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Method for simultaneously realizing underwater acoustic positioning and navigation parameter telemetering for UUV (Unmanned Underwater Vehicle)

A technology of underwater acoustic positioning and parameters, applied in positioning, measuring devices, radio wave measuring systems, etc., to achieve the effect of improving accuracy

Pending Publication Date: 2022-06-24
750 TEST SITE OF CHINA SHIPBUILDING IND CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, due to the influence of Doppler frequency offset, serious measurement noise and multi-pulse crosstalk caused by underwater UUV navigation, most measurement systems use separate measurement algorithms such as single-pulse positioning or coded telemetry. There are technical difficulties in the joint measurement of parameters

Method used

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  • Method for simultaneously realizing underwater acoustic positioning and navigation parameter telemetering for UUV (Unmanned Underwater Vehicle)
  • Method for simultaneously realizing underwater acoustic positioning and navigation parameter telemetering for UUV (Unmanned Underwater Vehicle)
  • Method for simultaneously realizing underwater acoustic positioning and navigation parameter telemetering for UUV (Unmanned Underwater Vehicle)

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Experimental program
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Embodiment 1

[0030] like figure 1 As shown, the present invention provides a method for simultaneously realizing underwater acoustic positioning and navigation parameter telemetry for UUV, including the following steps:

[0031] Step S1: Acquire the actual time delay value between the navigation parameter collection value, the positioning pulse and the telemetry pulse. Navigation parameters include heading, depth, roll, trim, etc. The actual delay value is determined according to the acquired navigation parameter collection value, specifically:

[0032] Obtain the collection value H of the navigation parameters, and the minimum delay value t between the positioning pulse and the telemetry pulse min and the maximum delay value t max , the minimum delay value t min Corresponding to the minimum sailing parameter value H min , the maximum delay value t max Corresponding to the maximum sailing parameter value H max ; Then the actual delay value t calculated by the actual solution is:

...

Embodiment 2

[0045]This application proposes a method for simultaneously realizing underwater acoustic positioning and navigation parameter telemetry for UUV, using a multi-element beam tracking method, using multi-array element omnidirectional ranging, and spatial diversity in a specified direction, which not only avoids echo interference in other directions, but also avoids echo interference in other directions. The signal reception gain is increased, thereby improving the positioning accuracy.

[0046] The application has been fully verified by underwater tests. The static and dynamic verification tests done in a lake are shown in Table 2 for positioning measurement error data, and for navigation parameter measurement error data as shown in Table 3.

[0047] Table 2 Positioning measurement error data

[0048]

[0049]

[0050] Table 3 Navigation parameter measurement error data

[0051]

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Abstract

The invention discloses a method for simultaneously realizing underwater acoustic positioning and navigation parameter telemetering for a UUV (Unmanned Underwater Vehicle). The method comprises the following steps: step S1, acquiring an actual time delay value among a navigation parameter acquisition value, a positioning pulse and a telemetering pulse; s2, modulating a frequency value of a telemetering pulse according to the navigation parameter acquisition value; s3, the underwater beacon sends a positioning pulse at regular time under the triggering of the synchronous clock; after the positioning pulse is sent out, a modulated telemetering pulse is sent out after an actual time delay value is spaced; s4, the overwater signal processing and display control system performs underwater acoustic positioning by using the delay inequality of the two received front and back positioning pulses to obtain system position parameters; and demodulating the received telemetering pulse to obtain a system measurement navigation parameter. According to the method, high-data-rate underwater acoustic positioning and navigation parameter telemetering are achieved in a time-frequency combination mode, the mode that coarse adjustment is conducted firstly and then fine adjustment is conducted is adopted in the telemetering process, the precision of the obtained navigation parameters is greatly improved, and therefore UUV recycling with the high precision requirement is met.

Description

technical field [0001] The invention relates to the technical field of underwater acoustic positioning, in particular to a method for simultaneously realizing underwater acoustic positioning and remote measurement of navigation parameters for UUVs. Background technique [0002] With the development and progress of marine science and technology, underwater vehicles such as Unmanned Underwater Vehicle (UUV) have played an important role in national defense, marine engineering and other fields. Information that must be obtained by the base or working mother boat. In the military field, modern new underwater weapons can analyze, identify, and distinguish true and false targets on the horizontal and vertical scales of targets. During the attack process, the intelligent underwater weapon adopts the optimal ballistics through optimal control, finds the vital parts of the attack target, hits vertically, and gathers energy for directional explosion. Due to the small size of the lig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/26G01D21/02
CPCG01S5/26G01D21/02
Inventor 付传宝邢超袁春姗
Owner 750 TEST SITE OF CHINA SHIPBUILDING IND CORP
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