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Inverted long/ultra-short baseline method and device for self-positioning and navigation of underwater target

An underwater target and ultra-short baseline technology, which is applied in satellite radio beacon positioning systems, positioning, and measuring devices, can solve problems that hinder the widespread application of underwater intelligent submersibles and low data update rates, and achieve real-time positioning and navigation services, the effect of strong adaptability

Active Publication Date: 2021-07-09
TIANJIN UNIV
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Problems solved by technology

However, most of the traditional underwater positioning systems are based on local, fixed-point, low data update rate and human-operated positioning methods, and it is difficult to provide real-time, self-calculating and perceiving positioning and Navigation service, which seriously hinders the wide application of underwater intelligent submersibles, especially underwater unmanned robots, in underwater resource development, underwater defense and marine environment observation. It is urgent to explore a new, more intelligent Underwater positioning and navigation system to promote the development of underwater intelligent submersibles and underwater unmanned robots

Method used

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  • Inverted long/ultra-short baseline method and device for self-positioning and navigation of underwater target

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Embodiment 1

[0045] see Figure 1 to Figure 5 , the embodiment of the present invention provides an inverted long / ultra-short baseline (i-L / USBL) method for self-localization and navigation of an underwater target, the method comprising the following steps:

[0046] Step 1: Use the inverted long baseline principle and surface GPS positioning equipment to accurately locate the underwater base station:

[0047] A single receiving transducer on the water surface inquires each underwater array element transponder at a certain position, and each array element transponder receives the interrogation signal and sends out a coded response signal with its own characteristics, and the surface transducer receives the response signal and outputs it through semi-coherent demodulation. The baseband signals sent by each array element estimate the round-trip time of the sound wave between the transducer and the four array elements, and determine the relative distance between the transducer and a single arr...

Embodiment 2

[0059] The scheme in embodiment 1 is further introduced below in conjunction with specific examples, see the following description for details:

[0060] like Figure 1-Figure 2 Shown is a schematic diagram and a technical implementation diagram of an underwater target self-localization and navigation system based on an inverted long / ultra-short baseline (i-L / USBL) according to an embodiment of the present invention. The theoretical model consists of two parts: an inverted long baseline and an inverted ultra-short baseline. The overall technical structure consists of three parts: surface measuring points, underwater base stations, and underwater targets. The specific calculation steps mainly include:

[0061] 1. Inverted long baseline positioning system

[0062] The traditional long-baseline positioning system usually consists of multiple submarine transponders with a baseline length of several kilometers and a question answering machine on the carrier to be positioned. That ...

Embodiment 3

[0105] An inverted long / ultra-short baseline device for underwater target self-location and navigation, the device includes: a single transducer, a four-element array base station (located on the x and y axes respectively) of underwater autonomous coding responses, and a data processor .

[0106] According to the theoretical analysis of the above-mentioned embodiments 1-2, the embodiment of the present invention builds an underwater inverted ultra-short baseline hardware platform, and conducts an underwater target self-positioning experiment in an anechoic environment through four channels of frequency modulation signals. The hardware platform is mainly composed of a transmitting host computer (computer), a positioning end target transducer (that is, the above-mentioned single transducer), an inverted ultra-short baseline array (that is, the four array elements of the underwater autonomous coding response (located respectively at x and y axes) array base station) and a multi-c...

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Abstract

The invention discloses an inverted long / ultra-short baseline method and device for underwater target self-positioning and navigation. The method comprises the following steps: positioning an underwater multi-array element base station by adopting an inverted long baseline principle and GPS positioning information of a plurality of water surface measuring points; and through combination of semi-coherent coding and decoding and inverted short baseline positioning, solving relative spatial positions of a plurality of user targets and a multi-array-element base station, and realizing real-time self-positioning and navigation services of a plurality of targets. The device comprises a single transceiving transducer, an underwater autonomous coding response four-array-element array base station and a data processor. According to the invention, the adaptive capacity in the working environment is strong, the positioning precision is high, data updating is fast, the device is light and easy to arrange, the device is easy to popularize in practical engineering application, and the real-time self-positioning and navigation service of multiple users is realized.

Description

technical field [0001] The invention relates to the fields of real-time positioning and navigation of underwater targets, cooperative control of robots, and ground control, and in particular to an inverted long / ultra-short baseline (i-L / USBL) method and device for self-positioning and navigation of underwater targets. Background technique [0002] Because human beings attach great importance to the development of marine resources, marine environment protection and maintenance of marine rights and interests, surface ships, underwater submersibles and submarine base stations are effective tools for marine cognition and marine development. play an important role in other applications. This means that the positioning requirements for surface and underwater vehicles are getting higher and higher. Different from land carriers using radio or satellite positioning methods, for the positioning and navigation of underwater vehicles such as submarines or unmanned vehicles, due to the a...

Claims

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Application Information

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IPC IPC(8): G01S5/26G01S19/45
CPCG01S5/26G01S19/45
Inventor 翟京生钱治文王晓健李杰
Owner TIANJIN UNIV
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