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Inertial Navigation/Underwater Acoustic Integrated Navigation Method Based on "Virtual Short Baseline" Positioning System

A technology of virtual short baseline and positioning system, which is applied in directions such as navigation, navigation, mapping and navigation through speed/acceleration measurement, and can solve problems such as high requirements for submersible vehicles

Active Publication Date: 2017-12-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the purpose of the present invention is to propose the concept of "virtual short baseline" positioning suitable for submersible applications, and based on the "virtual "Short Baseline" proposes a combined method of inertial navigation and underwater acoustic positioning

Method used

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  • Inertial Navigation/Underwater Acoustic Integrated Navigation Method Based on "Virtual Short Baseline" Positioning System
  • Inertial Navigation/Underwater Acoustic Integrated Navigation Method Based on "Virtual Short Baseline" Positioning System
  • Inertial Navigation/Underwater Acoustic Integrated Navigation Method Based on "Virtual Short Baseline" Positioning System

Examples

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example 1

[0049] Inertial Navigation / Hydroacoustic Combined Method for Underwater Calibration

[0050] When a submersible equipped with an inertial navigation / virtual short baseline system needs to calibrate its inertial navigation system during a long-term voyage, the virtual short baseline transducer is used to send two calls to the transponder or The transponder carried by the buoy equipped with a GPS receiver sends out an inquiry signal, and the transponder sends back a response signal, based on which the inertial navigation / virtual short baseline system can calculate the accurate position information of the submersible, so as to calibrate the inertial navigation system.

[0051] According to the inertial navigation system installed on the submersible, the carrier coordinate reference is consistent with the inertial navigation system, and the position in its Cartesian geographic coordinate system (north, east, ground) is (X V ,Y V ,Z V )', the latitude and longitude coordinates ar...

example 2

[0063] Inertial navigation / hydroacoustic combination tracking and positioning method for submersible

[0064] Underwater autonomous submersibles have been widely used in the military and civilian fields, especially the survey underwater autonomous submersible (Survey AUV) with multiple operating functions has become a serialized shelf commodity. Usually these submersibles are launched by the mother ship carrying them and start working according to the set procedures. They are small in size and limited in load, and are usually not equipped with expensive high-precision navigation systems. However, their operational tasks usually require them to conduct underwater surveying and mapping operations for a long time, and both surveying and mapping data require precise navigation and positioning. Compared with the ultra-short baseline, the virtual short baseline based on underwater acoustic single ranging is cheap and easy to implement. With the help of inertial navigation system / vir...

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Abstract

The invention discloses an inertial navigation / underwater acoustic combined navigation method based on a virtual short base line positioning system. In the method, an acoustic interrogator and a depth sensor are installed at the position of an inertial navigation system on a submersible vehicle. When the submersible vehicle moves, the inertial navigation system achieves navigation. When accumulated error of the inertial navigation system needs to calibrate, a responser nearby the submersible vehicle is determined. At a time t1 and a time t2, communication between the acoustic interrogator and the responser on the submersible vehicle is carried out. An error at the time t1 and the time t2 in the inertial navigation system is set to be equal, so that by means of the different positions of the acoustic interrogator at the time t1 and the time t2, a virtual short base line positioning system between the acoustic interrogator and the responser is established, thereby performing positioning by means of the virtual short base line positioning system. By means of the position of the responser, which is known or is obtained through a satellite navigation antenna on a buoy, position information of the submersible vehicle in a navigation coordinate system can be calculated, and then calibration to the inertial navigation system can be achieved through the position information, thereby achieving inertial navigation / underwater acoustic combined navigation.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation and underwater acoustic positioning, and in particular relates to an inertial navigation / underwater acoustic combined navigation method based on a "virtual short baseline" positioning system. Background technique [0002] The traditional short-baseline underwater acoustic positioning system is composed of more than three transducers, and the transducer array is triangular or quadrangular to form an acoustic matrix. In order to ensure the positioning accuracy, the distance between the transducers should be more than 10m. The relationship between the transducers can be accurately measured to form the acoustic array coordinate system. The relationship between the acoustic array coordinate system and the ship coordinate system is determined by conventional measurement. The method is determined. [0003] The measurement method of the short baseline is that one transducer transmits and all ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/00G01C21/165
Inventor 汪湛清王彬胡小毛王彦国赵亮张延顺
Owner BEIJING INSTITUTE OF TECHNOLOGYGY