Deep sea radio navigation positioning method, system and device based on side wave

Abstract

The present application relates to navigation positioning technical field, provide a kind of deep sea radio navigation positioning method, system and device based on side wave.The method comprises the following steps: deploying extremely low frequency navigation signal transmitting device on seabed;Transmitter of extremely low frequency navigation signal transmitting device carries out time synchronization and emits side wave signal;Water download body receives side wave signal and carries out position measurement, obtains the position of water download body.The present application is deployed by three and more than three extremely low frequency navigation signal transmitting device on seabed, and fixed time sequence navigation time signal is emitted by deployment on seabed electric antenna, and the side wave of the small electrical conductivity of seabed crustal rock makes electromagnetic wave signal can propagate far distance, provides high-precision navigation positioning for water download body in the coverage range of underwater side electromagnetic wave signal, and has acoustic immunity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of navigation positioning, and provides a deep-sea radio navigation positioning method, system and device based on side wave. BACKGROUND

[0002] Underwater navigation technologies mainly include acoustic positioning technology, inertial navigation technology, geomagnetic and terrain matching positioning technology and other technical means. Existing deep-sea navigation systems and devices are mostly based on underwater acoustic navigation technology. When underwater acoustic navigation is applied in deep sea, the sound velocity needs to be corrected, and acoustic signals are easy to be detected. The cumulative error of inertial navigation system reaches 0.1% of the distance per hour, and needs to be calibrated regularly. When calibration is not available, the error increases with time. The matching accuracy of geomagnetic and terrain matching positioning is limited to hundreds of meters, and the database update lags behind. In areas where the magnetic field and terrain characteristics are not significant, the positioning error is large.

[0003] Underwater navigation positioning technologies mainly include acoustic, inertial, matching (terrain, gravity, magnetic force, etc.), radio navigation, etc. Although underwater sound has small attenuation, the channel has space-time variation characteristics. The sound signal transmitted through the underwater sound channel will have Doppler effect and multipath effect. The complexity of the marine environment makes it difficult for underwater acoustic navigation. It is difficult to position in the acoustic shadow area. Inertial navigation has drift and needs to be calibrated regularly. Matching navigation requires background field and characteristic environmental characteristics. In areas where the characteristics are not obvious, the usability is low and the matching error is large. The shore-based very low frequency radio navigation signal has certain water entry capability, but the water entry depth is about tens of meters underwater, which can only provide navigation and positioning services for underwater shallow layer carriers.

[0004] Current deep-sea positioning mainly relies on acoustic positioning technology (such as long baseline / ultra-short baseline sonar). Whether water acoustic surface beacon or seabed acoustic beacon is used to provide navigation services, the following defects exist: (a) acoustic limitations: high underwater sound propagation delay (about 1500m / s), significant multipath effect, and serious positioning delay; (b) poor acoustic immunity: acoustic signals are easy to be disturbed and detected.

[0005] The water entry depth of the shore-based high-power transmitted very low frequency navigation signal is about tens of meters, which is difficult to meet the needs of deep-sea navigation. SUMMARY

[0006] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a deep-sea radio navigation positioning method, system and device based on side wave, which realizes high-precision navigation and positioning for underwater carriers within the coverage range of underwater side electromagnetic wave signals with acoustic immunity.

[0007] The present application provides a deep-sea radio navigation positioning method based on side wave, comprising the following steps:

[0008] S1: deploying an extremely low frequency navigation signal transmitting device on the seabed; the structure of the extremely low frequency navigation signal transmitting device comprises a transmitter, a water-tight connector, a water-tight transmitting antenna and a water-tight grounding connector,

[0009] The transmitting end of the transmitter is connected with one end of the water-tight connector;

[0010] The other end of the water-tight connector is connected with one end of the water-tight transmitting antenna;

[0011] The other end of the water-tight transmitting antenna is connected with one end of the water-tight grounding connector;

[0012] The other end of the water-tight grounding connector is grounded;

[0013] S2: the transmitter of the extremely low frequency navigation signal transmitting device performs time synchronization and transmits a side wave signal;

[0014] S3: a water-borne body receives the side wave signal to perform position calculation and obtain the position of the water-borne body.

[0015] According to the deep sea radio navigation positioning method based on a side wave provided by the application, step S1 comprises:

[0016] S11: installing a plurality of extremely low frequency navigation signal transmitting devices on the seabed, and the distance between two extremely low frequency navigation signal transmitting devices is greater than 3 kilometers;

[0017] S12: connecting adjacent extremely low frequency navigation signal transmitting devices by using a time synchronization optical fiber.

[0018] According to the deep sea radio navigation positioning method based on a side wave provided by the application, step S11 comprises:

[0019] When the installed extremely low frequency navigation signal transmitting devices are N, the extremely low frequency navigation signal transmitting devices are arranged in the position of a regular N-polygon.

[0020] According to the deep sea radio navigation positioning method based on a side wave provided by the application, the transmitter comprises the following modules: a time-frequency reference module, a navigation signal transmitting control module, a power amplifier module, a battery pack and a power supply module, and an antenna matching and coupling module,

[0021] The time-frequency reference module is used for calibrating a clock signal, and an atomic clock is contained in the time-frequency reference module; the time-frequency reference module is electrically connected with the navigation signal transmitting control module;

[0022] The navigation signal transmitting control module is electrically connected with the power amplifier module; and the navigation signal transmitting control module is used for controlling the frequency of a transmitting signal;

[0023] The power amplification module is electrically connected with the antenna matching coupling module, the power amplification module is used for amplifying the power of the transmitting signal, and the antenna matching coupling module is used for processing the transmitting signal.

[0024] The battery pack and the power supply module are electrically connected with the time-frequency reference module, the navigation signal broadcasting control module and the power amplification module, and the battery pack and the power supply module are used for power supply.

[0025] According to the deep sea radio navigation positioning method based on the side wave provided by the application, step S2 comprises:

[0026] S21: synchronizing the time sequence of the extremely low frequency navigation signal transmitting device through the time synchronization optical fiber synchronization atomic clock;

[0027] S22: all the transmitters transmit signals according to the time sequence, wherein the nth transmitter transmits the side wave signal at the frequency F 2n-1 for the first time length, the nth transmitter stops transmitting the signal for the second time length, the nth transmitter transmits the side wave signal at the frequency F 2n for the third time length, and the nth transmitter stops transmitting the signal for the fourth time length, wherein n is the ordinal number of the transmitter.

[0028] According to the deep sea radio navigation positioning method based on the side wave provided by the application, step S3 comprises:

[0029] S31: the underwater vehicle receives the side wave signal and calculates the difference between the two signals, and the distance of the underwater vehicle from the extremely low frequency navigation signal transmitting device is obtained through signal phase measurement solution .

[0030] S32: the position of the underwater vehicle is calculated by using the least square method to solve the equation:

[0031]

[0032] wherein, is the horizontal coordinate of the position of the underwater vehicle, is the horizontal coordinate of the position of the extremely low frequency navigation signal transmitting device; is the vertical coordinate of the position of the underwater vehicle, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitting device; is the depth of the underwater vehicle, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitting device, is the speed of the side wave, is the clock difference between the underwater vehicle and the extremely low frequency navigation signal transmitting device;

[0033] S33: Synchronize the clock signal of the extremely low frequency navigation signal transmitting device according to the clock difference between the waterborne body and the extremely low frequency navigation signal transmitting device.

[0034] The application also provides a deep-sea radio navigation positioning system based on side wave, comprising:

[0035] The transmitting device deployment module is used for deploying the extremely low frequency navigation signal transmitting device on the seabed; the structure of the extremely low frequency navigation signal transmitting device comprises a transmitter, a water-tight connector, a water-tight transmitting antenna and a water-tight grounding connector,

[0036] The transmitting end of the transmitter is connected with one end of the water-tight connector;

[0037] The other end of the water-tight connector is connected with one end of the water-tight transmitting antenna;

[0038] The other end of the water-tight transmitting antenna is connected with one end of the water-tight grounding connector;

[0039] The other end of the water-tight grounding connector is grounded;

[0040] The signal transmitting module is used for the transmitter of the extremely low frequency navigation signal transmitting device to perform time synchronization and transmit side wave signals;

[0041] The position signal measurement module is used for the waterborne body to receive the side wave signals to measure the position and obtain the position of the waterborne body.

[0042] The application also provides an electronic device comprising a processor, a communication interface, a memory and a communication bus; when the processor executes the program, the steps of the deep-sea radio navigation positioning method based on side wave according to any one of the above are realized.

[0043] The one or more technical solutions in the embodiments of the application have at least one of the following technical effects:

[0044] The deep-sea radio navigation positioning method, system and device based on side wave provided by the application realize deep-sea navigation positioning based on the transmission and reception of seabed side wave signals. By deploying multiple extremely low frequency navigation transmitting devices on the seabed, connecting one end of the transmitting antenna with the seabed matrix as a grounding end, propagating and receiving the seabed side wave waveguide of the extremely low frequency navigation signal, the action distance of the deep-sea extremely low frequency radio navigation is expanded by 20 times. Extremely low frequency high-precision time synchronization signal transmission. The optical fiber time bidirectional synchronization method is used between the seabed extremely low frequency navigation transmitting devices to ensure that the synchronization accuracy of the extremely low frequency navigation signal transmission time is 1ns. Underwater navigation high-precision positioning. The receiving end receives three or four synchronous navigation signals transmitted by the extremely low frequency, realizes high-precision positioning of the waterborne body through phase accurate measurement and ranging calculation, and the navigation positioning accuracy reaches 2m, and the number of waterborne bodies is not limited.

[0045] The present application makes the regional navigation positioning accuracy high and sound immune. The deep-sea seabed is in a high-pressure environment, so that the deep-sea electromagnetic environment is relatively stable, the low-frequency electromagnetic wave navigation signal transmission and receiving technology is adopted, the error caused by the influence of the marine environment is small, and high-precision navigation positioning can be realized in the deep-sea operation area. Since radio electromagnetic signal transmission is used, it belongs to non-acoustic signal and is not disturbed by underwater sound, and has acoustic immunity.

[0046] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0048] Figure 1 It is a flowchart of the deep-sea radio navigation positioning method based on side wave provided by the present application.

[0049] Figure 2 It is a schematic diagram of the layout of the seabed low-frequency navigation signal transmission system.

[0050] Figure 3 It is a composition diagram of the low-frequency navigation signal transmission device.

[0051] Figure 4 It is a composition block diagram of the transmitter of the low-frequency navigation signal transmission device.

[0052] Figure 5 It is a low-frequency navigation signal transmission timing diagram.

[0053] Figure 6 It is a block diagram of the underwater navigation receiver of the underwater load.

[0054] Figure 7 It is a structural block diagram of the deep-sea radio navigation positioning system based on side wave provided by the present application.

[0055] Figure 8 It is a structural schematic diagram of the electronic device provided by the present application.

[0056] Reference signs:

[0057] 11, transmitter; 12, watertight connector; 13, watertight transmitting antenna; 14, watertight ground connector; 21, time-frequency reference module; 22, navigation signal broadcasting control module; 23, power amplification module; 24, battery pack and power supply module; 25, antenna matching and coupling module; 31, magnetic antenna; 32, signal low-noise amplification module; 33, navigation signal processing module; 34, water pressure sensor; 101, transmitter device deployment module; 102, signal transmitting module; 103, position signal measurement module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0059] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the embodiments of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0060] The present application will be described below in combination with Figures 1 to 8 The present application is described.

[0061] Embodiments

[0062] As Figure 1 shown, Figure 1 The present application provides a deep-sea radio navigation positioning method based on side waves, comprising the following steps:

[0063] S1: deploying an extremely low frequency navigation signal transmitting device on the seabed;

[0064] S2: the transmitter of the extremely low frequency navigation signal transmitting device performs time synchronization and transmits a side wave signal;

[0065] S3: The water-loaded body receives the side wave signal to calculate the position, and the position of the water-loaded body is obtained.

[0066] The scheme utilizes the physical characteristic that the conductivity of the seabed matrix is smaller than that of seawater. The deep-sea crust is mainly composed of basalt and gabbro, mainly composed of silicate minerals, and the bottom of the deep sea is covered with sediments, which are mainly composed of soft mud and clay. According to the conductivity of the seabed basalt (wet) of 0.01 S / m and the dielectric constant of 8, and the conductivity of seawater of 3-5 S / m and the dielectric constant of 81, the propagation attenuation of radio waves of the same frequency in the seabed crust is one-twentieth of that in seawater, which means that in the case of the same attenuation, the propagation distance of electromagnetic waves through the seabed matrix side wave waveguide is 20 times that of seawater, which increases the underwater electromagnetic navigation range. By deploying three or more than three extremely low frequency navigation signal transmitting devices at the preset position of the seabed, the navigation receiving device on the underwater vehicle receives the extremely low frequency (50-100 Hz) navigation signal transmitted through the side wave, and the signal measurement and positioning calculation are realized. The navigation and positioning of the underwater vehicle in the seabed area.

[0067] Specifically, as shown in Figure 3 The structure of the extremely low frequency navigation signal transmitting device includes a transmitter 11, a water-tight connector 12, a water-tight transmitting antenna 13, and a water-tight grounding connector 14,

[0068] The transmitting end of the transmitter 11 is connected to one end of the water-tight connector 12;

[0069] The other end of the water-tight connector 12 is connected to one end of the water-tight transmitting antenna 13;

[0070] The other end of the water-tight transmitting antenna 13 is connected to one end of the water-tight grounding connector 14;

[0071] The other end of the water-tight grounding connector 14 is grounded.

[0072] The water-tight transmitting antenna 13 transmits extremely low frequency navigation electromagnetic wave signals outward, and is composed of multiple thin copper wires and an external pressure-resistant water-tight insulating material, with a length of more than 500 meters and placed on the seabed. The water-tight transmitting antenna 13 is connected to the transmitter 11 through the high-pressure water-tight connector 12 at one end, and the other end is connected to the seabed matrix as a grounding end through the water-tight grounding connector 14, ensuring that the water-tight part of the antenna cannot contact seawater, and the current loaded on the antenna by the transmitter 11 can form a loop.

[0073] Specifically, step S1 includes:

[0074] S11: Install several ELF navigation signal transmitting devices on the seabed, and the distance between two ELF navigation signal transmitting devices is greater than 3 km; when the number of installed ELF navigation signal transmitting devices is N, the ELF navigation signal transmitting devices are arranged in a regular N-polygon.

[0075] S12: Connect the adjacent ELF navigation signal transmitting devices by using time synchronization optical fibers.

[0076] Use an underwater robot to deploy three or more ELF navigation signal transmitting devices on the seabed where work is needed, and the distance between the ELF navigation signal transmitting devices is greater than 3 km. Specifically, as shown in FIG. a), the ELF navigation signal transmitting device 1, the ELF navigation signal transmitting device 2, and the ELF navigation signal transmitting device 3 are arranged in a regular triangle, and the adjacent transmitting devices are connected by the time synchronization optical fiber 1, the time synchronization optical fiber 2, and the time synchronization optical fiber 3. Figure 2

[0077] As shown in FIG. b), the ELF navigation signal transmitting device 1, the ELF navigation signal transmitting device 2, the ELF navigation signal transmitting device 3, and the ELF navigation signal transmitting device 4 are arranged in a regular square, and the adjacent transmitting devices are connected by the time synchronization optical fiber 1, the time synchronization optical fiber 2, the time synchronization optical fiber 3, and the time synchronization optical fiber 4. Figure 2

[0078] Each ELF navigation signal transmitting device includes a transmitter 11 and a water-tight transmitting antenna 13. The water-tight transmitting antenna 13 is in the form of a wire antenna with a length greater than 500 m. The wire antenna is placed on the seabed, one end of which is connected to the transmitter 11, and the other end is connected to the seabed matrix as a grounding end, so as to ensure that the transmitting ELF signal current can form a loop. The longitude and latitude positions of the geometric center of the ELF navigation signal transmitting device are accurately known through marine surveying, with an error of less than 1 m. The ELF navigation signal transmitting devices are connected by time synchronization optical fibers, so as to ensure accurate time synchronization of the multiple ELF navigation signal transmitting devices.

[0079] Specifically, as shown in FIG. a), the transmitter 11 includes the following modules: a time-frequency reference module 21, a navigation signal transmitting control module 22, a power amplification module 23, a battery pack and power supply module 24, and an antenna matching and coupling module 25. Figure 4 The time-frequency reference module 21 is used to calibrate the clock signal, and the time-frequency reference module 21 contains an atomic clock; the time-frequency reference module 21 is electrically connected to the navigation signal transmitting control module 22.

[0080]

[0081] ​​​The navigation signal broadcasting control module 22 is electrically connected with the power amplification module 23; the navigation signal broadcasting control module 22 is used for controlling the frequency of the transmission signal;

[0082] The power amplification module 23 is electrically connected with the antenna matching coupling module 25; the power amplification module 23 is used for amplifying the power of the transmission signal; and the antenna matching coupling module 25 is used for processing the transmission signal.

[0083] The battery and power supply module 24 is electrically connected with the time-frequency reference module 21, the navigation signal broadcasting control module 22 and the power amplification module 23; and the battery and power supply module 24 is used for power supply.

[0084] In the embodiment of the application, the time-frequency reference module 21 in the transmitter 11 comprises a rubidium clock; the multiple transmitters 11 deployed in the seabed are time-synchronized through an optical fiber bidirectional time synchronization method; and the synchronization error of the second pulse is less than 1 ns. On the basis of time synchronization, the transmitter 11 of each extremely low frequency navigation signal transmitting device transmits the extremely low frequency navigation signal through the watertight transmitting antenna 13 according to the preset frequency and timing, so as to provide navigation and positioning services for the water-borne objects in the seabed area.

[0085] Specifically, the step S2 comprises:

[0086] S21: synchronizing the timing of the extremely low frequency navigation signal transmitting device through the time-synchronized optical fiber atomic clock;

[0087] S22: all the transmitters transmit signals according to the timing sequence, wherein the nth transmitter transmits the side wave signal at the frequency F 2n-1 for the first time length, the nth transmitter stops transmitting the signal for the second time length, the nth transmitter transmits the side wave signal at the frequency F 2n for the third time length, and the nth transmitter stops transmitting the signal for the fourth time length, wherein n is the ordinal number of the transmitter.

[0088] The embodiment of the application takes the installation mode of (a) in the embodiment of the application as an example: Figure 2

[0089] Specifically, as shown in Figure 5 ​As shown, the very low frequency navigation signal transmitting device 1 transmits two navigation frequencies F1, F2 in time according to the set time sequence, the very low frequency navigation signal transmitting device 2 transmits two navigation frequencies F3, F4 in time according to the set time sequence, and the very low frequency navigation signal transmitting device 3 transmits two navigation frequencies F5, F6 in time according to the set time sequence. Since the time of the very low frequency navigation signal transmitting device has been accurately synchronized, at the time of the rising edge of the second pulse, the very low frequency navigation signal transmitting device transmits the navigation frequencies F1, F3, F5 at the same time according to the preset time sequence, stops transmitting at the time t1, and transmits the navigation frequencies F2, F4, F6 again at the time t2, stops transmitting at the time t3, and then repeats transmitting the navigation signal according to the t4 period. The working frequencies and time sequences of the three transmitting devices given as examples are shown in the following table, and the transmitting is repeated according to the 1-second time period of the time-frequency reference unit.

[0090] Specifically, as shown in Table 1, Table 1 is the navigation signal frequency and time sequence of the three transmitting devices:

[0091] Table 1 Navigation signal frequency and time sequence of the three transmitting devices

[0092]

[0093] For the case of four very low frequency navigation signal transmitting devices, two more navigation frequencies are added, and the time sequence relationship can remain unchanged.

[0094] Specifically, step S3 comprises:

[0095] S31: The water-loaded body receives the side wave signal and calculates the difference between the two signals, and the distance of the water-loaded body from the very low frequency navigation signal transmitting device is obtained by signal phase measurement solution ;

[0096] S32: The position of the water-loaded body is calculated using the least square method to solve the equation:

[0097]

[0098] wherein, is the horizontal coordinate of the water-loaded body position, is the horizontal coordinate of the position of the very low frequency navigation signal transmitting device; is the vertical coordinate of the water-loaded body position, is the vertical coordinate of the position of the very low frequency navigation signal transmitting device; is the depth of the water-loaded body, is the vertical coordinate of the position of the very low frequency navigation signal transmitting device, is the speed of the side wave, is the clock difference between the water-loaded body and the very low frequency navigation signal transmitting device;

[0099] S33: Synchronize the clock signal of the extremely low frequency navigation signal transmitting device according to the clock difference between the underwater carrier and the extremely low frequency navigation signal transmitting device.

[0100] Specifically, in this embodiment of the present invention, an underwater navigation receiver receives navigation signals from three or four extremely low frequency (ELF) navigation signal transmitters, measures the phase values ​​of the ELF navigation signals, and combines this with integer ambiguity resolution to determine the distance between the underwater navigation receiver and the ELF navigation signal transmitters. Finally, the underwater carrier's position data is obtained through positioning. Assuming the longitude and latitude of the three ELF navigation signal transmitters are known and converted to rectangular coordinates, the underwater carrier's underwater depth data H, obtained by the water pressure sensor 34, is known. The distance between the underwater navigation receiver and the ELF navigation signal transmitter is known through signal phase measurement. The underwater carrier's position is then (X, Y, H), where X and Y represent the underwater carrier's position data to be resolved. The three ELF navigation signal transmitters are time-synchronized, and the clock difference between them and the underwater navigation receiver is an unknown quantity, Δt. The velocity of the side waves propagating underwater through the seafloor matrix is ​​a known quantity, c. The following equation is then solved.

[0101]

[0102] Then the underwater carrier position (X, Y) and Δt value can be solved.

[0103] If receiving signals from four extremely low frequency (ELF) navigation transmitters, the least squares method is used to solve the equation to obtain the underwater carrier's position (X, Y). When the ELF navigation signal transmitters achieve a position accuracy error of less than 1 meter, a time synchronization accuracy error of 1 ns, and a ranging accuracy error of 0.5 meters, and a positioning geometry factor of less than 3, the underwater carrier's positioning accuracy is less than 2 meters.

[0104] Specifically, such as Figure 6 As shown, Figure 6 The block diagram of the underwater navigation receiver is provided, which includes a magnetic antenna 31, a low-noise signal amplification module 32, a navigation signal processing module 33, and a water pressure sensor 34. After receiving the extremely low-frequency navigation signal transmitted by seafloor side waves, the magnetic antenna 31 converts the electromagnetic signal into an electrical signal, which is then input into the low-noise signal amplification module 32 for amplification. The amplified signal is then sent to the navigation signal processing module 33. The navigation signal processing module 33 performs digital signal processing through A / D sampling (analog-to-digital conversion sampling). By measuring the phase of the extremely low-frequency navigation signal and the phase difference of the dual-frequency navigation signals, it resolves integer ambiguities and obtains three or four ranging values ​​between the underwater navigation receiver and the extremely low-frequency navigation signal transmitter. Through navigation positioning, the underwater vehicle's position data is obtained.

[0105] As shown in Table 2, Table 2 is a comparison table of the present invention and other navigation methods:

[0106] Table 2 Comparison of the application with other navigation methods

[0107]

[0108] As shown in Table 2, the application significantly improves the measurement accuracy and the acoustic concealment compared with other measurement methods.

[0109] As Figure 7 shown, the application also provides a deep-sea radio navigation positioning system based on side waves, which comprises:

[0110] The transmitting device deployment module 101 is configured to deploy an extremely low frequency navigation signal transmitting device on the seabed; the structure of the extremely low frequency navigation signal transmitting device comprises a transmitter, a water-tight connector, a water-tight transmitting antenna and a water-tight ground connector,

[0111] The transmitting end of the transmitter is connected with one end of the water-tight connector;

[0112] The other end of the water-tight connector is connected with one end of the water-tight transmitting antenna;

[0113] The other end of the water-tight transmitting antenna is connected with one end of the water-tight ground connector;

[0114] The other end of the water-tight ground connector is grounded;

[0115] The signal transmitting module 102 is configured to synchronize the transmitter of the extremely low frequency navigation signal transmitting device in time and transmit a side wave signal;

[0116] The position signal measurement module 103 is configured to receive the side wave signal by the waterborne body to measure the position and obtain the position of the waterborne body.

[0117] Figure 8 An example of an electronic device is shown in FIG. 8, which can include a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 can communicate with each other through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute a deep-sea radio navigation positioning method based on side waves, which comprises: Figure 8 S1: deploying an extremely low frequency navigation signal transmitting device on the seabed;

[0118] S2: synchronizing the transmitter of the extremely low frequency navigation signal transmitting device in time and transmitting a side wave signal;

[0119]

[0120] ​S3: The water-loaded body receiving side receives the side wave signal to calculate the position, and the position of the water-loaded body is obtained.

[0121] In addition, the logic instructions in the memory 830 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0122] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0123] From the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary general hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions essentially or the parts that contribute to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0124] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0125] It should be noted that embodiments of the present disclosure can be realized by hardware, software, or a combination of software and hardware. The hardware portion can be realized with a special logic, and the software portion can be stored in a memory and executed by a proper instruction execution system, such as a microprocessor or a specially designed hardware. Those skilled in the art can understand that the above-described apparatus and method can be realized using computer executable instructions and / or included in processor control codes, for example, such codes are provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0126] Further, although operations of methods of the present disclosure are described in a particular order in the drawings, this does not require or imply that the operations must be performed in that particular order, or that all of the illustrated operations must be performed to achieve desirable results. Rather, the order of steps depicted in flowcharts can be changed. Additionally or alternatively, certain steps can be omitted, combined into a single step, and / or broken into multiple steps. It should also be noted that features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, features and functions of one device described above can be further divided into multiple devices.

[0127] While the present disclosure has been described with reference to several particular embodiments, it should be understood that the present disclosure is not limited to the particular embodiments disclosed. The present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A deep-sea radio navigation and positioning method based on side waves, characterized in that: The following steps are involved: S1: Deploy an extremely low frequency navigation signal transmitter on the seabed; The structure of the extremely low frequency navigation signal transmitting device includes: a transmitter, a watertight connector, a watertight transmitting antenna and a watertight grounding connector. The transmitting end of the transmitter is connected to one end of the watertight connector; The other end of the watertight connector is connected to one end of the watertight transmitting antenna; The other end of the watertight transmitting antenna is connected to one end of a watertight grounding connector; The other end of the watertight grounding connector is grounded; S2: The transmitter of the extremely low frequency navigation signal transmitter performs time synchronization and transmits side wave signals; S3: The underwater carrier receives the side wave signal to measure the position and obtain the position of the underwater carrier.

2. The deep-sea radio navigation and positioning method based on side waves according to claim 1, characterized in that: Step S1 includes: S11: Install several extremely low frequency navigation signal transmitters on the seabed, with the distance between two extremely low frequency navigation signal transmitters being greater than 3 kilometers; S12: Connect adjacent extremely low frequency navigation signal transmitting devices using time synchronization optical fibers.

3. The deep-sea radio navigation and positioning method based on side waves according to claim 2, characterized in that: Step S11 includes: When N extremely low frequency navigation signal transmitting devices are installed, the extremely low frequency navigation signal transmitting devices are arranged in a regular N-gon.

4. The deep-sea radio navigation and positioning method based on side waves according to claim 1, characterized in that: The transmitter includes the following modules: a time-frequency reference module, a navigation signal broadcasting control module, a power amplification module, a battery pack and power supply module, and an antenna matching coupling module; The time-frequency reference module is used to calibrate the clock signal, and the time-frequency reference module contains an atomic clock; the time-frequency reference module is electrically connected to the navigation signal broadcasting control module; The navigation signal transmission control module is electrically connected to the power amplification module; the navigation signal transmission control module is used to control the frequency of the transmission signal; The power amplification module is electrically connected to the antenna matching coupling module, the power amplification module is used to amplify the power of the transmission signal, and the antenna matching coupling module is used to process the transmission signal; The battery pack and the power supply module are electrically connected to the time-frequency reference module, the navigation signal broadcasting control module, and the power amplification module. The battery pack and the power supply module are used for power supply.

5. The deep-sea radio navigation and positioning method based on side waves according to claim 4, characterized in that: Step S2 includes: S21: Synchronize the atomic clock through the time synchronization fiber to synchronize the timing of the extremely low frequency navigation signal transmitter; S22: All transmitters transmit signals in a time sequence, where the nth transmitter transmits signals in a time sequence. 2n-1 The nth transmitter transmits a side wave signal at a frequency of F for a first time length, and stops transmitting the signal for a second time length. ... 2n The frequency side wave signal is transmitted for a third time length, and the nth transmitter stops transmitting the signal for a fourth time length, where n is the sequence number of the transmitter.

6. The deep-sea radio navigation and positioning method based on side waves according to claim 1, characterized in that: Step S3 includes: S31: The underwater carrier receives the side wave signal and calculates the difference between the two signals. The signal phase is measured and solved to obtain the distance between the underwater carrier and the extremely low frequency navigation signal transmitter. ; S32: Calculate the position of the underwater carrier by solving the equation using the least squares method: in, is the horizontal coordinate of the underwater carrier position, is the abscissa of the location of the extremely low frequency navigation signal transmitter; is the ordinate of the underwater carrier position, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitter; is the depth of the underwater carrier, is the vertical coordinate of the position of the extremely low frequency navigation signal transmitter, is the speed of the side wave, is the clock difference between the underwater carrier and the extremely low frequency navigation signal transmitter, is the lateral wave velocity; S33: Synchronize the clock signal of the extremely low frequency navigation signal transmitting device according to the clock difference between the underwater carrier and the extremely low frequency navigation signal transmitting device.

7. A deep-sea radio navigation and positioning system based on side waves, used to execute the deep-sea radio navigation and positioning method based on side waves according to any one of claims 1 to 6, characterized in that: include: Launcher deployment module: used to deploy extremely low frequency navigation signal transmitters on the seabed; The structure of the extremely low frequency navigation signal transmitting device includes: a transmitter, a watertight connector, a watertight transmitting antenna and a watertight grounding connector. The transmitting end of the transmitter is connected to one end of the watertight connector; The other end of the watertight connector is connected to one end of the watertight transmitting antenna; The other end of the watertight transmitting antenna is connected to one end of a watertight grounding connector; The other end of the watertight grounding connector is grounded; Signal transmission module: used for time synchronization of the transmitter of the extremely low frequency navigation signal transmitter and transmitting side wave signals; Position signal calculation module: The underwater carrier receives the side wave signal to calculate the position and obtain the position of the underwater carrier.

8. An electronic device comprising a processor, a communication interface, a memory and a communication bus, characterized in that: When the processor executes the computer program, the steps of the sidewave-based deep-sea radio navigation positioning method according to any one of claims 1 to 6 are implemented.

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