Underwater positioning method based on single acoustic beacon distance measurement

An underwater positioning and beacon technology, which is applied in the field of marine navigation and positioning, can solve the problems of inability to widely apply the navigation and positioning requirements of underwater vehicles, discount of auxiliary effects, and complicated system layout, so as to reduce physical complexity, improve positioning accuracy, Simple physical structure

Active Publication Date: 2018-10-02
TIANJIN UNIV
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Problems solved by technology

These traditional methods can provide high-precision positioning update information in the coverage area, but require more underwater acoustic elements, complex system layout, and high cost, and cannot be widely used in the navigation and positioning requirements of underwater vehicles.
[0005] The current research on single-beacon hydroacoustic positioning uses ranging as auxiliary information to provide observations

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  • Underwater positioning method based on single acoustic beacon distance measurement
  • Underwater positioning method based on single acoustic beacon distance measurement
  • Underwater positioning method based on single acoustic beacon distance measurement

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[0039] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples, and detailed descriptions are as follows with accompanying drawings:

[0040] figure 1 Is the algorithm flow chart of the present invention, figure 2 Schematic diagram of the positioning method based on single beacon distance measurement, as attached figure 1 with figure 2 As shown, an underwater positioning method based on single underwater acoustic beacon distance measurement includes the following steps:

[0041] Step A: The underwater vehicle is equipped with a hydroacoustic communicator and a fixed-position hydroacoustic beacon to measure the slant distance at a fixed frequency. The hydroacoustic beacon sends its own water depth to the vehicle, and the vehicle combines the hydroacoustic beacon and the vehicle Real-time water depth of itself, the depth difference and horizontal distance between the vehicle and the underwater acous...

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Abstract

The invention discloses an underwater positioning method based on single acoustic beacon distance measurement; the method comprises the following steps: an underwater vehicle carries out slope distance measurement with an acoustic beacon in a fixed position via an underwater acoustic communication set at a fixed frequency, the acoustic beacon sends self depth to the vehicle, the vehicle combines the acoustic beacon and self real time depth so as to calculate the depth difference and horizontal distance between the vehicle and the acoustic beacon; secondarily, in a navigation process, the vehicle uses a compass and a Doppler tachymeter to obtain self accuracy course and speed, thus obtaining the accurate navigation locus of the vehicle in certain period; finally, the vehicle uses the rangefinding sequence and the curse as constraints, uses the acoustic beacon position as reference, and matches and positions a real time relative navigation locus in an acoustic beacon coverage area, thusdetermining the present position. An existing underwater acoustic positioning method has more elements, is complex in structure, high in cost, and a curse reckoning method has accumulated errors andneeds the start point position information in calculation; the underwater positioning method based on single acoustic beacon distance measurement can solve said problems.

Description

technical field [0001] The invention belongs to the technical field of marine navigation and positioning, and in particular relates to an underwater navigation and positioning method based on distance measurement of a single underwater acoustic beacon. This method is mainly applied to the positioning estimation of the aircraft when it is navigating in an unknown underwater environment. Background technique [0002] Underwater navigation and positioning technology is a necessary technology for marine scientific investigation, resource exploration and development, and underwater acoustic positioning technology is one of the main directions of underwater navigation and positioning research. [0003] The traditional dead reckoning algorithm has the characteristics of high-precision positioning in a short period of time, but its positioning error will accumulate and increase over time, and the starting point position information needs to be known in the process of dead reckoning....

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Application Information

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IPC IPC(8): G01S11/14
CPCG01S11/14
Inventor 邵祺常帅付晓梅张静马鹏宇
Owner TIANJIN UNIV
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