High-precision multifunctional small underwater positioning device

Abstract

The invention belongs to the technical field of underwater positioning, and particularly relates to a high-precision multifunctional small underwater positioning device which comprises an array and an algorithm design scheme as follows: the array adopts the design of a special-shaped array, the number of array elements is M except for a transducer for communication, and the M array elements are arranged at intervals in a high-low manner and are sequentially distributed on two planes with different heights; the array adopts a double-plane design, M / 2 array elements in the same plane are uniformly distributed in two mutually perpendicular directions, the distance between two coaxial receiving elements is integral multiple of the shortest half-wavelength of a positioning signal, and a hydrophone in the center of the array is shared by the two planes and can also be used for assisting orthogonal array positioning. According to the high-precision multifunctional small underwater positioning device, the accuracy and robustness of the whole positioning system are jointly improved while the small array size is ensured.

Description

technical field [0001] The invention relates to the technical field of underwater positioning, in particular to a high-precision multifunctional small underwater positioning device. Background technique [0002] In recent years, under the guidance of the belief of a strong marine country, my country has continuously increased its emphasis on marine resources, and the demand for comprehensive utilization of marine resources is also growing urgently. The 21st century is the century of the ocean. The ocean is the cornerstone of the sustainable development of human society. The prerequisite for the development and utilization of the ocean is to know and understand the ocean itself. Underwater positioning technology, as the basis for human cognition of the ocean, plays a vital role in various application scenarios such as underwater exploration, fish detection, frogman reconnaissance, and underwater robot operation. Underwater positioning is a technology that uses seawater as th...

AI Technical Summary

Problems solved by technology

[0009] (1) For the current USBL underwater acoustic positioning products, a trade-off must be made between positioning accuracy and size. The USBL positioning system with higher precision is larger in size, and the accuracy of the smaller USBL positioning system is difficult to guarantee. Generally speaking , poor versatility of existing products

[0010] (2) At present, the positioning algorithm commonly used in USBL underwater acoustic positioning is still a position estimation algorithm based on time delay difference. This algorithm has a large error in the estimation of time delay difference, which directly affects the accuracy of subsequent underwater acoustic positioning.

At the same time, in the process of using the delay estimation algorithm for underwater acoustic positioning, a high signal sampling rate is required, and the computing power of the hardware is also very high, which seriously increases the cost of positioning products and reduces their applicability

[0011] (3) The function of the existing underwater positioning system is relatively single, and the comprehensive utilization efficiency of information is low, which is actually a serious waste of signal resources and hardware resources

[0012] (4) In addition to underwater positioning based on time delay difference, a small number of existing underwater positioning products use the beamforming method for underwater positioning. Although it has a good positioning effect in general, this algorithm There is a problem of ambiguity on the left and right sides, that is, when the object to be measured is directly above and below the positioning system, the positioning accuracy will be greatly reduced

[0013] In the current underwater positioning device market, although ultra-short limit positioning equipment has the advantage of smaller size, ultra-short baseline underwater positioning equipment with both micro-size and high-precision performance is seriously scarce

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