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Large-incidence-angle sound ray tracking and positioning method

A technology for tracking positioning and incident angle, which is applied in directions such as beacon systems using ultrasonic/sonic/infrasonic waves, and can solve problems such as inability to obtain correct results and iterative divergence of incident angles.

Inactive Publication Date: 2016-04-13
CHINA UNIV OF PETROLEUM (EAST CHINA)
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Problems solved by technology

However, when the observation geometry composed of the transducer and the transponder is not good, for example, when the transducer on the water surface is far away from the transponder, the incident angle of the sound ray will increase. method calculation, it will cause the incident angle to diverge iteratively, and the correct result cannot be obtained

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Embodiment Construction

[0031] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] According to the position of the simulated buoy compared with the original positioning method as a comparison example, it is compared with the large incident angle acoustic ray tracking positioning method of this method at the same time:

[0033] (1) Location data

[0034] It is simulated that four buoys are arranged in a square shape, and the buoy spacing is simulated as 2200m, 2400m and 4000m respectively. Add a cosine fluctuation of 2 meters to the three-dimensional coordinates of the buoy. Such as figure 2 , the seabed simulates 4 transponders A, B, C, and D, and their coordinates are (0,0,-500), (0,40,-500), (40,0,-500), (40,40, -500), the unit is m. A total of 100 epochs are simulated. Water simulation uses such as image 3 The sound velocity profile data in the South China Sea shown, the sampling interval is 1m. The erro...

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Abstract

The invention relates to an underwater acoustic positioning method, especially to a large-incidence-angle sound ray tracking and positioning method based on layered constant-gradient sound ray tracking. A Snell constant p is represented by the curvature radius R of the first layer according to a formula of the curvature radius of the first layer in a layered constant-gradient hypothesis; the Snell constant p, in a horizontal displacement formula in the water layer, of the sound wave is represented by the curvature radius R; the P in a newly established formula is iterated in a secant method; an iteration result is converted into an incidence angle; and the obtained incidence angle is used to track the sound ray. According to the large-incidence-angle sound ray tracking and positioning method provided by the invention, traditional layered constant-gradient sound ray tracking is improved, the reason of positioning failure under the large-incidence-angle sound ray condition is analyzed, positioning failure is overcome, the maximal range of initial incidence angle iteration is expanded, and the positioning efficiency is improved.

Description

technical field [0001] The invention relates to an underwater acoustic positioning method, in particular to a large incident angle acoustic ray tracking and positioning method based on layered and equal-gradient acoustic ray tracking. Background technique [0002] In order to obtain high-precision underwater position information, the method of sound ray tracking is often used, that is, to track the propagation path of the sound wave between the transducer and the transponder, and use the least square method to solve the coordinates of the underwater transponder. Among them, the layered equal-gradient sound ray tracking method adopts layer-by-layer calculation to obtain the sound ray trajectory that is closest to the real sound ray trajectory, and has high precision. However, when the observation geometry composed of the transducer and the transponder is not good, for example, when the transducer on the water surface is far away from the transponder, the incident angle of the...

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Application Information

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IPC IPC(8): G01S1/72
CPCG01S1/72
Inventor 王振杰李圣雪王毅聂志喜吴会胜
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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