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Buoy-based LBL/USBL hybrid baseline cooperative target underwater positioning method

A cooperative target, underwater positioning technology, applied in positioning, radio wave measurement systems, measurement devices, etc., can solve the problem of low underwater positioning accuracy, and achieve the effect of improving positioning accuracy and efficiency

Pending Publication Date: 2022-02-25
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

[0004] The invention proposes a buoy-based LBL / USBL hybrid baseline cooperative target underwater positioning method, which solves the problem of low underwater positioning accuracy in the prior art

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  • Buoy-based LBL/USBL hybrid baseline cooperative target underwater positioning method
  • Buoy-based LBL/USBL hybrid baseline cooperative target underwater positioning method
  • Buoy-based LBL/USBL hybrid baseline cooperative target underwater positioning method

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with specific embodiment:

[0049] A buoy-based LBL / USBL hybrid baseline cooperative target underwater positioning method, the technical flow chart is as follows figure 1 shown, including the following steps:

[0050] S1. Through the Beidou PPP / INS integrated navigation system, the precise positions of the four positioning buoys deployed on the sea surface can be obtained;

[0051] S2. Install four transducers on the bottom of the four buoy bodies to transmit and receive underwater acoustic signals, one of which is a USBL array and three are LBL arrays, and install the transponders for underwater cooperation on the target body;

[0052] S3. When the buoy configuration satisfies the optimal configuration, the LBL non-differential / differential algorithm can be used for positioning, combined with error correction and depth constraints, the high-precision relative position between the transponder and the t...

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Abstract

The invention discloses a buoy-based LBL / USBL hybird baseline cooperative target underwater positioning method, and belongs to the technical field of underwater acoustic positioning. High-precision position information of a buoy body can be obtained through a Beidou PPP / INS integrated navigation system; hydrophones are mounted at the bottoms of the four buoys to form an LBL long baseline array, and spatial position coordinates of each LBL node can be obtained through coordinate transformation; when the positioning configuration meets the optimal configuration, positioning can be carried out through an LBL algorithm, and high-precision underwater positioning is realized by combining error correction and depth constraint; when the LBL configuration is changed under the action of stormy waves and does not meet the optimal configuration, the underwater target positioning precision is reduced, correction of underwater target positioning can be completed by using a USBL positioning system with a known accurate position, and high-precision underwater positioning is realized by combining error correction and depth constraint, namely by using an LBL / USBL hybrid baseline positioning algorithm. The problem of poor positioning precision and stability caused by a single underwater acoustic positioning technology is solved.

Description

technical field [0001] The invention belongs to the technical field of underwater acoustic positioning, and in particular relates to a buoy-based LBL / USBL mixed baseline cooperative target underwater positioning method. Background technique [0002] The world's sea-related developed countries are improving their geodetic reference frames through the development of underwater navigation and positioning space references. Navigation and positioning are the foundation of human activities, and the marine navigation and positioning framework is one of the important national infrastructures. The marine economy and the development and utilization of marine resources are inseparable from the support of underwater navigation and positioning technology. my country is also starting to establish a sea-land joint land-sea consistent space reference. The submarine geodetic reference network is a group of acoustic reference stations deployed on the seabed. It is an important part of the na...

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Application Information

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IPC IPC(8): G01S5/30
CPCG01S5/30
Inventor 王磊刘以旭王胜利卢秀山周兴华
Owner SHANDONG UNIV OF SCI & TECH
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