Positioning method of underwater glider

Abstract

The invention discloses a positioning method of an underwater glider. The positioning method of the underwater glider comprises the following steps that s1, when the underwater glider glides in the sea, a sound source transducer carried on a mother ship sends out sound signals at some point; s2, a vector hydrophone carried on the underwater glider receives the sound signals in the s1, and obtainsthe diving depth of the underwater glider, an attitude angle and the time for the underwater glider to receive the sound signals are obtained; s3, the GPS latitude and longitude information of the mother ship and the time for sending the sound signals are recorded on the shore when the mother ship sends out the sound signals; s4, according to the s2 and s3, the propagation time of the sound signals is calculated; s5, the relative distance between the mother ship and the underwater glider is obtained according to the propagation time of the sound signals and the speed at which the sound signalstravel through water; and s6, according to the GPS latitude and longitude information of the mother ship, three-dimensional data are calculated, and the three-dimensional position of the underwater glider is finally determined. The positioning method of the underwater glider facilitates the positioning of the underwater glider and has the characteristics of high precision and good real-time performance.

Description

technical field [0001] The invention relates to the field of engineering calculation methods, in particular to a positioning method for an underwater glider. Background technique [0002] The underwater glider is a new type of underwater robot. Because it uses net buoyancy and attitude angle adjustment to obtain propulsion, energy consumption is extremely small, and only a small amount of energy is consumed when adjusting net buoyancy and attitude angle, and it has the characteristics of high efficiency and large endurance (up to thousands of kilometers). Although the sailing speed of the underwater glider is slow, its manufacturing cost and maintenance cost are low, it can be reused, and it can be launched in large quantities, which meets the needs of long-term and large-scale ocean exploration. [0003] However, once the underwater glider enters the water, it is very difficult to monitor it in real time. At present, domestic underwater acoustic communication is immature a...

AI Technical Summary

Problems solved by technology

The ultra-short baseline positioning based on the underwater acoustic Modem has high energy consumption, is not easy to carry on the glider, and the connection line with the control part is complicated and costly.

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