A method for underwater positioning of carrier

Abstract

The invention provides an underwater carrier positioning method which comprises the following specific steps: 1) equipping an inertial navigation system and an underwater acoustic ultra-short baseline positioning system to a carrier; 2) judging whether an underwater transponder exists within a range that underwater acoustic information of the underwater acoustic ultra-short baseline positioning system can reach, and if so, turning to the step 6), or otherwise, turning to the step 3); 3) the carrier releasing a buoy equipped with a GPS receiver; 4) the carrier receiving GPS signals of the buoy, and the underwater acoustic ultra-short baseline positioning system measuring position information of the buoy in an ultra-short baseline array coordinate system; 5) calculating position of the carrier in the navigation coordinate system according to the GPS signals and the position information, and carrying out calibration on the inertial navigation system; and 6) calculating the position of the carrier in the navigation coordinate system according to the position information of the underwater transponder in the navigation coordinate system and the position information thereof in the ultra-short baseline array coordinate system, and carrying out calibration on the inertial navigation system. The method realizes underwater positioning of the carrier.

Description

technical field [0001] The invention belongs to the technical field of combined navigation of an inertial navigation underwater system / underwater acoustic positioning system / GPS, and in particular relates to a method for underwater positioning of a carrier. Background technique [0002] In the past half a century, due to the development needs of science and technology, economy, military and other aspects of the world, the underwater target navigation and positioning technology has been developed rapidly. Underwater space stations, marine exploration, submarine optical cables, submarine pipeline laying and maintenance, underwater submersible navigation and positioning, oil and gas well positioning, underwater construction and other fields need to solve the problem of accurate underwater navigation and positioning. Gradually, a batch of underwater acoustic positioning equipment using underwater acoustics for positioning has emerged. It determines the relative distance and dire...

AI Technical Summary

Problems solved by technology

Its basic principle is similar to GPS positioning, but multiple buoys need to be deployed in the specific implementation process, the whole system is relatively complex, and the sea surface buoys are interfered by various error sources such as waves, which affects the positioning accuracy to a certain extent

This method can only realize the partial coverage of buoys and transponder signals in advance, and it is not realistic to deploy them globally

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