Underwater acoustic positioning and time service buoy and underwater positioning method

Abstract

The invention discloses an underwater acoustic positioning and time service buoy and an underwater positioning method, and relates to the field of underwater acoustic positioning. The buoy comprises amulti-antenna GNSS receiver, an inertial measurement unit, an underwater acoustic positioning device, a satellite communication machine, an underwater acoustic communication device, a battery and a controller. The multi-antenna GNSS receiver is used for measuring the accurate coordinates of the main antenna and the coordinate increment value of each antenna relative to the main antenna to obtainthe earth-fixed coordinate system coordinates of the buoy and the attitude information of the buoy; the inertia measurement unit is used for measuring the angular velocity and acceleration informationof the buoy and continuously calculating the position, velocity and attitude of the buoys at any time according to the initial position, velocity and attitude information and additional errors of onegroup of buoys; the underwater acoustic positioning device is used for transmitting continuous acoustic signals to the underwater, and an underwater carrier receives the acoustic signals and measuresthe signal propagation time relative to an LBL device; the satellite communication machine is used for acquiring real-time precision correction information from a satellite; and the controller is used for receiving data, positioning, sending results and controlling other equipment.

Description

technical field [0001] The invention relates to the field of underwater acoustic positioning, in particular to an underwater acoustic positioning and timing buoy and an underwater positioning method. Background technique [0002] Position information and time information are necessary basic information for marine scientific research, seabed resource exploration, marine structure construction, marine intelligence network construction, etc. The availability, accuracy and economy of marine positioning, navigation and timing determine the high-level marine science. The regular conduct or construction of research, high-yield ocean investments, and high-quality ocean intelligence networks. [0003] For the positioning, navigation and timing of general carriers above the sea surface, GNSS technologies such as GPS and Beidou can usually be used to achieve, and the accuracy, usability and concealment of positioning, navigation and timing are better. However, there has been a lack of...

AI Technical Summary

Problems solved by technology

There are several problems in this general design: (1) The buoy itself only uses a single GNSS antenna for positioning, without considering the attitude of the buoy (heading, roll angle, pitch angle), which leads to the bottom of the buoy being deduced from the position of the GNSS antenna. The influence of attitude cannot be considered in the reference position of LBL, which is not conducive to the further improvement of positioning accuracy; (2) the accuracy and reliability of the SPP positioning algorithm are poor, which will limit the accuracy and reliability of underwater acoustic positioning

[0006] From the foregoing, we can see that there are two main types of problems in the commonly used underwater acoustic positioning methods based on sea surface buoys: (1) the lack of buoy attitude information introduces systematic observation errors; (2) the use of the SPP algorithm limits system positioning and timing. Further improvements in accuracy and reliability

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