Method and system for locating underwater vehicle on basis of global navigation satellite system (GNSS) satellite

Abstract

The invention discloses a method and a system for locating an underwater vehicle on basis of a global navigation satellite system (GNSS) satellite, wherein a plurality of locating buoys are additionally arranged on the water and carry GNSS receivers and underwater sound responders. The underwater vehicle carries the underwater sound responder. The locating buoys utilize a GNSS satellite location technique to complete self location and time service. When the underwater vehicle is needed to be located, the inquiry signal which is sent out by the underwater sound responder on the underwater vehicle is responded by the underwater responders on the locating buoys and then returns to the underwater responder. When the underwater vehicle simultaneously obtains at least 3 locating buoys which are distributed on the water and a certain resolving relation, the three-dimensional location coordinates of the underwater vehicle can be finally obtained. An underwater sound relative locating technology can be utilized to expand the GNSS water level precision locating capability towards underwater, so the underwater vehicle can directly obtain the self geodetic longitude and latitude coordinates at an operating submerged depth, and the locating precision is enabled to be at the same order of the GNSS water level locating precision.

Description

technical field [0001] The invention relates to the field of underwater vehicle positioning, in particular to a GNSS satellite-based underwater vehicle positioning method and system. Background technique [0002] Underwater vehicles sometimes need to sail for a long time at a certain sea depth, but due to the limitations of current positioning means and positioning equipment for underwater vehicles, the vehicle must float up to correct its position after sailing for a period of time. At present, the aircraft is mainly positioned by the integrated underwater positioning method based on inertial navigation. Due to the influence of the cumulative error of the inertial navigation system, it must float to the water surface to correct its position after sailing for a period of time, which seriously damages its normal work. . Therefore, underwater autonomous fast and accurate absolute positioning of underwater vehicles has always been a worldwide problem. [0003] The GNSS satell...

AI Technical Summary

Problems solved by technology

However, radio waves cannot penetrate water, especially seawater. All satellite positioning and navigation technologies "failure" inside the ocean water body, and underwater has become a "blind spot" for GNSS

Therefore, GNSS cannot directly meet the needs of underwater navigation and positioning of rivers, lakes, oceans, etc.

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