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

Abstract

The invention provides a method for accurately positioning the absolute position of a deep-sea beacon based on an ultra short base line, which comprises the following steps that: (1) respectively receiving beacon signals at a measurement point by ultra short base line acoustic arrays to measure the bearing of the beacon; (2) using a GPS to measure the absolute position of the measurement point; (3) changing the position of the measurement point based on the last obtained bearing and the received signals to obtain a measurement point having a larger bearing difference; (4) repeating step (2) and step (3) to obtain enough measurement point data; (5) carrying out the field measurement on the sound velocity distribution in a sea area near the position of the beacon; (6) calculating the horizontal coordinate of the beacon based on the position of the measurement point and the horizontal bearing; and (7) calculating the depth of the beacon based on the calculated horizontal coordinate of the beacon, the sound velocity profile and the elevation bearing of acoustic signals at each measurement point. The method has extensive application prospects in the aspects of black box rescue and underwater beacon navigation in deep sea.

Description

technical field [0001] The invention belongs to the field of underwater acoustic positioning, and mainly relates to a positioning method of a seabed beacon. Background technique [0002] When the beacon machine works underwater, because it only emits sound pulses independently and periodically, the surface positioning system can only obtain the target's azimuth information, but not the distance information, so the long baseline method with high positioning accuracy is invalid. Only azimuth-only positioning methods can be used. Most of the existing azimuth-only positioning methods focus on the research of using the two-dimensional horizontal azimuth of the target to locate the target. [0003] In the CNKI of Chinese Academic Literature Network Publishing General Database, the public reports related to the application of the present invention that can be retrieved mainly include: 1. Acoustic Beacon Design of Underwater Acoustic Active and Passive Positioning System (Chinese D...

AI Technical Summary

Problems solved by technology

But no sound ray bending correction is given

[0004] For the precise positioning of deep-sea submarine beacons, the existing azimuth-only positioning methods have at least two shortcomings: one is that the position of the beacon is unknown, and the position of the measuring point directly affects the accuracy of the positioning of the beacon, and the existing method does not give the position of the measuring point Second, when using the three-dimensional azimuth of the acoustic signal to locate the beacon, although the sound velocity distribution in the shallow sea has little influence on the positioning accuracy, it can be directly solved, but in the deep sea where the sound velocity distribution has a great influence on the positioning accuracy, it is no longer necessary. Be applicable

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