Underwater multiple-answering machine combined navigation method

A combined navigation and transponder technology, applied in the field of underwater acoustic positioning and navigation, can solve the problems of high positioning and navigation accuracy

Inactive Publication Date: 2011-08-03
HARBIN ENG UNIV
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

Although the positioning and navigation distance of a single submarine transponder is not as good as that of the long baseline system, the positioning and navigation accuracy at short distances is high, which can make up for the lack of long baseline positioning and navigation

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  • Underwater multiple-answering machine combined navigation method
  • Underwater multiple-answering machine combined navigation method
  • Underwater multiple-answering machine combined navigation method

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Embodiment Construction

[0024] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0025] figure 1 A schematic diagram of the geometric configuration of the three-seabed transponder integrated positioning and navigation (L / USBL) is given. The transponders 1, 2 and 3 are anchored on the seabed, and the ultra-short baseline 4 is installed on the submersible. The submersible can have a variety of positioning and navigation methods, ① use the ultra-short baseline and each transponder to locate and navigate the submersible, or use the distance information between ② and each transponder to perform long-baseline positioning and navigation on the submersible, It is also possible to ③ combine the long baseline navigation and the ultra-short baseline navigation to adopt a combined navigation method.

[0026] Assuming that the positioning and navigation results of the long baseline and the ultra-short baseline are independent, the combined acoustic navig...

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Abstract

The invention provides an underwater multi-responder combined navigation method, which comprises the following steps: calibrating the absolute positions of the responders distributed undersea; roughly positioning submersible vehicles based on long baseline principle and according to the distance information between the submersible vehicles and the responders; selecting the responders used for positioning navigation; calculating the directional distribution property of the combined positioning navigation of the selected responders; calculating the result of combined positioning navigation by using the selected weights based on long baseline positioning result and ultrashort baseline positioning result. The method is an underwater submersible vehicle combined acoustic positioning navigationmethod combining the long baseline positioning navigation mode of multiple responders and the ultrashort baseline positioning navigation mode of a single submarine responder, which solves the problemthat the long baseline positioning navigation has positioning blind area in certain positions.

Description

(1) Technical field [0001] The invention relates to a method for underwater acoustic positioning and navigation, in particular to a method for positioning and navigating a seabed transponder. (2) Background technology [0002] The traditional concept holds that long-baseline positioning and navigation have high precision and long range. In fact, the positioning and navigation accuracy of the long baseline is related to the position of the transponder deployment and the relative position between the submersible and the transponder array, especially when the positioning and navigation accuracy decreases near a certain transponder. In other words, long baseline positioning navigation has positioning blind spots in some positions. When the acoustic array (such as ultra-short baseline) installed on the submersible has positioning capability, only a single subsea transponder can also be used to locate and navigate the underwater submersible. Although the positioning and navigati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/18G01S5/28
Inventor 孙大军兰华林张殿伦卢逢春郑翠娥李想
Owner HARBIN ENG UNIV
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