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Single-beacon passive acoustic positioning method for underwater glider under the influence of ocean currents

An underwater glider and acoustic positioning technology, applied in satellite radio beacon positioning systems, positioning, radio wave measurement systems, etc., can solve problems such as performance degradation, position estimation failure, failure, etc., to improve positioning performance and improve positioning performance , implementing simple effects

Active Publication Date: 2021-08-24
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the underwater glider will be affected by ocean currents when performing underwater operations, and the underwater voyage time is longer and the speed is slower, the positioning error of the dead reckoning technology will continue to accumulate, resulting in the estimated position of the underwater glider and the actual position. Large deviations in position, especially when ocean currents are comparable to underwater glider speeds, can invalidate their position estimates
At the same time, the existing underwater positioning methods generally only perform autonomous positioning based on the motion model of the underwater glider and the distance between the underwater glider and the beacon, without considering the interference of ocean currents on the positioning performance of the underwater glider, which leads to the performance of these methods in the Decrease or even fail in practical application

Method used

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  • Single-beacon passive acoustic positioning method for underwater glider under the influence of ocean currents
  • Single-beacon passive acoustic positioning method for underwater glider under the influence of ocean currents
  • Single-beacon passive acoustic positioning method for underwater glider under the influence of ocean currents

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Embodiment 1

[0065] The flow of a method for passive acoustic positioning of an underwater glider under the influence of ocean currents provided by an embodiment of the present invention is as follows: figure 1 shown. The glider locates itself according to the time-of-arrival difference of the received positioning signal and the signal angle of arrival (Direction Of Arrival, DOA). The method includes the following steps.

[0066] Step S1: Glider deployment, parameter initialization step

[0067] After the glider is deployed, it corrects its position on the sea surface through GPS. After the glider starts underwater navigation, it continues to monitor the signal to determine whether it has received a positioning signal. At initialization, the ocean current velocity can be calculated without prior knowledge of the ocean current The initial value is set to [0 0], if there is prior knowledge, the ocean current velocity The initial value is set to the corresponding value. The error cova...

Embodiment 2

[0112] The embodiment of the present invention provides a process for sending beacon positioning signals, such as figure 2 shown. In the embodiment, the beacon periodically broadcasts positioning signals, and the beacon can be carried on any surface or underwater platform, such as surface ships, drilling platforms, buoys, wave gliders, UUVs, submarines, etc. The method includes the following steps:

[0113] Step S1: Beacon initialization step

[0114] After the beacon is deployed, it will set the sending cycle of the positioning signal Signal bandwidth and other parameters, and enter the waiting to send stage.

[0115] Step S2: Get the current beacon position and beacon sending time step

[0116] At the time the signal is sent, the beacon will get the current position of the beacon and beacon sending time

[0117] Step S3: Signal packaging and broadcasting

[0118] The beacon position and beacon time obtained in step S2 of the CAN signal with good autocorrelation a...

Embodiment 3

[0120] The positioning signal frame structure provided by the embodiment of the present invention, such as Figure 5 shown. The signal frame consists of a CAN signal with good autocorrelation and the beacon position at the time of transmission and sending time constitute.

[0121] The above-mentioned products can execute the methods provided by the embodiments of the present invention, and have corresponding functional modules and beneficial effects for executing the methods. For technical details that are not exhaustively described in this embodiment, refer to the method provided in the embodiment of the present invention.

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Abstract

The invention discloses a single-beacon passive acoustic positioning method for an underwater glider under the influence of ocean currents. The method only needs a single beacon to provide positioning information for the glider, including the frame structure design of the positioning signal sent by the beacon and the signal at the receiving end of the glider. The processing method, the implementation steps of the positioning method, the sequential estimation algorithm of the glider position, and the glider positioning algorithm when the acoustic positioning signal is temporarily absent. The invention does not require time synchronization between the glider and the sound source and does not require the glider to send active signals, can greatly improve the positioning performance of the underwater glider under the influence of ocean currents, and has the characteristics of low power consumption, simple implementation, and large improvement in positioning accuracy.

Description

technical field [0001] The invention belongs to the field of underwater vehicle positioning, in particular to a single-beacon passive acoustic positioning method for an underwater glider under the influence of ocean currents. Background technique [0002] With the increasing demand for modern ocean development and ocean exploration, more and more underwater vehicles are designed to observe the ocean environment. Underwater unmanned glider (Autonomous Underwater Gliders, hereinafter referred to as underwater glider) integrates sensing, communication, navigation, control, energy, propulsion and other technologies, and is a relatively mature underwater unmanned vehicle in ocean observation. [0003] Underwater glider can be equipped with various sensors to collect environmental data in three-dimensional ocean space, such as salinity, temperature, depth, ocean current, dissolved oxygen concentration, sound field and so on. In order to obtain accurate environmental data, an unde...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/02G01S19/45G01C21/00G01C21/20
CPCG01C21/005G01C21/203G01S5/0257G01S19/45
Inventor 徐文蒋丞李建龙陈惠芳
Owner ZHEJIANG UNIV
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