Three-dimensional positioning method for underwater fixed target based on multi-hypothesis depth

A fixed target, three-dimensional positioning technology, applied in the direction of positioning, measuring devices, instruments, etc., can solve the problems of not being able to walk in a straight line and not being able to locate, and achieve the effect of avoiding positioning failure and high fault tolerance rate

Active Publication Date: 2020-02-04
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0002] The existing technology cannot locate within a period of time when the UUV starts to operate, and the UUV needs to sail for a certain distance before positioning, and when using this algorithm, the UUV needs to be maneuvered , cannot walk in a straight line

Method used

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  • Three-dimensional positioning method for underwater fixed target based on multi-hypothesis depth
  • Three-dimensional positioning method for underwater fixed target based on multi-hypothesis depth
  • Three-dimensional positioning method for underwater fixed target based on multi-hypothesis depth

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Embodiment Construction

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. 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.

[0037] Assume that the sea depth is 2000 meters and the seabed is flat; the initial position of the UUV is (0, 0, -1000), the speed is 1.5 m / s, and the heading change rate is 1.5° / s. Navigation remains at the same depth; the target is at (1000, -1200, -2000), fixed. Situation diagram see Figure 4 , Figure 5 . The line array is installed on the unmanned underwater vehicle UUV, which is consistent with the course direction of the unmanned underw...

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Abstract

The invention discloses a three-dimensional positioning method for an underwater fixed target based on multi-hypothesis depth. The method comprises the following steps of establishing a coordinate system and storing current moment-relevant information; screening current moment information and historical information through a threshold condition to match the current moment information and the historical information into pairs, listing an equation, and solving the equation to obtain a result; carrying out moving average on an equation result of the same depth; using a moving average result to eliminate values that are inconsistent with the assumed depth and corresponding positioning results, and detecting whether a new measurement value exists; when the new measurement value exists, repeating the above processes; and when the new measurement value does not exist, then ending the positioning. An underwater acoustic positioning system is a system for positioning a target under a certain reference system by ranging or direction-finding underwater targets, and in different target environments, different positioning methods are used.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional positioning of underwater targets; in particular, it relates to a three-dimensional positioning method for fixed underwater targets based on multiple hypothetical depths. Background technique [0002] The existing technology cannot locate within a period of time when the UUV starts to operate, and the UUV needs to sail for a certain distance before positioning, and when using this algorithm, the UUV needs to be maneuvered , cannot walk in a straight line. Contents of the invention [0003] The underwater acoustic positioning system is a system that locates the target in a certain reference system by measuring the distance or direction of the underwater target. In different target environments, different positioning methods are used; for passive long baseline positioning, If the target is non-cooperative, the method used is hyperbolic rendezvous based on relative delay; if the target i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/18
CPCG01S5/186G01S5/18
Inventor 齐滨付进梁国龙王燕苏钰孙思博王逸林邹男张光普王晋晋
Owner HARBIN ENG UNIV
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