CN114879143A - Cabled underwater robot navigation and positioning system and positioning method - Google Patents

Abstract

The application relates to the technical field of ocean engineering, in particular to a navigation and positioning system and a positioning method for a cabled underwater robot, wherein the navigation and positioning system for the cabled underwater robot comprises: a master node end device and a target node end device; the main node end device is used for being installed at a main node end, and the main node end is located on the working platform; the main node end device comprises a plurality of signal transmitters for transmitting different orthogonal signals simultaneously; the target node end device is used for being installed at the target node end, and the target node end device comprises a signal receiver which is used for receiving different orthogonal signals sent by a plurality of signal transmitters. Therefore, the system capable of quickly and accurately positioning and navigating the underwater robot is provided.

Description

Cabled underwater robot navigation and positioning system and positioning method

technical field

The present application relates to the technical field of marine engineering, and in particular, to a navigation and positioning system and a positioning method for a cabled underwater robot.

Background technique

At present, in marine engineering applications, cabled underwater vehicles (ROVs) are used more and more widely, and their necessary positioning and navigation functions are usually completed by ultra-short baseline positioning systems. Buoys, drilling platforms, etc., but not limited to these platforms) install ultra-short baseline mainframes (ultra-short baseline mainframes include acoustic arrays, which usually consist of 1 transmitting transducer and 4 or more hydrophones Each hydrophone is arranged on a rigid structure at a short distance (usually in the wavelength order), and the system determines the angle (vertical and horizontal) between the acoustic array and the target by measuring the phase difference of each hydrophone. angle)), install transponders on ROV nodes. When realizing positioning and navigation, the ultra-short baseline host on the surface platform first sends an interrogation signal, and then the transponder on the ROV node receives the interrogation signal and sends the response signal back to the ultra-short baseline host, and the ultra-short baseline on the surface platform The host calculates the position of the transponder on the ROV node according to the response signal, and then realizes the positioning function. The ultra-short baseline host on the surface platform transmits the position of the transponder to the ROV node through the umbilical cable to realize the navigation function.

The ultra-short baseline positioning system has the following shortcomings in the application of cabled underwater vehicle (ROV) navigation and positioning: (1) The installation platform noise has a great impact on the equipment, affecting the coverage and positioning and navigation distance: Specifically, the ultra-short baseline positioning system mainly The installation platform is a ship, and the noise of the ship is relatively large, which seriously affects the normal reception of the four hydrophones of the main node of the ultra-short baseline positioning system, which greatly reduces the effective coverage and distance of the system. (2) The performance of shallow water applications is degraded; the target nodes of ultra-short baseline positioning systems are usually coded by frequency division. Due to the limited channel bandwidth, when frequency division is used, the bandwidth of a single transponder is narrow, the range resolution is low, and it cannot adapt to shallow water, etc. In complex scenes with severe multipath conditions, the main work of underwater robots is in shallow water areas, which will seriously affect the performance and robustness of the system. (3) The data refresh is low, and it is difficult to use in precise positioning and navigation applications: Specifically, the ultra-short baseline positioning system needs to query and respond, and send the positioning to each target node, and the data rate is very low, especially when the ultra-short baseline host The polling method is adopted, and the data rate is extremely low. (4) The positioning delay is large and needs to be corrected in real time; the installation platform of the main node of underwater acoustic positioning and navigation is usually moving (mainly installed on ships or buoys), and there is relative movement between the main node and the target node. Due to the inquiry and response mechanism of the ultra-short baseline, the position of the target node calculated by the master node is generally located behind the master node, and needs to be corrected in real time, and the relative relationship between the correction value and the two is related to factors such as sailing speed, which can easily lead to positioning. error. (5) In the navigation mode, the capacity of the target node is limited: Specifically, when implementing the navigation function, the ultra-short baseline positioning system adopts the polling method, and the number of target nodes has a linear relationship with the data refresh rate; if multiple nodes are used to respond at the same time way, whether it is frequency division or code division, the capacity of the channel is limited, thus limiting the number of target nodes.

SUMMARY OF THE INVENTION

The purpose of this application is to provide a cabled underwater robot navigation and positioning system and a positioning method, which to a certain extent solves the existing technology in the prior art that urgently needs a system that can quickly and accurately locate and navigate the underwater robot. question.

The present application provides a cabled underwater robot navigation and positioning system, including: a master node end device and a target node end device; wherein the master node end device is used to be installed on the master node end, and the master node end is located at the master node end on the working platform;

The master node end device includes a plurality of signal transmitters for simultaneously transmitting different orthogonal signals; the target node end device is used to be installed at the target node end, and the target node end device includes a signal receiver, which is used for for receiving different quadrature signals from a plurality of the signal transmitters.

In the above technical solution, further, a plurality of the signal transmitters are respectively located in different horizontal planes.

In any of the above technical solutions, further, the projections of the plurality of signal transmitters along the vertical direction are located on the circumference of the same circle, and the plurality of signal transmitters are evenly spaced based on the center of the circle.

In any of the above technical solutions, further, the number of the signal transmitters is four, and the projections of the four signal transmitters along the vertical direction are distributed in a cross shape.

In any of the above technical solutions, further, the master node end device further includes a support member, and the plurality of signal transmitters are rigidly connected by the support member.

In any of the above technical solutions, further, the signal transmitter is an omnidirectional transmitting transducer.

In any of the above technical solutions, further, the signal receiver is a receiving transducer.

In any of the above technical solutions, further, the master node device further includes a master node power supply, a master node power amplifier, a master node transceiver converter, a master node receiver, a master node power amplifier, a master node transceiver, Node transmitter, master node controller, master node synchronization clock and master node temperature and depth sensor;

Wherein, the master node transmitter and the master node receiver are both connected in communication with the master node controller and the master node transceiver converter; the master node transceiver converter and the signal transmitter pass through the Master Node Power Amplifier Communication Connection

Both the master node synchronization clock and the master node temperature and depth sensor are connected in communication with the master node controller.

In any of the above technical solutions, further, the target node terminal device further includes a target node power supply and a target node receiver, a target node transmitter, a target node transceiver converter, a target node power supply and a target node power supply that are electrically connected to the target node power supply. Power amplifier, target node controller, target node synchronization clock and target node temperature and depth sensor;

Wherein, both the target node transmitter and the target node receiver are connected in communication with the target node controller and the target node transceiving converter; the target node transceiving converter and the signal receiver pass through the target node power amplifier communication connection;

Both the target node synchronization clock and the target node temperature and depth sensor are connected in communication with the target node controller.

The present application also provides a navigation and positioning method for a cabled underwater robot, which is applied to the cabled underwater robot navigation and positioning system described in any of the above technical solutions. The cabled underwater robot navigation and positioning method includes the following steps:

Different quadrature signals are simultaneously sent out by a plurality of the signal transmitters installed on the main section end on the working platform;

The signal receiver installed at the target node receives a plurality of different quadrature signals, and separates the plurality of signals to obtain the time delay and phase difference between the signals, so as to obtain the target node end relative to the master node end. The azimuth angle is measured, and the distance between the main node end and the target node end is measured to complete the navigation function.

Compared with the prior art, the beneficial effects of the present application are:

The present application provides a cabled underwater robot navigation and positioning system, which belongs to a new technology and consists of a main node end and a target node end. Not limited to these platforms), the target node end is installed on the ROV (Underwater Robot) node. Among them, the main node includes multiple transmitting transducers, and multiple transmitting transducers simultaneously transmit different orthogonal signals (including but not limited to spread spectrum pseudo-random sequences, etc.), and the ROV node uses one receiving transducer as the receiving transducer. The terminal receives multiple signals, separates them through processing, obtains the time delay and phase difference between the signals, thereby obtains the azimuth angle of the ROV node end relative to the main node end, and then measures the distance between the main node end and the ROV node end , the position information of the receiving end relative to the transmitting end can be obtained, so as to realize the navigation and positioning function.

It can be seen that since the transmitting transducer is installed on the main node end of the working platform such as the hull, and different orthogonal signals are transmitted at the same time instead of receiving signals, the self-noise of the working platform such as the hull has little effect on the system performance, and the target node end As the receiving end, its surrounding environment is relatively quiet, and the receiving sensitivity is higher, which makes the system coverage or positioning and navigation distance larger.

In addition, in military applications, target nodes such as AUVs or diver-carrying equipment do not need to emit sound waves, enabling covert navigation, especially in special warfare applications, which can fully guarantee the safety of the diver himself, that is, covert navigation. In addition, the master node transmits the signal, that is, the broadcast navigation method is adopted. The target node can calculate its own position only by receiving it, and it can easily realize the self-positioning of the target node, that is, the ROV through the ROV umbilical backhaul. Because it belongs to one-way positioning and has a high data transmission rate, it can be used in occasions where the frequency of positioning and navigation is high. In addition, because of the broadcast navigation method, the number of slave nodes, that is, the number of target nodes, is not limited, and the data rate is high.

In addition, since the master node sends the position and attitude of the master node while transmitting the navigation signal, when the target node is calculating its own position, the position and attitude information of the master node used are the time of launch. Therefore, there is no need to consider the azimuth of the transmitting end at the time of reception, and there is no positioning delay caused by acoustic wave propagation delay, which fundamentally solves the problem of position correction, that is, no complex position correction is required, and the positioning accuracy is high.

In addition, the signals transmitted in this system can especially use broadband signals, with high distance resolution, and can distinguish signals from different paths. Therefore, it is more suitable for complex shallow water application environments, that is, strong anti-multipath performance and good shallow water performance.

The navigation and positioning method for a cabled underwater robot provided by the present application is applied to the aforementioned navigation and positioning system for a cabled underwater robot, and thus has the same beneficial effects, which will not be described in detail here.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. The drawings are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of a cabled underwater robot navigation and positioning system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of the assembly of a support member and a signal transmitter according to an embodiment of the present application;

FIG. 3 is a signal processing flow of a receiver according to an embodiment of the present application.

Reference number:

1-target node, 2-signal receiver, 3-main node, 4-signal transmitter, 5-support member, 51-hanger, 52-first support ring, 53-second support ring, 54-support rod , 6-display, 7-hull.

Detailed ways

The technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments.

The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application.

Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limitations on this application. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

The following describes a cabled underwater robot navigation and positioning system and a positioning method according to some embodiments of the present application with reference to FIGS. 1 to 3 .

Example 1

Referring to FIG. 1 and FIG. 2 , an embodiment of the present application provides a cabled underwater robot navigation and positioning system, including: a master node end device and a target node end device; wherein, the master node end device is used for being installed on the main node end device. on the node 3, and the main node end device includes a plurality of signal transmitters 4 for simultaneously transmitting different orthogonal signals;

The target node end device is installed on the target node 1 , and the target node end device includes a signal receiver 2 for receiving different orthogonal signals sent by a plurality of signal transmitters 4 .

Further, preferably, the signal transmitter 4 is an omnidirectional transmitting transducer, which is a device that converts electrical energy into sound energy; the signal receiver 2 is a receiving transducer, which is a device that converts sound energy into electrical energy. Based on this, it can be known that since the system is applied in marine engineering, the above-mentioned transmitter and receiver need to convert electric energy and sound energy.

In combination with the above, it can be seen that the present application provides a new technology, which consists of a main node terminal and a target node terminal. The main node terminal is installed on a surface platform (such as ships, buoys, drilling platforms, etc., but not limited to these platforms). The end is installed on the ROV (Underwater Robot) node. Among them, the main node includes multiple transmitting transducers, and multiple transmitting transducers simultaneously transmit different orthogonal signals (including but not limited to spread spectrum pseudo-random sequences, etc.), and the ROV node uses one receiving transducer as the receiving transducer. The terminal receives multiple signals, separates them through processing, obtains the time delay and phase difference between the signals, thereby obtains the azimuth angle of the ROV node end relative to the main node end, and then measures the distance between the main node end and the ROV node end , the position information of the receiving end relative to the transmitting end can be obtained, so as to realize the navigation and positioning function.

It can be seen that since the transmitting transducer is installed at the main node end of the working platform such as hull 7, and different orthogonal signals are simultaneously transmitted instead of receiving signals, the self-noise of the working platform such as hull 7 has little effect on the performance of the system. As the receiving end of the node end, its surrounding environment is relatively quiet, and the receiving sensitivity is higher, which makes the system coverage or positioning and navigation distance larger.

In addition, in military applications, the target node 1, such as AUV or diver-carrying equipment, does not need to emit sound waves, and can achieve covert navigation. Especially in special warfare applications, it can fully guarantee the safety of the diver himself, that is, achieve covert navigation. In addition, the master node transmits the signal, that is, the broadcast navigation method is adopted. The target node 1 can calculate its own position only by receiving it, and it can easily realize the target node 1, that is, the ROV itself, through the ROV umbilical backhaul. Positioning, because it belongs to one-way positioning and has a high data transmission rate, can be applied to occasions where the frequency of positioning and navigation is high. In addition, because of the broadcast navigation method, the number of slave nodes, that is, the number of target nodes 1 is not limited, and the data rate is high.

In addition, since the master node transmits the position and attitude of master node 3 while transmitting the navigation signal, when the target node 1 is calculating its own position, the position and attitude information of master node 3 are used for transmitting Therefore, there is no need to consider the azimuth of the transmitter at the time of reception, and there is no positioning delay caused by acoustic wave propagation delay, which fundamentally solves the problem of position correction, that is, no complex position correction is required, and the positioning accuracy is high.

In addition, the signals transmitted in this system can especially use broadband signals, with high distance resolution, and can distinguish signals from different paths. Therefore, it is more suitable for complex shallow water application environments, that is, strong anti-multipath performance and good shallow water performance.

In this embodiment, preferably, as shown in FIG. 2 , the plurality of signal transmitters 4 are respectively located in different horizontal planes, so as to obtain robust shallow water navigation performance.

Further, preferably, as shown in FIG. 2 , the projections of the plurality of signal transmitters 4 along the vertical direction are located on the circumference of the same circle, and the plurality of signal transmitters 4 are evenly spaced based on the center of the circle. It can be seen that the four omnidirectional transceiver transducers adopt the configuration of a three-dimensional array, which is easy to obtain robust shallow water navigation performance.

On the basis of the foregoing, the number of signal transmitters 4 is four, and the projections of the four signal transmitters 4 along the vertical direction are distributed in a cross shape.

In this embodiment, preferably, as shown in FIG. 2 , the main node terminal device further includes a support member 5 through which the plurality of signal transmitters 4 are rigidly connected.

Combining the above structure, it can be known that the plurality of signal transmitters 4 can be stably and firmly installed on the working platform according to the configuration of the three-dimensional array through the support member 5 .

Further, preferably, the support member 5 includes a hanger 51, a first support ring 52, a second support ring 53 and a plurality of support rods 54; wherein, the first support ring 52 is arranged at the bottom of the hanger 51 and is connected with the hanger 51 is connected; the second support ring 53 is arranged inside the first support ring 52, and the first support ring 52 and the second support ring 53 are connected by a plurality of support rods 54, and the plurality of support rods 54 are along the second support The circumferential direction of the ring 53 is evenly spaced, the above-mentioned components are all metal parts, and the components are connected by welding; the support rod 54 is a curved rod, extending from the second support ring 53 to the first support ring 52, And it is bent and extended downward, and its end is used to install the signal transmitter 4; the hanger 51 can be fixed on the working platform, for example, it can be fixed on the working platform by a clamp or a fastener.

In this embodiment, preferably, the master node device further comprises a master node power supply and a master node power amplifier (mainly amplifying signals, such as amplifying the audio frequency and volume of a sound signal) electrically connected to the master node power supply respectively, Master node transceiver converter (mainly performs switching between transmit and receive states), master node receiver, master node transmitter, master node controller, master node synchronization clock and master node temperature and depth sensor;

Wherein, the master node transmitter and the master node receiver are both connected to the master node controller and the master node transceiver converter in communication; the master node transceiver converter and the signal transmitter 4 are communicated and connected through the master node power amplifier

Both the master node synchronization clock and the master node temperature and depth sensor are connected to the master node controller in communication.

Combining the above structure, it can be known that the master node controller cooperates with the master node synchronization clock to control multiple transmitting transducers to simultaneously transmit different quadrature signals. In addition, the master node controller can also receive the underwater acoustic communication signal fed back by the ROV node through the umbilical cable.

Further, preferably, the master node device further includes a display screen 6 that is communicatively connected to the master node controller for displaying relevant operations and information.

In this embodiment, preferably, the target node terminal device further includes a target node power supply and a target node receiver electrically connected to the target node power supply, a target node transmitter, a target node transceiver converter, a target node power amplifier, a target node controller controller, target node synchronization clock and target node temperature and depth sensor;

Wherein, the target node transmitter and the target node receiver are both in communication connection with the target node controller and the target node transceiver converter; the target node transceiver converter and the signal receiver 2 are in communication connection with the target node power amplifier;

The synchronization clock of the target node and the temperature and depth sensor of the target node are both connected to the target node controller in communication.

Further, preferably, the target node end device further includes an attitude sensor, and the attitude sensor is connected in communication with the target node controller.

According to the above structure, the ROV node is a single-channel transceiver node, which can realize the function of receiving and sending signals, that is, it can receive the acoustic wave signal emitted by the main node, and can also feed back the underwater acoustic communication signal through the ROV umbilical cable.

Embodiment 2:

Referring to FIG. 1 , the second embodiment of the present application further provides a navigation and positioning method for a cabled underwater robot, which is applied to the cabled underwater robot navigation and positioning system described in the first embodiment. The positioning method includes the following steps:

Different quadrature signals are simultaneously sent out by a plurality of signal transmitters 4 installed on the main node 3;

The signal receiver 2 installed on the target node 1 receives multiple different quadrature signals, and separates the multiple signals to obtain the time delay and phase difference between the signals, so as to obtain the relative relationship between the target node and the master node. The azimuth angle of the terminal is measured, and then the distance between the main node terminal and the target node terminal is measured, so as to realize the positioning function of the target node 1.

In this embodiment, preferably, the cabled underwater robot navigation and positioning method section includes the following steps:

Different quadrature signals are simultaneously sent out by a plurality of the signal transmitters 4 installed on the main node 3;

The signal receiver 2 installed on the target node 1 receives a plurality of different quadrature signals, and separates the plurality of signals to obtain the time delay and phase difference between the signals, so as to obtain the relative relationship between the target node and the target node. The azimuth angle of the main node end, and then the distance between the main node end and the target node end is measured, so as to realize the function of navigating to the target node 1.

Note: The aforementioned scheme is divided into the main node end and the target node end according to the installation location, but in terms of function, it can be divided into two parts: positioning function and underwater acoustic communication function. The processing algorithm, the overall design of the underwater acoustic communication function, and the signal processing algorithm of the underwater acoustic communication function are introduced.

1. Overall design of positioning function:

(1) Determine the system parameters:

According to the index requirements, determine the system center frequency, bandwidth, chip length, and the number of chips. The angle measurement accuracy is related to factors such as array element spacing, acoustic wavelength and signal-to-noise ratio.

(2) Design of the transmitted signal:

When the main node transducers transmit at the same time, the key problem in the system design is to design a set of orthogonal waveforms to minimize the interference between the transmitting array elements. Generally speaking, there are two requirements for waveforms: one is to have good autocorrelation characteristics and cross-correlation characteristics, that is, the autocorrelation side lobes and cross-correlation values of the characteristic waveform are required to be as small as possible to reduce the interference between the two; That is, the number of characteristic waveforms should be more (that is, the number of address code sequences should be more), at least greater than the number of transmitting array elements.

(3) The accessibility analysis of positioning index based on sonar equation:

The propagation path of this system is one-way propagation, so the expression of the sonar equation is: SE=(SL-PL)-NL+DI-DT+DS;

Among them, SE is the signal-to-noise ratio margin, SL is the emission sound source level, PL is the propagation loss, NL is the noise level, DI is the transducer directivity coefficient, DT is the detection threshold, and DS is the signal processing gain. In this system, the sound source level of the transmitting end is designed according to the sonar equation to ensure that the signal-to-noise ratio margin is positive.

Second, the positioning function signal processing algorithm:

The key to the underwater formation navigation system based on multi-orthogonal signals lies in the signal processing algorithm, which determines the performance and function realization of the system. There are two most critical problems in signal processing: 1) the problem of signal separation; 2) the problem of unambiguous phase estimation between array elements spaced by more than half a wavelength. Regarding the first question, firstly, it is ensured from the signal design. After selecting the cross-correlation coefficient of each signal to reach the set threshold, conventional pulse compression can be used to ensure the separability of the signal. At the same time, considering the influence of multipath signals, adaptive pulse compression is proposed to improve the signal separation performance. The second problem is to design the optimal estimator so that the estimation performance is at or close to that of single-frequency signal unambiguous phase estimation.

3. Overall design of underwater acoustic communication function:

(1) System parameter design:

The task of underwater acoustic communication in this system is mainly based on the transmission of instructions and related parameters, and the key is the reliability of transmission. Direct sequence spread spectrum signals can be used.

(2) The accessibility analysis of direct sequence spread spectrum underwater acoustic communication indicators based on sonar equation;

The sound source level of the transmitter of this system needs to be no less than the design value, so that the system can meet the requirements of the maximum operating distance, transmission rate, and bit error rate, and work stably. The communication system will share hardware with the navigation and positioning system, and it is necessary to calculate the magnitude of the sound source emitted by the transmitter, so that the system can work stably.

(3) The signal processing algorithm of the communication module includes the following important steps:

a. Code synchronization:

In a direct sequence spread spectrum system, for example, the PN codes must be synchronized within the chip interval. The initial synchronization problem can be viewed as an attempt to time-synchronize the target node receiver's clock with the target node transmitter's clock. In general, using an accurate and stable clock in a spread spectrum system reduces the time uncertainty between the target node receiver and the target node transmitter. However, in the underwater acoustic communication system, since the transmission speed of the acoustic wave is relatively slow, and the distance between the sender and the receiver is not fixed, the uncertainty of the initial timing will definitely exist.

Due to the multipath effect, the underwater acoustic channel is spread in the time domain, so the optimal synchronization method is to perform the initial synchronization of the spread spectrum signal in the two-dimensional space formed by the phase of the pseudocode sequence and the carrier frequency. Such searches are usually done over appropriate frequency intervals.

b. Receiving and processing:

Due to the serious multipath effect in the underwater acoustic channel, the direct sequence spread spectrum signal is very suitable for transmission on the multipath channel, especially for the complex underwater acoustic channel. If the time delay between the received multipath signals is greater than one chip, the receiver of the target node can use the correlator to separate the signals of each path, and then make a decision on the combined signal.

The technical implementation method of the target node receiver is as follows: when the propagation delay exceeds the length of one chip, the multipath signals can actually be regarded as uncorrelated with each other. Therefore, the signal energy distribution at different time delay positions can be obtained through the matched filter, the multipath positions with larger energy can be identified, and their time amounts can be shifted back and then superimposed in phase according to a certain rule. As shown in Figure 3.

c. Decoding:

Use different code signals to receive and process the received signal. For the combined signal, determine the amplitude of the main path after each code signal is processed, and select the symbol with the largest amplitude to recover the communication signal. . Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims (10)

1. A cabled underwater robot navigation positioning system is characterized by comprising: a master node end device and a target node end device; the device at the main node end is used for being installed at the main node end, and the main node end is located on the working platform; the main node end device comprises a plurality of signal transmitters for transmitting different orthogonal signals simultaneously;

the target node end device is used for being installed at a target node end and comprises a signal receiver used for receiving different orthogonal signals sent by a plurality of signal transmitters.

2. The tethered underwater robot navigational positioning system of claim 1, wherein a plurality of the signal transmitters are each located in a different horizontal plane.

3. The cabled underwater robot navigation and positioning system according to claim 1, wherein projections of the plurality of signal transmitters in the vertical direction are located on a circumference of the same circle, and the plurality of signal transmitters are arranged at regular intervals with a center of the circle as a reference.

4. The cabled underwater robot navigation and positioning system according to claim 3, wherein the number of the signal emitters is four, and the projections of the four signal emitters in the vertical direction are distributed in a cross shape.

5. The tethered underwater robot navigation and positioning system of claim 1, wherein the master node-side device further comprises a support member through which the plurality of signal transmitters are rigidly connected.

6. The tethered underwater robot navigational positioning system of claim 1, wherein the signal transmitter is an omni-directional transmitting transducer.

7. The tethered underwater robot navigational positioning system of claim 1, wherein the signal receiver is a receiving transducer.

8. The cabled underwater robot navigation positioning system according to claim 1, wherein the master node side device further comprises a master node power supply, a master node power amplifier, a master node transceiving converter, a master node receiver, a master node transmitter, a master node controller, a master node synchronous clock and a master node temperature depth sensor, wherein the master node power amplifier, the master node transceiving converter, the master node receiver, the master node transmitter, the master node controller, the master node synchronous clock and the master node temperature depth sensor are respectively electrically connected with the master node power supply;

the master node transmitter and the master node receiver are both in communication connection with the master node controller and the master node transceiving converter; the main node transceiving converter is in communication connection with the signal transmitter through the main node power amplifier; the master node synchronous clock and the master node temperature depth sensor are in communication connection with the master node controller.

9. The cabled underwater robot navigation and positioning system according to claim 1, wherein the target node end device further comprises a target node power supply, a target node receiver, a target node transmitter, a target node transceiving converter, a target node power amplifier, a target node controller, a target node synchronous clock and a target node temperature depth sensor, wherein the target node receiver, the target node transmitter, the target node transceiving converter, the target node power amplifier, the target node controller, the target node synchronous clock and the target node temperature depth sensor are electrically connected with the target node power supply;

wherein the target node transmitter and the target node receiver are both communicatively coupled to the target node controller and the target node transceiver converter; the target node transceiver converter is in communication connection with the signal receiver through the target node power amplifier;

the target node synchronous clock and the target node temperature and depth sensor are in communication connection with the target node controller.

10. The navigation and positioning method for the underwater cabled robot is applied to the navigation and positioning system for the underwater cabled robot in claim 1, and comprises the following steps:

a plurality of signal transmitters arranged at the main joint end of the working platform simultaneously send out different orthogonal signals;

the signal receiver arranged at the target node end receives a plurality of different orthogonal signals, separates the signals, obtains time delay and phase difference among the signals, further obtains an azimuth angle of the target node end relative to the main node end, and then measures the distance between the main node end and the target node end, thereby completing the navigation function.

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