Underwater acoustic positioning system and method

A technology of underwater acoustic positioning and underwater acoustic signals, which is applied in radio wave measurement systems, sound wave re-radiation, and utilization of re-radiation, etc., can solve the problems of high requirements for underwater acoustic transducers, inaccurate target positions, and large errors. Achieve the effect of improving positioning accuracy and reducing costs

Pending Publication Date: 2019-11-22
苏芃
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

General underwater acoustic positioning systems, such as ultra-short base positioning systems, estimate the delay difference of received signals based on multi-element arrays to calculate the distance and azimuth of the target underwater. Factors such as environmental noise, sound scattering and absorption, and reverberation will seriously affect the estimation accuracy of the time delay difference, resulting in inaccurate target position obtained at last, and the error is seriously large, and increases with the increase of distance
Moreover, the requirements for the selected underwater acoustic transducers are high, resulting in high cost of positioning equipment

Method used

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  • Underwater acoustic positioning system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0079] Please refer to figure 1 , an underwater acoustic positioning system, including a signal transmitting end and a matrix part;

[0080] The signal transmitting end is used to be installed on the target to be positioned;

[0081] The signal transmitting end includes a depth sensor and an underwater acoustic signal transmitter;

[0082] The depth sensor is connected to the underwater acoustic signal transmitter;

[0083] The matrix part includes a signal processor, a transducer array and a gyroscope;

[0084] The transducer array includes a main array element and an auxiliary array element;

[0085] The main array element includes a surface array transducer, and the auxiliary array element includes a single array element transducer, wherein the single array element transducer can be an ordinary single array element transducer;

[0086] The area transducer, the single-array element transducer and the gyroscope are respectively connected to the signal processor.

[0087]...

Embodiment 2

[0109] Please refer to image 3 , a method for underwater acoustic positioning, comprising the steps of:

[0110] S1. Receiving the underwater acoustic signal emitted from the target object to be positioned through the area array transducer and the single array element transducer respectively, and the underwater acoustic signal includes the depth information of the target object to be positioned;

[0111] Such as Figure 4 As shown, the underwater acoustic signal emitted from the target object to be positioned is received at a specified time point through the area array transducer (i.e. the main array) and the single array element transducer (i.e. the auxiliary array). Specifically, let The signal transmitting end sends the underwater acoustic signal with depth information at the specified time point, so that the signal receiving end starts collecting the underwater acoustic signal with depth information at the specified time point, and stops the collection within the specifi...

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Abstract

The invention provides an underwater acoustic positioning system and method. As a depth sensor is arranged at a signal transmitting end, depth information is embedded in an underwater acoustic signaland is transmitted. The underwater acoustic signal containing the depth information is received by an area array transducer and a single array element transducer respectively, the slope distance information is tested by using the single array element transducer, and the azimuth of a to-be-positioned target is determined by using the directional characteristics of the area array transducer. The depth information in the underwater acoustic signal is extracted, the azimuth and the slope distance information are then combined to determine the complete position information of the to-be-positioned target, the position shift of the area array transducer is determined by a gyroscope, the complete position information of the to-be-positioned target is converted according to the position shift, theposition of the target can be accurately positioned, the positioning accuracy is improved, and the cost can also be reduced.

Description

technical field [0001] The invention relates to the field of underwater acoustic positioning, in particular to an underwater acoustic positioning system and method. Background technique [0002] In some automated underwater equipment, especially during the operation of underwater robots, the position of the underwater equipment needs to be accurately positioned, and operators on the shore or on the mother ship need to know the relative position or absolute latitude and longitude coordinates of the underwater equipment in real time. GPS or Beidou can be used to collect position signals above the water surface, while underwater acoustic positioning is an effective way. General underwater acoustic positioning systems, such as ultra-short base positioning systems, estimate the delay difference of received signals based on multi-element arrays to calculate the distance and azimuth of the target underwater. Environmental noise, sound scattering and absorption, reverberation and o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/06G01S7/521G01S7/537
CPCG01S7/521G01S7/537G01S15/06
Inventor 苏芃
Owner 苏芃
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