Underwater acoustic positioning, navigation and timing system

Abstract

An underwater acoustic positioning, navigation and timing system comprises three sections and one center, namely a water surface section, a user section, an underwater section and a shore-based control center. The water surface section is provided with an overwater / underwater bidirectional reference transmission device and is used for acquiring a Beidou space-time reference from a Beidou satellitenavigation system and transmitting the space-time reference to the underwater section; the user section is provided with a user terminal and is used for realizing underwater acoustic positioning, navigation and time service in an acoustic / multi-source tight coupling mode; seabed base stations are arranged at the underwater section, a plurality of main seabed base stations and slave seabed base stations construct a seabed array, and the underwater section is used for issuing underwater space-time reference and providing high-precision underwater acoustic space-time reference information for the user section; and the shore-based control center is used for monitoring the working states of the water surface section, the user section and the underwater section and processing the acquired data.The system provides high-precision acoustic positioning, navigation and timing service, especially has an overwater / underwater bidirectional space-time reference transmission function, and can provide underwater-to-overwater space-time reference transmission service under satellite denial of service.

Description

technical field [0001] The invention relates to the fields of underwater acoustic positioning, navigation and timing, in particular to an underwater acoustic positioning, navigation and timing system with Beidou as the space-time reference. Background technique [0002] Sound waves are the only form of energy known to humans that can be transmitted long-distance underwater. The underwater acoustic navigation and positioning system uses underwater acoustic technology to measure the geodetic coordinates of underwater carriers. Traditional underwater acoustic navigation and positioning systems can be divided into long baseline (Long Baseline, LBL), short baseline (Short Baseline, SBL) and ultra-short baseline (Ultra-short Baseline, USBL) according to the length of the baseline. The complexity, size, and positioning accuracy of the three baseline systems are different. The long baseline navigation and positioning system is composed of pre-arranged submarine beacon arrays and nav...

AI Technical Summary

Problems solved by technology

The complexity, size, and positioning accuracy of the three baseline systems are different. The long baseline navigation and positioning system is composed of pre-arranged submarine beacon arrays and navigation terminals. Position, the long baseline needs to be measured in advance, the positioning accuracy is high, and it is mainly used in high-precision regional positioning; the short baseline navigation and positioning system is composed of multiple receiving transducers and acoustic beacons loaded on the carrier, and the length of the baseline is generally several meters to Between tens of meters, the target position is obtained through distance intersection. Limited by the length of the baseline, the accuracy of the short baseline is between LBL and USBL, but the accuracy is easily affected by factors such as carrier deformation; the ultra-short baseline is composed of multi-source acoustic array and Composed of acoustic beacons, the baseline length is at the decimeter level or less than or equal to half a wavelength, and the volume is small. By measuring distance and azimuth positioning, the positioning accuracy is very limited by the heading, attitude sensors, acoustic array calibration and array installation errors, etc.

[0006] The patent application number is CN200910090554 "A Method and System for Underwater Timing and Synchronization", which discloses a method and system for underwater timing and synchronization through underwater acoustic communication. It does not elaborate on the transmission of time-space references and signal systems. Also did not introduce and explain the timing system architecture

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