Precision error compensation method and self-calibration acoustic beacon positioning equipment based on method

A technology for positioning equipment and error compensation, applied in the field of positioning systems, can solve problems such as ultra-short baseline positioning accuracy errors, underwater sound propagation uncertainty, positioning uncertainty, etc., and achieve the effect of compensating for the impact

Pending Publication Date: 2021-03-23
BOYA GONGDAO BEIJING ROBOT TECH CO LTD
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  • Summary
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to different waters and different environments, there are obvious uncertainties in the water medium in which the acoustic beacon acoustic matrix communicates with each other, resulting in the uncertainty of underwater sound propagation, which leads to obvious errors in the positioning accuracy of ultra-short baselines. It will cause uncertainty in positioning, which will lead to low operating efficiency of underwater working robots

Method used

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  • Precision error compensation method and self-calibration acoustic beacon positioning equipment based on method
  • Precision error compensation method and self-calibration acoustic beacon positioning equipment based on method
  • Precision error compensation method and self-calibration acoustic beacon positioning equipment based on method

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Embodiment 1

[0032] In the ocean waveguide, the sound propagation path is mainly affected by the sea surface, the seabed and the seawater medium. The speed of sound in seawater is related to temperature, salinity and static pressure. The change of salinity has little effect on the speed of sound, so the effect of temperature is the most significant. The variation of sound velocity with depth is represented by the sound velocity profile. The change of the ocean sound velocity profile is affected by factors such as the sea environment and seasons. When the sound wave propagates in the water medium space, it is more seriously affected by the fluctuation of the water sound field environment. Unlike in the air, the medium can be regarded as uniform, and the sound velocity is constant. .

[0033] Such as figure 1 As shown, the thermocline in water divides the sound field into channels in the upper layer and channels in the lower layer. In the upper layer or the lower layer, the vertical temper...

Embodiment 2

[0040] This embodiment provides a precision error compensation method:

[0041] This accuracy error compensation method is based on the self-calibrating acoustic beacon positioning equipment in Embodiment 1, in which the relative position of the acoustic beacon calculated by the ultra-short baseline underwater acoustic positioning system is calculated according to the incident angle of sound rays and the known depth . By allowing the acoustic beacon carrier 6 to carry the second GPS satellite positioning system 7 and the transponder 8 to emerge from the positioning position along the vertical direction, the second GPS satellite positioning system 7 that emerges from the water surface is used to obtain the water surface where the acoustic beacon is located. The absolute position of the acoustic beacon on the water surface includes the longitude and latitude of the acoustic beacon. At the same time, the absolute position obtained is compared with the relative position of the aco...

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Abstract

The invention provides a precision error compensation method and self-calibration acoustic beacon positioning equipment based on the method, relates to the technical field of positioning systems, andsolves the problem of inaccurate positioning in the prior art. The equipment comprises an ultra-short baseline acoustic positioning system, a second GPS satellite positioning system and an acoustic beacon carrier. The ultra-short baseline acoustic positioning system comprises a first GPS satellite positioning system, a signal processing unit, an ultra-short baseline acoustic array, an ultra-shortbaseline transponder and an auxiliary sensor. The second GPS satellite positioning system and the ultra-short baseline transponder are connected to the acoustic beacon carrier. An acoustic beacon floats out of the water surface from a positioning position in the vertical direction, the absolute position of the water surface where the acoustic beacon is located is obtained through the second GPS satellite positioning system, meanwhile the obtained absolute position is compared with the relative position, calculated through the ultra-short baseline acoustic positioning system, of the acoustic beacon, the positioning algorithm of the ultra-short baseline acoustic positioning system is corrected in real time, and the equipment has the advantage of accurate positioning.

Description

technical field [0001] The invention relates to the technical field of positioning systems, in particular to an accuracy error compensation method and a self-calibrating acoustic beacon positioning device based on the method. Background technique [0002] Acoustic beacon equipment is part of the ultra-short baseline hydroacoustic positioning system. According to actual needs, acoustic beacons can be mounted on ROVs, unmanned submersible vehicles, submarines and other underwater operating equipment. The real-time communication between the acoustic beacon and the acoustic array can effectively determine the relative coordinate position between the acoustic beacon and the acoustic array, and then according to the absolute geographic coordinates of the acoustic array, the underwater equipment equipped with the acoustic beacon can be calculated Absolute position coordinates, greatly improving the efficiency and accuracy of underwater operations. However, due to different waters...

Claims

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Application Information

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IPC IPC(8): G01S1/76G01S19/14
CPCG01S1/76G01S19/14
Inventor熊明磊陈龙冬王愿祥
OwnerBOYA GONGDAO BEIJING ROBOT TECH CO LTD