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CN108919324A - A kind of localization method of underwater glider - Google Patents

A kind of localization method of underwater glider Download PDF

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Publication number
CN108919324A
CN108919324A CN201810227053.5A CN201810227053A CN108919324A CN 108919324 A CN108919324 A CN 108919324A CN 201810227053 A CN201810227053 A CN 201810227053A CN 108919324 A CN108919324 A CN 108919324A
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underwater glider
sound signal
depth
sound source
underwater
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CN108919324B (en
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宋大雷
苏志强
孙伟成
崔志建
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Ocean University of China
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Ocean University of China
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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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

本发明公开了一种水下滑翔机的定位方法，该方法包括如下步骤，即：s1.当水下滑翔机在海中滑翔时，母舰上搭载的声源换能器在某时刻发出声音信号；s2.搭载在水下滑翔机上的矢量水听器接收到步骤s1中的声音信号，获取水下滑翔机下潜深度、姿态角以及水下滑翔机接收声音信号的时间；s3.在岸上记录母舰发出声音信号时母舰的GPS经纬度信息以及发出声音信号的时间；s4.根据步骤s2和步骤s3计算得出声音信号的传播时间；s5.根据声音信号的传播时间以及声音信号在水中传播的速度，得出母舰与水下滑翔机之间的相对距离；s6.根据母舰的GPS经纬度信息，进行三维数据计算，最终确定水下滑翔机的三维位置。本发明方法利于实现滑翔机的定位，具有精度高、实时性好特点。

The invention discloses a method for locating an underwater glider. The method includes the following steps, namely: s1. When the underwater glider is gliding in the sea, the sound source transducer carried on the mothership sends out a sound signal at a certain moment; s2 .The vector hydrophone mounted on the underwater glider receives the sound signal in step s1, and obtains the underwater glider's dive depth, attitude angle, and the time when the underwater glider receives the sound signal; s3. Record the mother ship's sound on the shore The GPS latitude and longitude information of the mother ship and the time when the sound signal was sent out; s4. Calculate the propagation time of the sound signal according to step s2 and step s3; s5. According to the propagation time of the sound signal and the speed of sound signal propagation in water, get Calculate the relative distance between the mothership and the underwater glider; s6. According to the GPS latitude and longitude information of the mothership, perform three-dimensional data calculation, and finally determine the three-dimensional position of the underwater glider. The method of the invention is beneficial to realize the positioning of the glider, and has the characteristics of high precision and good real-time performance.

Description

A kind of localization method of underwater glider
Technical field
The present invention relates to engineering calculating method field more particularly to a kind of localization methods of underwater glider.
Background technique
Underwater glider is a kind of novel underwater robot.Since it is promoted using net buoyancy and attitude angle adjustment Power, energy consumption is minimum, a small amount of energy is only consumed when adjusting net buoyancy and attitude angle, and with high-efficient, endurance is big The characteristics of (up to thousands of kilometers).Although the route speed of underwater glider is slower, its manufacturing cost and maintenance cost it is low, can The features such as reusing and can largely launching meets long-time, the needs that a wide range of ocean is explored.
However underwater glider is after entering water, it is desirable to monitor in real time to it extremely difficult, country's underwater sound is logical at present Believe it is immature, be unable to satisfy to aerodone real time monitoring needs.But underwater glider can entirely be cutd open by underwater acoustic technology Underwater 3 D position during face is recorded, and is of great significance for research underwater glider gliding.It is underwater sliding Xiang machine underwater position fixing technique is the key points and difficulties studied both at home and abroad, and overwhelming majority underwater glider is all underwater without carrying out at present The ability of positioning, and it is because of underwater sound communication energy possessed by itself that only a few, which has the aerodone of the ability of Underwater Navigation, Power.Underwater sound Modem is carried on aerodone under water, Underwater Navigation is carried out to aerodone based on ultra-short baseline.Based on underwater sound Modem Ultra-short baseline positioning have energy consumption high, be not easy to carry on aerodone, and complicated, at high cost etc. with control section connection line Problem.
Summary of the invention
It is an object of the invention to propose a kind of localization method of underwater glider, asked with solving the positioning of underwater glider Topic.
The present invention to achieve the goals above, adopts the following technical scheme that：
A kind of localization method of underwater glider, includes the following steps：
S1. when underwater glider is in marine gliding, the sound source energy converter carried on mother ship carrier makes a sound letter at a certain moment Number；
S2. it is mounted in the sound letter that sound source energy converter issues in the vector hydrophone receiving step s1 on underwater glider Number, and the program that underwater glider is navigated by water generates interruption；
Obtain the time that underwater glider submerged depth, attitude angle and underwater glider receive voice signal；
S3. the GPS latitude and longitude information of mother ship carrier when mother ship carrier makes a sound signal is recorded on the coast and makes a sound signal Time；
S4. underwater glider in step s2 is received into mother ship carrier in the time and step s3 of voice signal and makes a sound signal It is poor that time is made, and obtains the propagation time of voice signal；
S5. according to the speed that the propagation time of the step s4 voice signal obtained and voice signal propagate in water, into One step obtains the relative distance between mother ship carrier and underwater glider；
S6. after the relative distance for obtaining underwater glider and mother ship carrier by step s5, further according to the GPS longitude and latitude of mother ship carrier Information is spent, three-dimensional data calculating, the final three-dimensional position for determining underwater glider are carried out.
Preferably, in the step s6, three-dimensional data calculating includes the following steps：
S6.1. the positional relationship of the sound source and underwater glider under three-dimensional system of coordinate is established；
The sound source of definition voice signal is p (x in marine absolute position0,y0,z0)；
Wherein, x0,y0,z0The respectively longitude coordinate, latitude coordinate of sound source and in marine depth coordinate；
Underwater glider is in a marine vertical plane π1Interior gliding, sound source are in another vertical plane π2It is interior；
By formula L=c (t2-t1), calculate the relative distance between underwater glider and mother ship carrier；Wherein：
t1At the time of making a sound signal for sound source；
t2At the time of receiving voice signal for vector hydrophone；
C is the spread speed of voice signal in water；
S6.2. the underwater glider and sound source relative position equation under three-dimensional system of coordinate are derived；Side depending on the relative position Journey from which further follows that the relative position of underwater glider and mother ship carrier；
S6.3. terrestrial coordinate system is established, obtains the three-dimensional absolute position of underwater glider.
Preferably, in the step s6.2, the underwater glider and sound source relative position equation under three-dimensional system of coordinate are as follows：
Wherein, L is sound source and underwater glider relative distance；
x1,y1,z1For three relative position coordinates of underwater glider, i.e. longitude, latitude and in marine depth coordinate；
L=c Δ t (2)
Wherein, Δ t indicates the propagation time of voice signal；
Wherein, α is the underwater glider angle of attack, and β is underwater glider pitch angle,For underwater glider gliding speed direction Angle；
Δ Depth=Depthg-Depths (4)
Wherein, DepthgFor underwater glider depth, DepthsFor sound source depth；
Wherein, θ angle between L and Δ Depth；
L=Lsin θ (6)
y1=lcos η (7)
x1=lsin η (8)
z1=Depthg (9)
Wherein, η is vertical plane π where underwater glider1With vertical plane π where sound source2Between angle；
Simultaneous equations (1)-(9) obtain the relative position coordinates g (x of underwater glider1,y1,z1)。
Preferably, in the step s6.3, the calculating process of the three-dimensional absolute position of underwater glider is as follows：
Terrestrial coordinate system is established, if the absolute position of underwater glider is g (xg,yg,zg)；
Wherein, xgIndicate longitude coordinate, ygIndicate latitude coordinates, zgIndicate depth coordinate；
Two points (A (λ A, φ A), B (λ B, φ B)) being located on earth spherical surface, relative distance is by following equation (10) It acquires：
Wherein, λ A, φ A respectively indicate the longitude of A point, latitude, and λ B, φ B respectively indicate the longitude of B point, latitude；
In conjunction with the relative position coordinates x of underwater glider1,y1Value, sound source coordinate x0,y0Value and formula (10) calculate The latitude and longitude value x of underwater gliderg,yg, underwater glider depth DepthgIt is obtained by pressure sensor；
To sum up, absolute position g (x of the underwater glider under terrestrial coordinate system can be obtainedg,yg,Depthg)。
The invention has the advantages that：
Underwater glider receives sound source information by vector hydrophone in the present invention, and passes through underwater acoustic modem real-time Transmission Aerodone underwater three is calculated after host computer obtains data in underwater glider submerged depth, attitude parameter to bank station host computer Dimension space position has the characteristics that precision is high, real-time is good；In addition, the vector that underwater glider hydrolocation uses in the present invention Hydrophone has many advantages, such as low energy consumption, at low cost, and when designing internal structure, between each sensor of reasonable arrangement mutually Connection and the position carried.Further, since underwater glider three-dimensional localization only need to obtain aerodone submerged depth, attitude angle and Underwater sound transmission time information, three parameters can obtain three dimensional local information by calculation formula, technically simple, and feasibility is high.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the localization method of underwater glider in the present invention；
Fig. 2 is position view of the underwater glider in three-dimensional system of coordinate in the present invention.
Fig. 3 is that the relative position of underwater glider in the present invention calculates schematic diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the invention will be further described：
As shown in connection with fig. 1, a kind of localization method of underwater glider, includes the following steps：
S1. when underwater glider is in marine gliding, the sound source energy converter carried on mother ship carrier makes a sound letter at a certain moment Number.
S2. it is mounted in the sound letter that sound source energy converter issues in the vector hydrophone receiving step s1 on underwater glider Number, and the program that underwater glider is navigated by water generates interruption.
Since the break period is in Millisecond, it will not influence entire navigation process.
Obtain the time that underwater glider submerged depth, attitude angle and underwater glider receive voice signal.
The submerged depth of underwater glider is obtained by the pressure sensor on underwater glider in the present embodiment.In addition, The system record underwater glider of underwater glider receives the time of voice signal and the attitude parameter of underwater glider.
S3. the GPS latitude and longitude information of mother ship carrier when mother ship carrier makes a sound signal is recorded on the coast and makes a sound signal Time.
S4. underwater glider in step s2 is received into mother ship carrier in the time and step s3 of voice signal and makes a sound signal It is poor that time is made, and obtains the propagation time of voice signal.
S5. according to the speed that the propagation time of the step s4 voice signal obtained and voice signal propagate in water, into One step obtains the relative distance between mother ship carrier and underwater glider.
S6. after the relative distance for obtaining underwater glider and mother ship carrier by step s5, further according to the GPS longitude and latitude of mother ship carrier Information is spent, three-dimensional data calculating, the final three-dimensional position for determining underwater glider are carried out.
The determination method of the three-dimensional position of underwater glider is illustrated below with reference to formula：
Wherein, three-dimensional data calculating includes the following steps：
S6.1. the positional relationship of the sound source and underwater glider under three-dimensional system of coordinate is established, as shown in Figure 2：
The sound source of definition voice signal is p (x in marine absolute position0,y0,z0)。
Wherein, x0,y0,z0The respectively longitude coordinate, latitude coordinate of sound source and in marine depth coordinate.
Sound source latitude and longitude coordinates x in the present embodiment0,y0, it can be obtained by handhold GPS or boat-carrying GPS, and sound source exists Marine depth coordinate z0It can be obtained by the water length that enters of measurement mounting sound source hawser.
Sound source in the present embodiment refers to the position for making a sound signal, i.e., the sound source energy converter carried on mother ship carrier.
Underwater glider is in a marine vertical plane π1Interior gliding, sound source are in another vertical plane π2It is interior.
By formula L=c (t2-t1), calculate the relative distance between underwater glider and mother ship carrier；Wherein：
t1At the time of making a sound signal for sound source；
t2At the time of receiving voice signal for vector hydrophone；
C is the spread speed of voice signal in water.
S6.2. the underwater glider and sound source relative position equation under three-dimensional system of coordinate are derived；Side depending on the relative position Journey from which further follows that the relative position of underwater glider and mother ship carrier, as shown in Figure 3.
Underwater glider and sound source relative position equation under three-dimensional system of coordinate is as follows：
Wherein, L is sound source and underwater glider relative distance；
x1,y1,z1For three relative position coordinates of underwater glider, i.e. longitude, latitude and in marine depth coordinate；
L=c Δ t (2)
Wherein, Δ t indicates the propagation time of voice signal；
Wherein, α is the underwater glider angle of attack, and β is underwater glider pitch angle,For underwater glider gliding speed direction Angle；
Δ Depth=Depthg-Depths (4)
Wherein, DepthgFor underwater glider depth, DepthsFor sound source depth；
Wherein, θ angle between L and Δ Depth；
L=Lsin θ (6)
y1=lcos η (7)
x1=lsin η (8)
z1=Depthg (9)
Wherein, η is vertical plane π where underwater glider1With vertical plane π where sound source2Between angle；η can pass through mother ship carrier Course angle and underwater glider course angle are made difference and are obtained.
Simultaneous equations (1)-(9) obtain the relative position coordinates g (x of underwater glider1,y1,z1)。
S6.3. terrestrial coordinate system is established, obtains the three-dimensional absolute position of underwater glider, specific calculating process is as follows：
Terrestrial coordinate system is established, if the absolute position of underwater glider is g (xg,yg,zg)；
Wherein, xgIndicate longitude coordinate, ygIndicate latitude coordinates, zgIndicate depth coordinate.
Two points (A (λ A, φ A), B (λ B, φ B)) being located on earth spherical surface, relative distance is by following equation (10) It acquires：
Wherein, λ A, φ A respectively indicate the longitude of A point, latitude, and λ B, φ B respectively indicate the longitude of B point, latitude.
In conjunction with the relative position coordinates x of underwater glider1,y1Value, sound source coordinate x0,y0Value and formula (10) calculate The latitude and longitude value x of underwater gliderg,yg, underwater glider depth DepthgIt is obtained by pressure sensor.
To sum up, absolute position g (x of the underwater glider under terrestrial coordinate system can be obtainedg,yg,Depthg)。
Certainly, described above is only that presently preferred embodiments of the present invention is answered the present invention is not limited to enumerate above-described embodiment When explanation, anyone skilled in the art is all equivalent substitutes for being made, bright under the introduction of this specification Aobvious variant, all falls within the essential scope of this specification, ought to be by protection of the invention.

Claims (4)

1.一种水下滑翔机的定位方法，其特征在于，包括如下步骤：1. a positioning method of an underwater glider, is characterized in that, comprises the steps: s1.当水下滑翔机在海中滑翔时，母舰上搭载的声源换能器在某时刻发出声音信号；s1. When the underwater glider is gliding in the sea, the sound source transducer carried on the mothership sends out a sound signal at a certain moment; s2.搭载在水下滑翔机上的矢量水听器接收步骤s1中声源换能器发出的声音信号，并且使得水下滑翔机航行的程序产生中断；s2. The vector hydrophone mounted on the underwater glider receives the sound signal sent by the sound source transducer in step s1, and interrupts the navigation procedure of the underwater glider; 获取水下滑翔机下潜深度、姿态角以及水下滑翔机接收声音信号的时间；Obtain the underwater glider's diving depth, attitude angle and the time when the underwater glider receives the sound signal; s3.在岸上记录母舰发出声音信号时母舰的GPS经纬度信息以及发出声音信号的时间；s3. Record the GPS latitude and longitude information of the mothership when the mothership sends out the sound signal and the time when the sound signal is sent out on the shore; s4.将步骤s2中水下滑翔机接收声音信号的时间与步骤s3中母舰发出声音信号的时间作差，得出声音信号的传播时间；s4. making a difference between the time when the underwater glider receives the sound signal and the time when the mother ship sends the sound signal in step s3, the propagation time of the sound signal is obtained; s5.根据步骤s4得出的声音信号的传播时间以及声音信号在水中传播的速度，进一步得出母舰与水下滑翔机之间的相对距离；s5. according to the propagation time of the sound signal obtained in step s4 and the speed of sound signal propagation in water, further draw the relative distance between the mothership and the underwater glider; s6.通过步骤s5得出水下滑翔机与母舰的相对距离后，进一步根据母舰的GPS经纬度信息，进行三维数据计算，最终确定水下滑翔机的三维位置。s6. After the relative distance between the underwater glider and the mother ship is obtained through step s5, the three-dimensional data calculation is further performed according to the GPS latitude and longitude information of the mother ship, and finally the three-dimensional position of the underwater glider is determined. 2.根据权利要求1所述的一种水下滑翔机的定位方法，其特征在于，所述步骤s6中，三维数据计算包括如下步骤：2. the positioning method of a kind of underwater glider according to claim 1, is characterized in that, in described step s6, three-dimensional data calculation comprises the steps: s6.1.建立三维坐标系下的声源与水下滑翔机的位置关系；s6.1. Establish the positional relationship between the sound source and the underwater glider in the three-dimensional coordinate system; 定义声音信号的声源在海中的绝对位置为p(x0,y0,z0)；Define the absolute position of the sound source of the sound signal in the sea as p(x 0 ,y 0 ,z 0 ); 其中，x0,y0,z0分别为声源的经度坐标、纬度坐标和在海中的深度坐标；Among them, x 0 , y 0 , z 0 are the longitude coordinates, latitude coordinates and depth coordinates in the sea of the sound source respectively; 水下滑翔机在海中的一个垂直平面π1内滑翔，声源处于另一个垂直平面π2内；The underwater glider glides in a vertical plane π 1 in the sea, and the sound source is in another vertical plane π 2 ; 由公式L＝c(t2-t1)，计算出水下滑翔机与母舰之间的相对距离；其中：The relative distance between the underwater glider and the mother ship is calculated by the formula L=c(t 2 -t 1 ); where: t1为声源发出声音信号的时刻； t1 is the moment when the sound source emits the sound signal; t2为矢量水听器接收到声音信号的时刻； t2 is the moment when the vector hydrophone receives the sound signal; c为声音信号在水中的传播速度；c is the propagation speed of the sound signal in water; s6.2.推导三维坐标系下的水下滑翔机与声源相对位置方程；根据该相对位置方程，进一步得出水下滑翔机与母舰的相对位置；s6.2. Deduce the relative position equation of the underwater glider and the sound source in the three-dimensional coordinate system; according to the relative position equation, further obtain the relative position of the underwater glider and the mother ship; s6.3.建立地球坐标系，得出水下滑翔机的三维绝对位置。s6.3. Establish the earth coordinate system to obtain the three-dimensional absolute position of the underwater glider. 3.根据权利要求2所述的一种水下滑翔机的定位方法，其特征在于，所述步骤s6.2中，三维坐标系下的水下滑翔机与声源相对位置方程如下：3. the positioning method of a kind of underwater glider according to claim 2, is characterized in that, in described step s6.2, the relative position equation of underwater glider and sound source under the three-dimensional coordinate system is as follows: 其中，L为声源与水下滑翔机相对距离；Among them, L is the relative distance between the sound source and the underwater glider; x1,y1,z1为水下滑翔机的三个相对位置坐标，即经度、纬度和在海中的深度坐标；x 1 , y 1 , z 1 are the three relative position coordinates of the underwater glider, namely longitude, latitude and depth coordinates in the sea; L＝c·Δt (2)L=c·Δt (2) 其中，Δt表示声音信号的传播时间；Among them, Δt represents the propagation time of the sound signal; 其中，α为水下滑翔机攻角，β为水下滑翔机俯仰角，为水下滑翔机滑翔速度方向角；Among them, α is the angle of attack of the underwater glider, and β is the pitch angle of the underwater glider, is the gliding velocity direction angle of the underwater glider; ΔDepth＝Depthg-Depths (4)ΔDepth = Depth g -Depth s (4) 其中，Depthg为水下滑翔机深度，Depths为声源深度；Among them, Depth g is the depth of the underwater glider, and Depth s is the depth of the sound source; 其中，θ为L与ΔDepth之间夹角；Among them, θ is the angle between L and ΔDepth; l＝Lsinθ (6)l＝Lsinθ (6) y1＝l·cosη (7)y 1 =l·cosη (7) x1＝l·sinη (8)x 1 ＝l·sinη (8) z1＝Depthg (9)z 1 =Depth g (9) 其中，η为水下滑翔机所在垂直面π1与声源所在垂直面π2之间的夹角；Wherein, η is the angle between the vertical plane π 1 where the underwater glider is located and the vertical plane π 2 where the sound source is located; 联立方程(1)-(9)得出水下滑翔机的相对位置坐标g(x1,y1,z1)。The relative position coordinates g(x 1 , y 1 , z 1 ) of the underwater glider can be obtained from simultaneous equations (1)-(9). 4.根据权利要求3所述的一种水下滑翔机的定位方法，其特征在于，所述步骤s6.3中，水下滑翔机的三维绝对位置的计算过程如下：4. the positioning method of a kind of underwater glider according to claim 3, is characterized in that, in described step s6.3, the calculation process of the three-dimensional absolute position of underwater glider is as follows: 建立地球坐标系，设水下滑翔机的绝对位置为g(xg,yg,zg)；Establish the earth coordinate system, set the absolute position of the underwater glider as g(x g , y g , z g ); 其中，xg表示经度坐标，yg表示维度坐标，zg表示深度坐标；Among them, x g represents longitude coordinates, y g represents latitude coordinates, z g represents depth coordinates; 设在地球球面上的两个点(A(λA,φA)，B(λB,φB))，其相对距离由下列公式(10)求得：Assuming two points (A(λA, φA), B(λB, φB)) on the spherical surface of the earth, the relative distance is obtained by the following formula (10): 其中，λA,φA分别表示A点的经度、纬度，λB,φB分别表示B点的经度、纬度；Among them, λA and φA represent the longitude and latitude of point A respectively, and λB and φB represent the longitude and latitude of point B respectively; 结合水下滑翔机的相对位置坐标x1,y1值、声源坐标x0,y0值以及公式(10)计算出水下滑翔机的经纬度值xg,yg，水下滑翔机深度Depthg由压力传感器获得；Combining the relative position coordinates x 1 , y 1 of the underwater glider, the sound source coordinates x 0 , y 0 and the formula (10) to calculate the longitude and latitude x g , y g of the underwater glider, the depth g of the underwater glider is determined by the pressure The sensor obtains; 综上，可得水下滑翔机在地球坐标系下的绝对位置g(xg,yg,Depthg)。In summary, the absolute position g(x g ,y g ,Depth g ) of the underwater glider in the earth coordinate system can be obtained.
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CN110686669A (en) * 2019-09-23 2020-01-14 中国海洋大学 ROV sea cucumber distribution statistical method and device based on positioning compensation and visual perception
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CN109747801A (en) * 2019-01-25 2019-05-14 哈尔滨工程大学 A Quaternary Cross Array Acoustic Detection System for Underwater Gliders
CN109855649A (en) * 2019-04-12 2019-06-07 哈尔滨工程大学 A kind of underwater gliding machine platform motion profile passively determines method
CN110686669A (en) * 2019-09-23 2020-01-14 中国海洋大学 ROV sea cucumber distribution statistical method and device based on positioning compensation and visual perception
CN113253205A (en) * 2021-06-29 2021-08-13 中国人民解放军海军潜艇学院 Target observation and detection method for underwater glider formation
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