An ultra-short baseline positioning system and method
An ultra-short baseline positioning and horizontal positioning technology, applied in radio wave measurement systems, positioning, instruments, etc., can solve the problems of high price, limited application, and bulkiness, and achieve the effect of short time consumption and simple calculation
Active Publication Date: 2020-08-04
智真海洋科技(威海)有限公司 +1
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[0003] Traditional underwater positioning equipment, such as: ultra-short baseline, short baseline, long baseline, etc., are too bulky and expensive to support simultaneous positioning of a large number of submersibles. These shortcomings limit their application in the field of underwater robots
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[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0042] See attached figure 2 , the embodiment of the present invention discloses an ultra-short baseline positioning system, including: four sound sources of different frequencies, four hydrophones, four program-controlled amplifiers, four band-pass filters, four fixed-gain amplifiers, four Analog-to-digital converters, signal collectors and signal processors;
[0043] The four sound sources are arranged on the same horizontal plane in a rectangular manner o...
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The invention discloses a novel ultra-short baseline positioning system and method. Four sound sources with different frequencies are fixed on a same horizontal plane at the bottom of the sea and at vertices of the rectangle respectively. Four hydrophones are distributed on an underwater robot carrier in a square manner to form a hydrophone array and the hydrophone array keeping a horizontal attitude monitors horizontal azimuths of the four sound sources; and on the basis of a triangular relationship, horizontal distances between the hydrophone array and the four sound sources are calculated to obtain horizontal positioning information of the underwater robot. According to the provided positioning system and method, a problem of simultaneous positioning of lots of submersible vehicles is solved by means of passive positioning; and the positioning method has advantages of simple computing and short consumed time and the needs of the market can be met.
Description
technical field [0001] The invention relates to the technical field of underwater robot positioning, and more specifically relates to an ultra-short baseline positioning system and method. Background technique [0002] The 21st century is the century of the ocean. The ocean is the cradle of human beings and a huge biological home. It has extremely rich energy sources. The full development and utilization of the ocean is a major research topic facing human society. However, human beings cannot directly move underwater. Therefore, underwater robot technology has become an important means for human beings to explore the ocean world. How to effectively obtain the position of the underwater robot in the water is of great significance for the exploration of designated underwater areas. [0003] Traditional underwater positioning equipment, such as: ultra-short baseline, short baseline, long baseline, etc., are too bulky and expensive to support simultaneous positioning of a large...
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IPC IPC(8): G01S5/20G01S5/22
Inventor 黄杰刘文智周翰文刘汉强王顺礼
Owner 智真海洋科技(威海)有限公司