Integrated navigation device and method for positioning underwater towed body

Abstract

The invention belongs to the field of navigation and positioning technologies, and particularly relates to an integrated navigation device and a method for positioning an underwater towed body. The integrated navigation device comprises an ultra-short baseline acoustic positioning device, an inertial navigator and an above-water comprehensive processor; the ultra-short baseline acoustic positioning device comprises a GPS (global positioning system) device, an acoustic beacon and an ultra-short baseline primitive array; the navigation device is used on a mother ship and the underwater towed body, a perpendicular support is arranged on the mother ship, the acoustic beacon is mounted at the bottom of the support of the mother ship, the GPS device is mounted on the top of the support of the mother ship, the inertial navigator and the ultra-short baseline primitive array are mounted on the underwater towed body, the inertial navigator is connected with the ultra-short baseline primitive array, and the inertial navigator, the ultra-short baseline primitive array and the GPS device are connected with the above-water comprehensive processor. The integrated navigation device and the method have the advantages that the method cannot be affected by ambient sea noise, and the inertial navigator single can filter out acoustic positioning effects by the aid of a filter even if the single acoustic positioning effects are poor, so that the positioning stability can be kept.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and relates to a combined navigation device and a positioning method, in particular to a combined navigation device and a positioning method for realizing the positioning of an underwater drag body. Background technique [0002] In anti-mine and various marine exploration activities, sonar is usually used for underwater target detection and positioning, and the precise positioning of platforms equipped with sonar (such as underwater towing bodies, autonomous vehicles, etc.) is the ultimate target detection The key to positioning. [0003] Ultra-short baseline underwater acoustic positioning (USBL) is a commonly used underwater towing body positioning method. Its principle is to receive the same reflected sound wave signal through multiple element arrays, and calculate the relative position of the target. The simple ultra-short baseline underwater acoustic positioning method is...

AI Technical Summary

Problems solved by technology

The simple ultra-short baseline underwater acoustic positioning method is susceptible to the interference of marine environmental noise, and the single positioning error is relatively large (taking the 4-element array ultra-short baseline positioning system as an example, the absolute error of 100m slant distance positioning is about 3m)

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