submarine array to be calibrated, and calibrating the submerged buoy position of any submerged buoy to be calibrated based on the obtained initial submerged buoy position of any submerged buoy to be calibrated.

In a third aspect, the present application provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method described above.

In a fourth aspect, the application provides an electronic device comprising a memory in which a computer program is stored and a processor arranged to implement the above-mentioned method when the program is executed by the computer program.

According to the submarine array submerged-mark position calibration method, device, storage medium and electronic equipment, the initial submarine array position of each submarine array to be calibrated and the initial submerged-mark position of each submerged-mark to be calibrated in the target calibration area can be obtained through the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated in the center and the position relation between each submarine array to be calibrated and each submerged-mark to be calibrated in the target calibration area, so that the position calibration efficiency of the submarine arrays and the submerged-marks is improved; by taking each submarine array to be calibrated as the center, determining the submarine array position of the submarine array to be calibrated according to each initial submarine array position, and determining the submarine mark position of the submarine mark to be calibrated according to each initial submarine mark position, the accurate positions of the submarine array and the submarine mark in the target calibration area can be obtained, and the calibration accuracy of the submarine array position and the submarine mark position is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the application or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the application, and other drawings can 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 submarine array submerged buoy position calibration method provided by an embodiment of the application;

FIG. 2 is a top view of a relative calibration process provided by an embodiment of the present application;

FIG. 3 is a top view of an absolute calibration process provided by an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a submerged buoy-submarine array combined array according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a submarine array submerged buoy position calibration device according to an embodiment of the present application;

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like herein are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules that are expressly listed or inherent to such process, method, article, or apparatus.

The submarine array submerged buoy position calibration method provided by the embodiment of the application is suitable for a terminal, and the terminal can be various electronic devices which are provided with a display screen and support web browsing, including but not limited to a server, a smart phone, a tablet personal computer, a laptop portable computer, a desktop computer and the like.

Fig. 1 is a schematic flow chart of a method for calibrating a submarine array submerged buoy position according to an embodiment of the present application, as shown in fig. 1, the method includes steps 110, 120 and 130. The method flow steps are only one possible implementation of the application.

Step 110, taking the current submarine array to be calibrated as a center, and acquiring the initial submarine array position of the center.

Specifically, the execution main body of the submarine array submerged buoy position calibration method provided by the embodiment of the application is a submarine array submerged buoy position calibration device, and the device can be independently arranged hardware equipment in a terminal or can be a software program running in the terminal. For example, when the terminal is a desktop computer, the submarine array submerged buoy position calibration device may be embodied as an application such as calibration software in the desktop computer.

The submarine array consists of a plurality of array elements, and each array element can receive signals and transmit the received signals to sound source equipment or submerged buoy for processing and analysis.

The current submarine array to be calibrated is the submarine array which is currently ready for position calibration. The current submarine array to be calibrated can be taken as a center, and the initial submarine array position of the center can be determined in an absolute calibration mode. The position of each array element in the current submarine array to be calibrated can be determined first, and then the initial submarine array position of the current submarine array to be calibrated is determined according to the position of each array element.

Step 120, determining the initial submarine array position of each submarine array to be calibrated and the initial submarine mark position of each submarine mark to be calibrated in the target calibration area based on the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated in the center and the position relation between each submarine array to be calibrated and each submarine mark to be calibrated in the target calibration area.

Specifically, the target calibration area is the sea area range currently ready for calibration. The target area comprises a plurality of submarine arrays to be calibrated and a plurality of submerged markers to be calibrated.

The submerged buoy is equipment capable of operating underwater, and can send signals at fixed time, and after receiving the signals, the submarine array can analyze and decode.

After the initial submarine array position of the current center is obtained, the initial submarine array position of the adjacent submarine array to be calibrated adjacent to the center can be determined again in an absolute calibration mode. The initial submerged buoy position of the submerged buoy to be calibrated, which has communication relation with the two submerged arrays, can be calculated according to the relative calibration mode through the two initial submerged buoy positions.

Fig. 2 is a top view of a relative calibration process provided in an embodiment of the present application, as shown in fig. 2, a submarine array X1 is a current submarine array to be calibrated corresponding to the center, a submarine array X2 is an adjacent submarine array to be calibrated of the submarine array X1, and a submerged buoy X3 and a submerged buoy X4 are submerged buoy to be calibrated.

The distance r13 between the submarine array X1 and the submerged buoy X3 can be determined through signal transmission between the submarine array X1 and the submerged buoy X3, and the distance r23 between the submarine array X2 and the submerged buoy X3 can be obtained in the same way. The initial submerged buoy position of submerged buoy X3 may be determined from the initial submerged array position of submerged array X1, the initial submerged array position of submerged array X2, distance r13, and distance r23.

The distance r14 between the submarine array X1 and the submerged buoy X4 and the distance r24 between the submarine array X2 and the submerged buoy X4 can be obtained in the same way. The initial submerged buoy position of submerged buoy X4 is obtained from the initial submerged array position of submerged array X1, the initial submerged array position of submerged array X2, distance r14 and distance r24.

Therefore, as long as a communication relationship exists between any submerged buoy to be calibrated and two adjacent submerged arrays to be calibrated, namely, within a range capable of transmitting signals, the initial submerged buoy position of any submerged buoy to be calibrated can be calculated according to the initial submerged array positions of the two adjacent submerged arrays to be calibrated.

Meanwhile, if the initial submerged buoy positions of the two adjacent submerged buoy to be calibrated are obtained, the initial submarine array position of any submarine array to be calibrated can be calculated according to the initial submerged buoy positions of the two adjacent submerged buoy to be calibrated as long as a communication relation exists between any submarine array to be calibrated and the two adjacent submerged buoy to be calibrated.

Therefore, the initial submarine array position of each submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area can be determined through the current initial submarine array position, the initial submarine array positions of the central adjacent submarine arrays to be calibrated and the position relations between each submarine array to be calibrated and each submerged buoy to be calibrated in the target calibration area.

And 130, sequentially centering on each submarine array to be calibrated in the target calibration area, calibrating the submarine array position of any submarine array to be calibrated based on the obtained initial submarine array position of any submarine array to be calibrated, and calibrating the submerged buoy position of any submerged buoy to be calibrated based on the obtained initial submerged buoy position of any submerged buoy to be calibrated.

Specifically, the position of the center determines the position determining sequence of the next submerged buoy to be calibrated and the submarine array to be calibrated, that is, the initial position accuracy of the next submerged buoy to be calibrated or the next submarine array to be calibrated is related to the initial position accuracy of the last submarine array to be calibrated or the last submarine array to be calibrated seamark, so that different position determining sequences may affect the obtained initial position result, and in order to reduce the effect, the accuracy of the final initial submerged buoy position or the initial submarine array position can be improved, and each submarine array to be calibrated in the target calibration area can be sequentially used as the center. The initial position is the initial submerged buoy position or the initial submarine array position.

Because the submerged buoy does not have a signal storage function, and the submerged buoy position is difficult to be calibrated in an absolute calibration mode, the embodiment of the application sequentially takes the submarine array to be calibrated as the center.

After each replacement center determines the initial position, each submarine array to be calibrated can obtain an initial submarine array position; each submerged buoy to be calibrated can obtain an initial submerged buoy position. Therefore, when the submarine arrays to be calibrated are taken as the centers, each submarine array to be calibrated corresponds to a plurality of initial submarine array positions, and each submarine mark to be calibrated corresponds to a plurality of initial submarine mark positions.

The accurate submarine array position of each submarine array to be calibrated can be calculated through the positions of the plurality of initial submarine arrays corresponding to each submarine array to be calibrated, so that the submarine array to be calibrated is calibrated; the position of the potential mark to be calibrated can be calculated by the position of each potential mark to be calibrated corresponding to a plurality of initial potential mark positions, so that the potential mark to be calibrated is calibrated.

According to the submarine array submerged buoy position calibration method provided by the embodiment of the application, the initial submarine array position of the submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area can be obtained through the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated in the center and the position relation between each submarine array to be calibrated and each submerged buoy to be calibrated in the target calibration area, so that the position calibration efficiency of the submarine arrays and the submerged buoy is improved; by taking each submarine array to be calibrated as the center, determining the submarine array position of the submarine array to be calibrated according to each initial submarine array position, and determining the submarine mark position of the submarine mark to be calibrated according to each initial submarine mark position, the accurate positions of the submarine array and the submarine mark in the target calibration area can be obtained, and the calibration accuracy of the submarine array position and the submarine mark position is improved.

It should be noted that each embodiment of the present application may be freely combined, exchanged in order, or separately executed, and does not need to rely on or rely on a fixed execution sequence.

In some embodiments, step 110 comprises:

Taking the current submarine array to be calibrated as a center, and controlling sound source equipment to do circular motion around the center;

And determining the initial submarine array position of the current submarine array to be calibrated based on signal interaction between the current submarine array to be calibrated and the sound source equipment in the circular motion process.

The current submarine array to be calibrated comprises a plurality of array elements; determining an initial submarine array position of the current submarine array to be calibrated based on signal interaction between the current submarine array to be calibrated and the sound source device in the circular motion process comprises the following steps:

Acquiring the equipment position of sound source equipment; continuously transmitting acoustic signals to each array element in the current submarine array to be calibrated by the sound source equipment in the motion process;

Determining the relative position of each array element relative to the sound source device based on the time difference of the sound wave signal transmitted from the sound source device to each array element;

Specifically, the initial submarine array position of the center can be determined by adopting a continuous measurement mode of a symmetrical track, so that the calibration accuracy is improved.

The current submarine array to be calibrated can be used as a center, and the sound source equipment is controlled to do circular motion around the center. The sound source device is used for generating and transmitting sound wave signals into the sea water. The sound source device may be a sound source boat.

Fig. 3 is a top view of an absolute calibration process provided in an embodiment of the present application, where, as shown in fig. 3, a horizontal distance between a sound source ship and a current submarine array to be calibrated is R, where R is consistent with a depth difference between the sound source ship and the submarine array, and the sound source ship performs a circular motion around a center.

In the process of circular motion, the sound source equipment can continuously send out sound wave signals, each array element in the current submarine array to be calibrated receives the sound wave signals, the time difference of the sound source equipment transmitted to each array element can be estimated through signal processing, and the relative position of each array element relative to the sound source equipment is obtained. The absolute position of each array element can be determined based on the device position of the sound source device and the relative position. And determining the initial submarine array position of the current submarine array to be calibrated according to the absolute position of each array element.

The clockwise course and the anticlockwise course can be adopted respectively, the sound source equipment is controlled to carry out circular navigation with the radius being R and the fixed depth, and the number of navigation turns can be as many as possible. The number of turns of the circular motion can be set according to the specific situation, for example, 3 turns can be clockwise and 3 turns can be anticlockwise.

According to the submarine array submarine buoy position calibration method provided by the embodiment of the application, the initial submarine array position of the center is determined by a continuous measurement mode of the symmetric track, wherein the sound source equipment performs circular motion around the center, so that the calibration accuracy is improved.

In some embodiments, step 120 comprises:

Constructing a plurality of four-element arrays based on the position relationship between each submarine array to be calibrated and each submarine array to be calibrated in a target calibration area, wherein each four-element array comprises two adjacent submarine arrays to be calibrated and two submarine arrays to be calibrated which have communication relationship with the two adjacent submarine arrays to be calibrated;

And determining the initial submarine array position of each submarine array to be calibrated and the initial submarine mark position of each submarine array to be calibrated in the target calibration area based on the communication relation between each submarine array to be calibrated in the adjacent four-element arrays and each submarine array to be calibrated in the adjacent four-element arrays.

Based on the communication relation between each submarine buoy to be calibrated in the adjacent four-element array and each submarine array to be calibrated in the adjacent four-element array, determining the initial submarine array position of each submarine array to be calibrated and the initial submarine buoy position of each submarine array to be calibrated in the target calibration area, comprising the following steps:

obtaining a second initial submerged buoy position of the second submerged buoy based on the first initial submerged buoy position and the distance between the second submerged buoy in the first adjacent four-element array of the current four-element array and the two first submerged arrays respectively; the first adjacent four-element array and the current four-element array share a first submarine array, and the first submerged buoy and the second submerged buoy are symmetrical relative to the first submarine array;

Determining a second initial sea-bottom array position of a second sea-bottom array based on a first submerged buoy and a second submerged buoy in communication with a second sea-bottom array in a second adjacent four-element array of the current four-element array; the second adjacent four-element array shares a first submarine array and a first submerged buoy with the current four-element array;

Updating the current four-element array based on the second adjacent four-element array until the initial submarine array position of each submarine array to be calibrated and the initial submarine mark position of each submarine mark to be calibrated in the target calibration area are obtained.

Specifically, a plurality of four-element arrays can be constructed according to the position relationship between each submarine array to be calibrated and each submarine array to be calibrated in the target calibration area, wherein each four-element array comprises two adjacent submarine arrays to be calibrated and two submarine arrays to be calibrated which have communication relationship with the two adjacent submarine arrays to be calibrated. The submarine arrays X1, X2, X3 and X4 in fig. 2 may constitute a four-element array.

Fig. 4 is a schematic structural diagram of a combined array of submerged buoy and submerged buoy provided in an embodiment of the present application, as shown in fig. 4, the combined array of submerged buoy and submerged buoy has 18 submerged buoy and 28 submerged buoy in an XY coordinate system, and the unit of the coordinate system may be set according to actual conditions, for example, may be the sea (nautical mile, nm).

The sea floor array and submerged buoy of fig. 4 may constitute a plurality of four-element arrays. According to the communication relation between each submarine array to be calibrated in the adjacent four-element array and each submarine array to be calibrated in the adjacent four-element array, the initial submarine array position of each submarine array to be calibrated in the target calibration area and the initial submarine mark position of each submarine array to be calibrated can be determined.

For example, a current four-element array is constructed centering on the sea-bottom array Z1, with the sea-bottom array Z1, the sea-bottom array Z2, the submerged buoy Q1, and the submerged buoy Q2. The two first submarine arrays in the current four-element array are a submarine array Z1 and a submarine array Z2 respectively, and the two first submerged marks in the current four-element array are a submerged mark Q1 and a submerged mark Q2 respectively.

The first initial sea floor array position of the sea floor array Z1 and the first initial sea floor array position of the sea floor array Z2 can be determined in an absolute calibration mode.

The submerged buoy has the function of sending signals at fixed time, so that the time delay difference between the submerged buoy and the submarine array can be calculated, and the distance between the submerged buoy and the submarine array can be calculated.

For example, submerged buoy Q1 may periodically transmit an interrogation signal, and submerged arrays Z1 and Z2 may each receive an interrogation signal transmitted by submerged buoy Q1. The time delay from the submerged buoy Q1 to the submerged buoy Z1 and the time delay from the submerged buoy to the submerged buoy Z2 can be calculated by taking the sending time of the submerged buoy Q1 as the starting time and respectively correlating the signals received by the submerged buoy Z1 and the submerged buoy Z2 with the copy signals of the submerged buoy Q1, and the distance can be obtained by multiplying the sound velocity.

After the distance between the submerged buoy Q1 and the submarine array Z1, the distance between the submerged buoy Q1 and the submarine array Z2, and the first initial submarine array positions of the submarine array Z1 and the submarine array Z2 are obtained, the coordinate position of the submerged buoy Q1 can be calculated by a adjustment method, and the coordinate position is used as the first initial submerged buoy position of the submerged buoy Q1.

Likewise, submerged buoy Q2 transmits an interrogation signal at a timing. And the time is taken as the initial time, the distance between the submerged buoy Q2 and the submarine arrays Z1 and Z2 can be calculated by using a correlation method, the coordinate position of the submerged buoy Q2 can be obtained by using a adjustment method, and the coordinate position is taken as the first initial submerged buoy position of the submerged buoy Q2.

Submerged buoy Q15 and submerged buoy Q16 are symmetrical with submerged buoy Q1 and submerged buoy Q2 about sea floor array Z1 and sea floor array Z2. The submerged buoy Q15, the submerged buoy Q16, the submarine array Z1 and the submarine array Z2 constitute a first adjacent four-element array of the current four-element array. The current four-element array shares a submarine array Z1 and a submarine array Z2 with the first adjacent four-element array. The submerged buoy Q15 and the submerged buoy Q16 in the first adjacent four-element array are referred to as a second submerged buoy.

The second initial submerged buoy positions of submerged buoy Q15 and submerged buoy Q16 may be obtained from the positions of submerged buoy Z1 and submerged buoy Z2 and the distances between submerged buoy Q15 and submerged buoy Q16 and submerged buoy Z1 and submerged buoy Z2, respectively.

The second adjacent four-element array of the current four-element array can be constructed by a submarine array Z2, a submarine array Z3, a submerged buoy Q2 and a submerged buoy Q3. The second adjacent four-element array shares the submarine array Z2 and the submerged buoy Q2 with the current four-element array. The second sea floor array in the second adjacent four-element array is a sea floor array Z3. The first submerged buoy and the second submerged buoy which have communication relation with the second submerged buoy in the second adjacent four-element array are a submerged buoy Q2 and a submerged buoy Q16 respectively.

A second initial sea floor array position for sea floor array Z3 may be determined based on the initial submerged buoy positions of submerged buoy Q2 and submerged buoy Q16.

The current second adjacent four-element array can be used as a new current four-element array, the initial submerged mark position of the submerged mark Q3 is calculated according to the submerged array Z1 and the submerged array Z2, and the initial positions of the submerged marks Z3-Z9, the submerged marks Q1-Q7 and the submerged marks Q15-Q21 are finally obtained.

For the submarine arrays Z10-Z18, the submerged marks Q22-Q28 and the submerged marks Q8-Q14, the submarine arrays Z10 and the submarine arrays Z11 can be respectively and absolutely calibrated to obtain initial submarine array positions of the submarine arrays Z10 and the submarine arrays Z11, and then the initial positions of other submerged marks and the submarine arrays are sequentially calculated to obtain initial submarine array positions of all submarine arrays to be calibrated and initial submerged mark positions of all submerged marks to be calibrated in a target calibration area.

According to the submarine array submerged-buoy position calibration method provided by the embodiment of the application, the initial submarine array position of each submarine array to be calibrated and the initial submerged-buoy position of each submerged-buoy to be calibrated in the target calibration area can be obtained rapidly by combining the absolute calibration mode and the relative calibration mode, so that the calibration efficiency is improved.

In some embodiments, obtaining the first initial submerged buoy position of the first submerged buoy based on the first initial submerged buoy position and the distance between the first submerged buoy in the current four-element array and the two first submerged arrays, respectively, includes:

Obtaining estimated submerged buoy positions of the first submerged buoy based on the first initial submerged buoy positions and the distances between the first submerged buoy and the two first submerged buoy respectively;

constructing a adjustment model of the first submerged buoy based on the operation relation between the first initial submarine array position and the first distance and the position of the first submerged buoy when the first submerged buoy is installed; the first distance is the distance between the first submerged buoy and the first submarine array;

And correcting the estimated potential logo position based on the adjustment model and the least square method to obtain a first initial potential logo position.

Specifically, the estimated submerged buoy position of the first submerged buoy can be estimated according to the two first initial submerged buoy positions of the two adjacent submerged buoy and the distance between the first submerged buoy and the two first submerged buoy respectively. The initial submerged buoy position is obtained by correcting the estimated submerged buoy position.

And constructing a adjustment model of the first submerged buoy according to the operation relation between the first initial submerged array position and the first distance and the position of the first submerged buoy when the first submerged buoy is installed, wherein the first distance is the distance between the first submerged buoy and the first submerged array. The specific construction process of the adjustment model is as follows:

Currently, a first submarine array is obtained First initial sea floor array position/>，/>For the submarine array/>X-axis coordinates of (a); /(I)For the submarine array/>Is defined by the Y-axis coordinates of (c). First submerged buoy/>With the first submarine array/>Horizontal baseline distance between/>The operation formula is as follows:

Wherein, For the first submerged buoy/>X-axis coordinates of (a); /(I)For the first submerged buoy/>Is defined by the Y-axis coordinates of (c).

Acquiring a first submarine arrayCoordinate position at installation in sea water/>And a first submerged buoy/>Coordinate position at installation in sea water/>. Can be based on horizontal baseline distance/>The operation formula is obtained as follows:

Wherein, For baseline length correction,/>，/>，For the initial value of the base line length solution,/>For the first submarine array/>Is used for the coordinate correction of (a),For the first submerged buoy/>Coordinate correction amount of/>，/>Is the error in iteration, namely each time the first submerged buoy/>The difference between the estimated distance to the first array and the observed distance. The following adjustment model can be obtained according to the above equation:

Wherein, Is/>Is a matrix representation of (a); /(I)Is/>Is a matrix representation of (a). /(I)To observe the matrix vector,/>Is the coordinate correction value.

Correcting the coordinate value by least square estimation to make the targetMinimum, obtain the coordinate correction value/>The method comprises the following steps:

Wherein, When the baseline measurement error is subjected to zero-mean Gaussian distribution for observing the measurement accuracy weight array=E, E is a unit array; /(I)Is an intermediate variable,/>Is a reference constraint condition matrix.

To obtain a unique solution for the coordinate correction values, constraintsThe following formula is satisfied:

obtaining the coordinate value of the first submerged buoy after adjustment The method comprises the following steps: /(I)Thereby obtaining a first initial submerged buoy position of the first submerged buoy. Wherein/>To estimate the estimated potential target position of the first potential target,/>Is the rank of the matrix.

According to the submarine array submerged-buoy position calibration method provided by the embodiment of the application, the estimated submerged-buoy position is corrected through the adjustment model and the least square method to obtain the first initial submerged-buoy position, the accuracy of the first initial submerged-buoy position is improved, in addition, the adjustment model is adopted to calibrate the submarine array and the submerged-buoy, the calibration efficiency is improved, the four-element array is basically at the same depth, the sound velocity difference is small, and therefore the distance error is relatively small. In addition, the adjustment model can reduce accumulated errors introduced by the traditional method to a certain extent, and the calibration accuracy is improved.

In some embodiments, step 130 comprises:

And calibrating the submarine array position of any submarine array to be calibrated based on the average value of all the initial submarine array positions remained after the abnormal positions are removed.

Specifically, in order to further improve the accuracy of the obtained submarine array position and the submarine buoy position, each submarine array to be calibrated in the target calibration area is sequentially configured as a center, distance information between each submarine array to be calibrated and the submarine buoy to be calibrated is measured for multiple times, and finally the accurate positions of each submarine array to be calibrated and each submarine buoy to be calibrated in the target calibration area are calculated.

After each initial submarine array position of any submarine array to be calibrated is obtained, the average value of each initial submarine array position can be calculated first, each initial submarine array position is compared with the average value of each current initial submarine array position, if the difference value of the current initial submarine array position is larger than a preset threshold value, the initial submarine array position is indicated to be an abnormal position, the initial submarine array position is possibly inaccurate due to various reasons, therefore, the initial submarine array position needs to be removed, the average value of the rest initial submarine array positions is calculated, and the average value is used as the submarine array position of any submarine array to be calibrated. The magnitude of the preset threshold value can be set according to actual conditions.

Similarly, after each initial submerged-arc position of any submerged-arc target to be calibrated is obtained, the average value of each initial submerged-arc position can be calculated first, each initial submerged-arc position is compared with the average value of each current initial submerged-arc position, if the difference value of the current initial submerged-arc position is larger than a preset threshold value, the initial submerged-arc position is indicated to be an abnormal position, the initial submerged-arc position is possibly inaccurate due to various reasons, therefore, the initial submerged-arc position needs to be removed, and then the average value of the rest initial submerged-arc positions is obtained and is used as the submerged-arc position of any submerged-arc target to be calibrated.

According to the submarine array submerged-buoy position calibration method provided by the embodiment of the application, each initial submarine array position of any submarine array to be calibrated can be obtained by taking each submarine array to be calibrated in the target calibration area as the center, and the submarine array position of the any submarine array to be calibrated is finally obtained according to each initial submarine array position, so that the accuracy of the obtained submarine array position is ensured.

The submarine array submerged-buoy position calibration device provided by the embodiment of the application is described below, and the submarine array submerged-buoy position calibration device described below and the submarine array submerged-buoy position calibration method described above can be correspondingly referred to each other.

Fig. 5 is a schematic structural diagram of a device for calibrating a submarine array submerged buoy position according to an embodiment of the present application, as shown in fig. 5, where the device includes an obtaining module 510, a determining module 520, and a calibrating module 530.

The determining module is used for determining the initial submarine array position of each submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area based on the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated in the center and the position relation between each submarine array to be calibrated and each submerged buoy to be calibrated in the target calibration area;

Specifically, according to an embodiment of the present application, any of the acquisition module, the determination module, and the calibration module may be combined and implemented in one module, or any of the modules may be split into a plurality of modules.

Or at least some of the functionality of one or more of the modules may be combined with, and implemented in, at least some of the functionality of other modules.

According to embodiments of the application, at least one of the acquisition module, the determination module and the calibration module may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or in hardware or firmware, such as any other reasonable way of integrating or packaging the circuits, or in any one of or a suitable combination of three of software, hardware and firmware.

Or at least one of the acquisition module, the determination module and the calibration module may be at least partially implemented as a computer program module which, when executed, may perform the respective functions.

According to the submarine array submerged buoy position calibration device provided by the embodiment of the application, the initial submarine array position of each submarine array to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area can be obtained through the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated of the center and the position relation between each submarine array to be calibrated and each submerged buoy to be calibrated in the target calibration area, so that the position calibration efficiency of the submarine arrays and the submerged buoy is improved; by taking each submarine array to be calibrated as the center, determining the submarine array position of the submarine array to be calibrated according to each initial submarine array position, and determining the submarine mark position of the submarine mark to be calibrated according to each initial submarine mark position, the accurate positions of the submarine array and the submarine mark in the target calibration area can be obtained, and the calibration accuracy of the submarine array position and the submarine mark position is improved.

In some embodiments, the obtaining module is specifically configured to:

In some embodiments, the current array to be calibrated includes a plurality of array elements. The acquisition module comprises a signal submodule which is specifically used for:

In some embodiments, the determining module is specifically configured to:

In some embodiments, the determination module includes a loop sub-module to:

In some embodiments, the circulation sub-module is further to:

In some embodiments, the calibration module is specifically configured to:

It should be noted that, the submarine array submerged buoy position calibration device provided by the embodiment of the application can realize all the method steps realized by the submarine array submerged buoy position calibration method embodiment, and can achieve the same technical effects, and the parts and beneficial effects which are the same as those of the method embodiment in the embodiment are not specifically repeated here.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 6, the electronic device may include: processor (Processor) 610, communication interface (Communications Interface) 620, memory (Memory) 630, and communication bus (Communications Bus) 640, wherein Processor 610, communication interface 620, memory 630 complete communication with each other through communication bus 640. The processor 610 may invoke logic commands in the memory 630 to perform the method described above, including:

taking the current submarine array to be calibrated as a center, and acquiring the initial submarine array position of the center;

Determining the initial submarine array position of each submarine array to be calibrated and the initial submarine mark position of each submarine mark to be calibrated in a target calibration area based on the initial submarine array position of the center, the initial submarine array positions of the adjacent submarine arrays to be calibrated in the center and the position relation between each submarine array to be calibrated and each submarine mark to be calibrated in the target calibration area;

In addition, the logic commands in the memory described above may be implemented in the form of software functional modules and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The processor in the electronic device provided by the embodiment of the application can call the logic instruction in the memory to realize the method, and the specific implementation mode is consistent with the implementation mode of the method, and the same beneficial effects can be achieved, and the detailed description is omitted here.

Embodiments of the present application also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments.

The specific embodiment is consistent with the foregoing method embodiment, and the same beneficial effects can be achieved, and will not be described herein.

The embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.

The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. The submarine array submerged buoy position calibration method is characterized by comprising the following steps of:

Sequentially centering each submarine array to be calibrated in the target calibration area, calibrating the submarine array position of any submarine array to be calibrated based on the obtained initial submarine array position of any submarine array to be calibrated, and calibrating the submerged buoy position of any submerged buoy to be calibrated based on the obtained initial submerged buoy position of any submerged buoy to be calibrated;

The determining the initial submarine array position of each submarine array to be calibrated and the initial submarine mark position of each submarine mark to be calibrated in the target calibration area comprises the following steps:

determining the initial submarine array position of each submarine array to be calibrated and the initial submarine label position of each submarine array to be calibrated in the target calibration area based on the communication relation between each submarine array to be calibrated in the adjacent four-element array and each submarine array to be calibrated in the adjacent four-element array;

Based on the communication relation between each submerged buoy to be calibrated in the adjacent four-element array and each submerged buoy to be calibrated in the adjacent four-element array, determining the initial submerged array position of each submerged buoy to be calibrated and the initial submerged buoy position of each submerged buoy to be calibrated in the target calibration area comprises the following steps:

2. The submarine array submerged buoy position calibration method according to claim 1, wherein the obtaining the initial submarine array position of the center with the submarine array to be calibrated currently as the center comprises:

3. The submarine array submerged buoy position calibration method according to claim 2, wherein the current submarine array to be calibrated comprises a plurality of array elements; the determining the initial submarine array position of the current submarine array to be calibrated based on the signal interaction between the current submarine array to be calibrated and the sound source device in the circular motion process comprises the following steps:

4. The method for calibrating the position of the submerged buoy of the submarine array according to claim 1, wherein the obtaining the first initial submerged buoy position of the first submerged buoy based on the first initial submerged buoy position and the distances between the first submerged buoy in the current four-element array and the two first submerged arrays respectively comprises:

5. The submarine array submerged-arc position calibration method according to claim 1, wherein the sequentially centering on each submarine array to be calibrated in the target calibration area and calibrating the submarine array position of any submarine array to be calibrated based on each initial submarine array position of the obtained submarine array to be calibrated comprises:

6. A submarine array submerged buoy position calibration device, comprising:

the calibration module is used for sequentially centering on each submarine array to be calibrated in the target calibration area, calibrating the submarine array position of any submarine array to be calibrated based on the obtained initial submarine array position of any submarine array to be calibrated, and calibrating the submerged buoy position of any submerged buoy to be calibrated based on the obtained initial submerged buoy position of any submerged buoy to be calibrated;

The determining module is specifically configured to construct a plurality of four-element arrays based on a positional relationship between each submarine array to be calibrated and each submarine buoy to be calibrated in the target calibration area, where the four-element arrays include two adjacent submarine arrays to be calibrated and two submarine arrays to be calibrated which have a communication relationship with the two adjacent submarine arrays to be calibrated;

The determining module comprises a circulating submodule, wherein the circulating submodule is used for acquiring first initial submarine array positions of two first submarine arrays in the current four-element array;

7. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the subsea array submerged buoy position calibration method of any one of claims 1 to 5.

8. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to perform the subsea array submerged buoy position calibration method of any one of claims 1 to 5 by means of the computer program.