Submarine target three-dimensional positioning method

Abstract

The invention provides a submarine target three-dimensional positioning method. The positioning method comprises the following steps of: adopting more than three array elements to form a distributed array with space scale, receiving a pulse signal sent by a submarine target, carrying out combined treatment on the impulse sequence obtained by the pretreatment on each array element, and firstly eliminating interfering impulse; distinguishing direct sound, sea surface or sub-bottom reflection voice; and under the condition that more than three array elements are distinguished to receive direct sound impulse, selecting three elements with upmost efficiency factors, and carrying out ball convergence so as to obtain a three dimensional coordinate. The key technology content of the positioning method provided by the invention is that multiple array elements combine and distinguish the impulse type, the sea surface and sub-bottom reflection voice information are reserved simultaneously and used as a virtual matrix element so as to receive a direct sound signal, and the convergence of the spaceball surface is utilized to determine a target three dimensional coordinate; the positioning method provided by the invention fully utilizes the multi-path characteristics of a water sound channel, ensures to carry out accurate positioning under losing direct sound or failing to report, and has higher robustness and use value; and the positioning method provided by the invention is more suitable for the three-dimensional positioning of a short base line short-range cooperative target.

Description

technical field [0001] The invention relates to an underwater acoustic positioning method, in particular to a method for three-dimensional coordinate positioning of an underwater target. Background technique [0002] The underwater acoustic positioning system mainly refers to a system that can be used for precise positioning and navigation in local areas. Most hydroacoustic positioning systems determine the position of an aircraft or target by ranging or direction finding within a certain frame of reference. [0003] The short baseline positioning system usually arranges more than 3 primitives on the bottom of the ship or the side of the platform to form a baseline array, and calculates the azimuth and distance of the target by measuring the propagation time difference of the sound wave between the target and each primitive, and then calculates the target coordinate of. In order to obtain the position and attitude of the survey array, the short baseline positioning system ...

AI Technical Summary

Problems solved by technology

The disadvantages of the short baseline positioning system are: more than 3 receiving array elements need to be installed on the bottom of the ship and good geometry is required, and the receiving array needs precise calibration; the positioning accuracy has a large relationship with the working distance, and the farther the working distance is, the worse the accuracy will be

Compared with the answering system, the beacon system is relatively simple in equipment, but has higher requirements on the clock

Images