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Unknown period acoustic beacon high-precision positioning method based on underwater maneuvering platform

A positioning method and technology of acoustic beacons, which are applied in positioning, instruments, measuring devices, etc., can solve the problems of large positioning error, system cost, high signal processing requirements for installation accuracy, and inability to achieve high-precision positioning of acoustic beacons with unknown periods. The effect of improving positioning accuracy

Active Publication Date: 2020-03-06
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the time delay information positioning and the delay difference information positioning need to accurately know the signal period of the acoustic beacon. In the case of inaccurate signal period estimation or signal period drift, it will cause a large positioning error; while the position information positioning depends on For high-precision signal angle-of-arrival estimation, it has high requirements for system cost, installation accuracy, and signal processing
Therefore, none of these three types of existing positioning methods can achieve high-precision positioning of unknown periodic acoustic beacons

Method used

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  • Unknown period acoustic beacon high-precision positioning method based on underwater maneuvering platform
  • Unknown period acoustic beacon high-precision positioning method based on underwater maneuvering platform
  • Unknown period acoustic beacon high-precision positioning method based on underwater maneuvering platform

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Embodiment 1

[0057] A method for high-precision positioning of an unknown periodic acoustic beacon based on an underwater mobile platform, characterized in that the positioning method includes the following steps:

[0058] Step 1: Estimate the signal arrival time and cycle number: estimate the signal arrival time t by signal processing technology 1 , t 2 , t 3 , t 4 ;For CW pulse signal, use Notch filter for high-precision signal arrival time estimation; for LFM signal, use matched filter for high-precision signal arrival time estimation; use cycle number accurate discrimination technology to remove false alarms and realize signal detection Accurate estimation of period number;

[0059] Step 2: Select the positioning period and calculate the second-order delay difference: determine the distance of the positioning point according to the route of the underwater maneuvering platform, and select the positioning period participating in the positioning solution at equal intervals according to...

Embodiment 2

[0101] The implementation process of the present invention is illustrated below through a simulation example. The simulation parameters are as follows: the track of the underwater mobile platform is a circular trajectory, the radius is 500m, the depth is 100m, and the speed is 3m / s; the real coordinate of the unknown periodic acoustic beacon is [100100]m, the depth is 200m; s, the signal-to-noise ratio of acoustic signal reception is 0dB; the estimation error of each input parameter is: sound velocity estimation error 1.5m / s, depth estimation error 1m, inertial navigation error 0.2%; the form of acoustic beacon signal is CW signal, and the period is 1s.

[0102] The positioning method involved in the present invention is used to locate the acoustic beacon, and the positioning result is as follows Figure 4 As shown, the corresponding real-time positioning error is as Figure 5 As shown, the average positioning error after the result is stable (after 750s) is 4.92m. It can be...

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Abstract

The invention discloses an unknown period acoustic beacon high-precision positioning method based on an underwater maneuvering platform. The method comprises the following steps: step 1, estimating asignal arrival time and a period number; step 2, selecting a positioning period and calculating a second-order time delay difference; step 3, carrying out positioning calculation by utilizing the second-order time delay difference and establishing a positioning calculation equation set according to second-order time delay difference information. The positioning precision can be effectively improved, and high-precision acoustic beacon position coordinates can be obtained.

Description

technical field [0001] The invention belongs to the technical field of high-precision positioning of acoustic beacons, and in particular relates to a high-precision positioning method of acoustic beacons with unknown periods based on an underwater mobile platform. Background technique [0002] The unknown periodic acoustic beacon positioning based on the underwater mobile platform refers to the determination of the acoustic beacon signal received by a single underwater mobile platform at different positions when the signal transmission time and signal transmission period of the underwater acoustic beacon are unknown. The technology of underwater acoustic beacon position, its scene situation diagram is as follows figure 1 shown. In the figure, the underwater mobile platform travels along the preset route, and the acoustic beacon emits the sound pulse signal at the same time interval, and the underwater mobile platform is respectively at t 1 , t 2 , t 3 , t 4 Acoustic pul...

Claims

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Application Information

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IPC IPC(8): G01S5/22
CPCG01S5/22
Inventor 孙思博梁国龙张新宇赵春晖付进郑策于双宁明瑞和臧传斌陈迎春
Owner HARBIN ENG UNIV