Positioning method for single-beacon ranging based on virtual transmitting and receiving beacons
A positioning method and sending and receiving technology, which is applied in the field of single-beacon ranging and positioning based on virtual sending and receiving beacons, can solve the problem of non-coexistence of acoustic ranging signal transmission and reception, and achieve the effect of improving positioning accuracy
Inactive Publication Date: 2018-02-09
HARBIN ENG UNIV
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[0007] The purpose of the present invention is to provide a single-beacon-based virtual sending and receiving beacon that can overcome the problem of non-co-point transmission and reception of underwater target acoustic ranging signals and can improve the positioning accuracy of the single-beacon ranging and positioning system for underwater moving targets. Beacon ranging positioning method
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[0032] The present invention will be further described below in conjunction with the accompanying drawings.
[0033] combine figure 1 , is the target positioning principle based on the virtual sending and receiving beacon of the present invention. When the positioning system based on single-beacon ranging works, the rangefinder of the acoustic ranging system transmits a ranging signal in each ranging period, and the ranging period is T. Due to the influence of underwater target motion, the position X of the signal emitted by the acoustic ranging system sk and the location of the received signal X rk There has been a change. Therefore, the target launch point X sk To Beacon X t The corresponding one-way travel time t sk and target receiving point X rk To Beacon X t The corresponding one-way travel time t rk is different. In the k-th ranging period, the moment when the underwater target transmits the ranging signal is t sendk , the time when the underwater target rece...
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The invention discloses a positioning method for single-beacon ranging based on virtual transmitting and receiving beacons, and belongs to the technical field of underwater acoustic positioning. The positioning method comprises the steps of building a virtual transmitting beacon by using an underwater target acoustic ranging cycle according to motion parameters in an underwater target geodetic coordinate system and actually laid beacons; building a virtual receiving beacon by using the two-way propagation time delay of underwater target acoustic ranging according to the motion parameters in the underwater target geodetic coordinate system and the virtual transmitting beacon; building observation equations according to the position of the virtual transmitting beacon, the position of the virtual receiving beacon and the two-way propagation time delay measured by a single-beacon ranging system; and solving a positioning equation set formed by the observation equations based on the virtualtransmitting and receiving beacons to calculate the position of an underwater target in the geodetic coordinate system. The positioning method overcomes a problem of transmitting and receiving non-concurrent point in acoustic ranging in single-beacon ranging positioning and improves the positioning accuracy of single-beacon ranging for an underground moving target through building the virtual receiving beacon and the virtual transmitting beacon.
Description
technical field [0001] The invention belongs to the technical field of underwater acoustic positioning, and in particular relates to a single-beacon ranging and positioning method based on a virtual sending and receiving beacon. Background technique [0002] At present, the positioning of water targets usually adopts satellite technology-based technical means (GPS system, Galileo system, Beidou system, etc.), supplemented by inertial and other positioning technologies. When the target is underwater, the application of satellite positioning is limited due to the strong absorption of radio waves by the water medium. At this time, the underwater acoustic positioning technology using sound waves as the information carrier has become the main choice. It can not only complete the positioning and navigation of the target, but also serve as an effective auxiliary calibration method for inertial positioning and navigation technology. [0003] Hydroacoustic positioning technology was...
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Login to View More IPC IPC(8): G01S15/42
CPCG01S15/42
Inventor 张居成郑翠娥崔宏宇韩云峰孙大军王永恒
Owner HARBIN ENG UNIV