A method and device for underwater target positioning and velocity measurement in an environment of unknown sound velocity

Abstract

The invention discloses positioning and velocity measuring method and device for an underwater target in an unknow sound velocity environment. The positioning and velocity measuring method specifically includes: (1) placing transceiving duplexing array elements and the underwater target, and emitting a detect signal; (2) by the aid of the array elements, receiving and detecting echoes reflected back after reaching the target; (3) seeking real-time velocity speed of a detecting path; (4) seeking coordinates of the target in various dimensions, and integrating the coordinates to obtain a real-time three-dimensional coordinate of the target; (5) measuring velocity of the target according to doppler shift. Compared with an existing underwater sound positioning technology in which inaccurate sound velocity measurement results to larger positioning error, the positioning and velocity measuring method and device have the advantages that a theoretically feasible real-time sound velocity measuring method is provided by an algorithm on the basis of angle characteristic relations between the array elements and the target, the sound velocity in the target detecting path can be determined accurately in real time, and great significance to improvement of positioning accuracy of the underwater sound positioning technology is realized.

Description

technical field

[0001] The invention relates to the field of underwater target positioning and speed measurement, in particular to an underwater target positioning and speed measurement method and device for unknown sound velocity environment. Background technique

[0002] The underwater acoustic positioning system is a typical sonar system, which can be used for precise positioning, navigation, detection and identification of targets in a specific underwater area. According to the length of the receiving array baseline, the underwater acoustic positioning system can be divided into long baseline positioning system, short baseline positioning system and ultra-short baseline positioning system. The ultra-short baseline underwater acoustic positioning system is a positioning method based on signal phase difference estimation, which requires the distance between receivers to be less than half of the signal wavelength, and the size of the array is very small, generally only on t...

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