CN101806884A - Method for accurately positioning absolute position of deep-sea beacon based on ultra short base line - Google Patents

Abstract

The invention provides an ultra-short baseline-based method for precise positioning of the absolute position of a deep-sea beacon. (1) The ultra-short baseline acoustic matrix receives beacon signals at a measurement point respectively, and measures the beacon azimuth; (2) Uses GPS to measure the absolute position of the measurement point; (3) Changes according to the azimuth obtained last time and the received signal (4) Repeat steps (2) and (3) to obtain enough data of the measuring points; (5) Measure the sound velocity distribution in the sea area near the beacon position; (6) ) Calculate the horizontal coordinates of the beacon according to the position and horizontal azimuth of the measuring points; (7) Calculate the depth of the beacon according to the horizontal coordinates of the beacon, the sound velocity profile and the pitch and azimuth of the acoustic signals of each measuring point. The method of the invention has wide application prospects in the aspects of black box search and rescue and underwater beacon navigation under deep sea conditions.

Description

Deep-sea beacon absolute position accurate positioning method based on ultra-short baseline

Technical field

The invention belongs to the hydrolocation field, relate generally to the localization method of subsea beacon.

Background technology

When Radio Beacon was operated under water, because periodic transmission sound pulse independently just, water surface positioning system only can obtain target direction information, and does not have range information, so the higher long baseline method inefficacy of bearing accuracy.Can only adopt the localization method in pure orientation.Mostly existing pure orientation localization method is to concentrate on the research that utilizes target two-dimensional level orientation that target is positioned.

Among the total storehouse CNKI of china academia document Web publishing, the open report relevant with the present patent application that can retrieve mainly comprises: 1, underwater sound master Passive Positioning System acoustic marker design (the will perseverance is permitted in Chinese academic dissertation/Harbin Engineering University/2008/).The document has been introduced the design proposal of acoustic marker system, is not the localization method of beacon; 2, deep-sea acoustic responder location and navigation technology research (Chinese academic dissertation/Harbin Engineering University/2008/ Lan Hualin).The document has provided the pure orientation of the seabed transponder localization method based on ultra-short baseline, and is bigger with the present patent application degree of correlation.But do not provide the choosing method of measuring point in the document, do not introduce the crooked method of revising of sound ray in detail; 3, a kind of acoustic marker localization method (hi-tech communication 2009 the 5th phase/Li Xiang) based on ultra-short baseline.The document has provided a kind of method of only determining beacon position with target azimuth information.By repeatedly measuring azimuth information, set up the relational expression of azimuth information and target location, utilize least square method to obtain the position of beacon under earth coordinates.Sound ray is crooked to be revised but do not provide.

At the accurate location of deep-sea subsea beacon, existing pure orientation localization method has 2 deficiencies at least: the one, and position the unknown of beacon, and the position of measuring point directly influences the beacon locating accuracy, existing method does not provide the choosing method of measurement point position; The 2nd, when the three-dimensional position that utilizes acoustical signal is located beacon, though can directly find the solution the little situation of location precision in the distribution of the shallow sea velocity of sound, and distribute no longer suitable to the bigger deep-sea situation of location precision in the velocity of sound.At the deficiencies in the prior art, need a kind of to the accurate Calibration Method in seabed transponder absolute position, deep-sea.

Summary of the invention

The object of the present invention is to provide a kind of deep-sea beacon absolute position accurate positioning method based on ultra-short baseline that can realize to the accurate calibration in seabed transponder absolute position, deep-sea.

The object of the present invention is achieved like this:

(1) the ultra-short baseline acoustic basic matrix receives beacon signal respectively at a measurement point, records the beacon orientation;

(2) according to gained orientation and received signal change last time point position, obtain the bigger measuring point of orientation difference;

(3) utilize GPS to record the absolute position of measurement point;

(4) repeating step (2) and step (3) obtain abundant measuring point data;

(5) distribute in the beacon position surrounding waters in-site measurement velocity of sound;

(6) calculate the horizontal coordinate of beacon according to point position and level orientation;

(7) according to resolving the degree of depth that the beacon horizontal coordinate, velocity of sound section and each the measuring point acoustical signal pitching orientation that obtain calculate beacon.

For realizing purpose of the present invention, need utilize ultra-short baseline that the beacon acoustical signal is detected, measure the orientation of acoustical signal under earth coordinates.

For realizing purpose of the present invention, need utilize the beacon level orientation value of current measuring point, next measuring point is selected in guiding water surface ship's head.

For realizing purpose of the present invention, need with GPS measure the absolute terrestrial coordinate of measurement point and with velocity of sound section plotter in the beacon position surrounding waters to the velocity of sound distribution carry out in-site measurement.

For realizing purpose of the present invention, the orientation of acoustical signal need be decomposed into level orientation and pitching orientation, level orientation crosses and can calculate the horizontal coordinate of beacon.

For realizing purpose of the present invention, need carry out the crooked correction of sound ray according to the horizontal coordinate of measuring point and beacon, the pitching orientation of acoustical signal, try to achieve the depth coordinate of beacon.

Characteristics of the present invention are at the boat-carrying ultra-short baseline that utilizes waterborne vessel deep-sea beacon accurately to be located, and determine point position by the guiding of ultra-short baseline, obtain high-precision deep-sea beacon absolute location coordinates by crooked correction of sound ray.The black box of this method under the condition of deep-sea search and rescue and the subsea beacon navigation aspect all have wide practical use.

Description of drawings

Fig. 1 is the pinpoint geometric configuration synoptic diagram of deep-sea beacon.

Fig. 2 is that deep-sea beacon is accurately located measuring point selection vertical view.

Fig. 3 is the both sides point level orientation principle schematic that crosses.

Fig. 4 is based on the deep-sea beacon absolute position accurate positioning method realization flow figure of ultra-short baseline.

Embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

Among the present invention, as Fig. 1, beacon 1 is anchored to the seabed, and the position is X _bWith time interval T periodic transmission ping; Ultra-short baseline acoustic basic matrix 2 is installed on the waterborne vessel, and high-precision GPS 3 is installed on the ship.The ultra-short baseline acoustic basic matrix is at different point position X _GiDetect the acoustical signal of beacon and to its direction finding, obtain the orientation of beacon under earth coordinates in conjunction with the ship appearance data of ultra-short baseline alignment error calibration result and this measuring point

θ wherein _iBe defined as the i measuring point and record beacon acoustical signal horizontal direction and direct north angle;

Be defined as the glancing angle that the i measuring point records the beacon acoustical signal.

The mode of choosing such as Fig. 2 of measuring point suppose that measuring point 1 position is X _G1, record the level orientation θ of beacon ₁Choosing water surface ship's head then is θ ₁-60 °, navigate by water and stop after certain distance, carry out the 2nd point measurement, obtain beacon level orientation θ ₂Choosing water surface ship's head then is θ ₂-60 °, distance to go r ₀After stop, carrying out the 3rd point measurement, obtain beacon level orientation θ ₃And the like, obtain N measurement point and corresponding measurement result.This method has utilized the direction finding ability of ultra-short baseline that waterborne vessel is carried out bearing directing, and can guarantee that the distance of point position and subsea beacon is more and more nearer.

Suppose beacon coordinate X _b=(x _b, y _b, z _b), point position coordinate X _G1=(x _Gi, y _Gi, z _Gi), following relation is arranged so:

$\left\{\begin{array}{c}{x}_b-x_{\mathrm{Gi}}=r_{\mathrm{ai}}\cos {\mathrm{\θ}}_i\\ y_b-y_{\mathrm{Gi}}=r_{\mathrm{ai}}\sin {\mathrm{\θ}}_i\end{array}\right.---\left(1\right)$

In the formula

$r_{\mathrm{ai}}=\sqrt{{(x_b-x_{\mathrm{Gi}})}^2+{(y_b-y_{\mathrm{Gi}})}^2}---\left(2\right)$

The horizontal range of representing each measuring point and beacon position.It is the level orientation of the example synoptic diagram that crosses that Fig. 3 has provided with the both sides point.

Equation (1) is a nonlinear equation, adopts Newton method to solve the horizontal coordinate of beacon, back substitution is as a result obtained the horizontal range r of each measuring point and beacon in the formula (2) _Ai

Because the depth of water of ultra-short baseline acoustic basic matrix is known, distributing according to horizontal range, glancing angle and the velocity of sound can be in the hope of the depth coordinate of beacon position.The method that two kinds of realizations are arranged.

First method.For each measuring point, from glancing angle

Set out and carry out the sound ray tracking, when horizontal range is r _AiIn time, stop, and this moment, the corresponding degree of depth was the estimation of Depth of beacon

Then to the estimation of Depth of a plurality of measuring points Ask average, the ultimate depth that obtains beacon is estimated

$\hat{z}=\frac{1}{N}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{\hat{z}}_i---\left(3\right)$

This method is because each measuring point all needs to carry out a sound ray tracking, and calculated amount is big, and is particularly like this under the many situations of measuring point.

Second method.To any one measuring point, obtain beacon degree of depth initial value by first method Under the condition certain in the degree of depth, that velocity of sound distribution is certain, the horizontal range of acoustic propagation and glancing angle have fixing funtcional relationship, as shown in the formula:

Wherein r is an oblique distance, and f () reaches the function that the corresponding velocity of sound distributes and determines deeply by the sea, can approach by numerical evaluation according to the snell law and find the solution.

Be the glancing angle of acoustical signal in ultra-short baseline acoustic basic matrix position.

Acoustic propagation time delay according to each measuring point can be in the hope of the horizontal range r of each measuring point and beacon _Ai ⁽¹⁾The definition error e:

$e=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{(r_{\mathrm{ai}}^{\left(1\right)}-r_{\mathrm{ai}})}^2---\left(5\right)$

Change the degree of depth

Search for, when enough hour corresponding beacon degree of depth of e is the beacon estimation of Depth.The method of search can adopt dichotomy.

Claims (7)

1. A deep-sea beacon absolute position precise positioning method based on an ultra-short baseline, characterized in that: (1) The ultra-short baseline acoustic matrix receives beacon signals at a measurement point and measures the beacon azimuth; (2) Use GPS to measure the absolute position of the measuring point; (3) Change the position of the measuring point according to the azimuth obtained last time and the received signal, and obtain the measuring point with a large difference in azimuth; (4) repeat steps (2) (3) to obtain enough measuring point data; (5) On-site measurement of the sound velocity distribution in the sea area near the beacon position; (6) Calculate the horizontal coordinates of the beacon according to the position of the measuring point and the horizontal orientation; (7) Calculate the depth of the beacon according to the horizontal coordinates of the beacon, the sound velocity profile and the pitch and azimuth of the sound signals of each measuring point. 2. the deep-sea beacon absolute position precise positioning method based on ultra-short baseline according to claim 1, is characterized in that: the method that described beacon orientation is recorded is that beacon is anchored on the seabed, and position is X _b ; With The time interval T periodically emits acoustic pulse signals; the ultra-short baseline acoustic array is installed on the surface ship, and the high-precision GPS is installed on the ship; the ultra-short baseline acoustic array detects the acoustic signal of the beacon at different measuring point positions X _Gi and compares Direction finding, combined with the ultra-short baseline installation error calibration results and the ship attitude data of the measuring point to obtain the orientation of the beacon in the geodetic coordinate system

Where _θi is the angle between the horizontal direction of the beacon sound signal measured at the i-th measuring point and the true north direction;

is the glancing angle of the beacon acoustic signal measured at the i-th measuring point. 3. according to claim 1 or 2 described method based on the deep-sea beacon absolute position precise positioning of ultra-short baseline, it is characterized in that: the described method that obtains enough measuring point data is, the first measuring point position is X _G1 , to measure the horizontal azimuth θ ₁ of the beacon; then select the course of the surface ship as θ1-60°, stop after sailing for a certain distance, measure the second measuring point, and obtain the horizontal azimuth θ ₂ of the beacon; then select the course of the surface ship is θ ₂ -60°, stop after sailing distance r ₀ , measure the third measuring point, and obtain the horizontal orientation θ ₃ of the beacon; and so on, obtain N measuring points and corresponding measurement results. 4. The ultra-short baseline-based method for precise positioning of the absolute position of deep-sea beacons according to claim 1 or 2, characterized in that the horizontal coordinates of the beacons obtained according to the solution, the sound velocity profile, and the pitch and azimuth of the acoustic signals of each measuring point The method to calculate the depth of the beacon is: for each measuring point, from the grazing angle

Start sound ray tracking, stop when the horizontal distance is r _ai , and the corresponding depth at this time is the depth estimation of the beacon

Then the depth estimation of multiple survey points

averaged to get the final depth estimate for the beacon

$\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; N</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; z</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; .</span>$ 5. The deep-sea beacon absolute position precise positioning method based on the ultra-short baseline according to claim 3, characterized in that the horizontal coordinates of the beacon obtained according to the solution, the sound velocity profile and the pitch and azimuth of the acoustic signals of each measuring point are solved. The method for the depth of the beacon is: for each survey point, from the glancing angle Start sound ray tracking, stop when the horizontal distance is r _ai , and the corresponding depth at this time is the depth estimation of the beacon

Then the depth estimation of multiple survey points

averaged to get the final depth estimate for the beacon

$\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; N</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; z</span>}}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; .</span>$ 6. The ultra-short baseline-based deep-sea beacon absolute position precise positioning method according to claim 1 or 2, characterized in that the horizontal coordinates of the beacon, the sound velocity profile and the pitch and azimuth of the acoustic signals of each measuring point are obtained according to the solution The method to calculate the depth of the beacon is as follows: under the conditions of constant depth and constant sound velocity distribution, the horizontal distance of sound propagation has a fixed functional relationship with the grazing angle.

where r is the slant distance, f(·) is a function determined by the sea depth and the corresponding sound velocity distribution, which can be approximated by numerical calculation according to Snell’s law,

is the grazing angle of the acoustic signal at the position of the ultra-short baseline acoustic array; Calculate the horizontal distance r _ai ⁽¹⁾ between each measuring point and the beacon according to the sound propagation time delay of each measuring point, and define the error e: $\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; ai</span>}}^{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; ai</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}$ change depth

Search, when e is small enough, the corresponding beacon depth is the beacon depth estimate, and the search method adopts the dichotomy method. 7. The deep-sea beacon absolute position precise positioning method based on the ultra-short baseline according to claim 3, characterized in that the horizontal coordinates of the beacon obtained according to the solution, the sound velocity profile and the pitch and azimuth of the acoustic signals of each measuring point are solved. The method of the depth of the beacon is: under the conditions of a certain depth and a certain sound velocity distribution, the horizontal distance of sound propagation has a fixed functional relationship with the grazing angle.

where r is the slant distance, f(·) is a function determined by the sea depth and the corresponding sound velocity distribution, which can be approximated by numerical calculation according to Snell’s law,

is the grazing angle of the acoustic signal at the position of the ultra-short baseline acoustic array; Calculate the horizontal distance r _ai ⁽¹⁾ between each measuring point and the beacon according to the sound propagation time delay of each measuring point, and define the error e: $\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; N</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; ai</span>}}^{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; ai</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}$ change depth

Search, when e is small enough, the corresponding beacon depth is the beacon depth estimate, and the search method adopts the dichotomy method.

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