Direction finding-based passive underwater acoustic positioning method

Abstract

The invention discloses a direction finding-based passive underwater acoustic positioning method. The method includes the following steps that: a single sound source arranged on the seafloor transmits positioning signals, transponder arrays arranged on the stem and stern of an AUV (Autonomous Underwater Vehicle) receive sound source signals; the phase difference of two transponders on each array is calculated; an angle between the connection line of the seafloor sound source and the stem of the AUV and the hull of the AUV and an angle between the connection line of the seafloor sound source and the stern of the AUV and the hull of the AUV are obtained; the relative position information of the AUV and the sound source can be obtained; and the current geodetic coordinate of the AUV can be obtained through coordinate transformation. According to the method, positioning is performed through only using the phase difference information, and therefore, direction finding can be achieved, distance errors caused by the irregular propagation of sound velocity in water can be effectively avoided, and positioning accuracy can be improved; the transponders passively receive the acoustic signals, so that the AUV does not need to float to the surface of the water for position updating, and therefore, the AUV is unlikely to expose its position, and concealment and safety are improved; and the transponders are placed on the AUV, so that a data communication problem which appears when the transponders are conventionally placed at the seafloor can be avoided.

Description

technical field [0001] The invention relates to an underwater acoustic positioning technology, which belongs to the technical field of navigation, guidance and control. Background technique [0002] AUV (Autonomous Underwater Vehicle, autonomous underwater vehicle) currently plays an important role in performing various underwater tasks, including ocean detection, underwater mine clearance, and collecting bathymetric data of oceans and rivers. In order to ensure that AUV can successfully complete its tasks underwater and obtain relatively accurate underwater measurement data, it must have long-term autonomous high-precision positioning and navigation capabilities underwater and have high concealment. [0003] Most AUVs now use DVL (Doppler Velocity Log) and SINS (Strap-down Inertial Navigation System, strapdown inertial navigation system) for integrated navigation, and estimate the position through ship position reckoning. However, this will cause the positioning error of t...

AI Technical Summary

Problems solved by technology

Using this scheme, although the purpose of correcting the cumulative error can be achieved, it is necessary to require the AUV to continuously travel between the underwater operation site and the water surface.

Doing so not only affects work efficiency, but also makes it easier to expose the position of the AUV

Especially when the AUV is operating in deep sea or under ice, this solution is even more impractical

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