Static calibration method of ultra-short base line acoustic positioning system

Abstract

The invention discloses a static calibration method of an ultra-short base line acoustic positioning system. The method comprises: a ship body coordinate system is established and is marked as a CRP coordinate system; a coordinate system established by a transducer is marked as a Tcvr coordinate system; a plurality of transponders are hung into the water from the ship board of the ship body, a coordinate of each transponder in the CRP coordinate system is recorded and is marked as A with a CRP transverse distance and a CRP longitudinal distance, and a coordinate of each transponder in the Tcvr coordinate system is recorded and is marked as B with a Tcvr transverse distance and a Tcvr longitudinal distance; according to a formula, calculation is carried out to obtain an angle offset of each transponder between the CRP coordinate system and the Tcvr coordinate system and the angle offset is marked as Heading, wherein the formula is: Heading = arctan (Tcvr transverse distance / Tcvr longitudinal distance)- arctan (CRP transverse distance / CRP longitudinal distance); and an average value of the angle offsets of the multiple transponders between the CRP coordinate system and the Tcvr coordinate system is obtained. According to the method, the application range of the ultra-short base line for different working ships can be enlarged; and a problem that the working ship without the navigation capability or with poor navigation capability can not complete conventional dynamic calibration can be solved.

Description

technical field

[0001] The invention relates to a static calibration method of an ultra-short baseline underwater acoustic positioning system, belonging to the technical field of underwater target positioning. Background technique

[0002] The ultra-short baseline system generally includes two parts: the acoustic part (the acoustic transducer installed on the hull and placed underwater, the acoustic transponder installed on the underwater target), the external sensor (the GPS sensor installed on the hull, the heading sensor and attitude sensor). The latter is used to convert the relative position of the underwater target measured by the underwater acoustic system into the position of the target in the absolute geographic coordinate system. Since the coordinate systems of the acoustic system and the external sensor do not completely coincide during the installation process, there are systematic deviations between them, which are an important reason for the positioning error ...

Examples

Embodiment Construction

[0025] The experimental methods used in the following examples are conventional methods unless otherwise specified.

[0026] The materials and reagents used in the following examples can be obtained from commercial sources unless otherwise specified.

[0027] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following embodiments.

[0028] Such as figure 1 As shown in Fig. 1, the construction ship uses the tugboat to throw multiple anchor cables around to fix the ship. In this way, the horizontal stability of the hull during operation can be basically guaranteed. The transducer (Tcvr) in the ultra-short baseline hydroacoustic positioning system is installed on the outer side of the stern, along the vertical direction of the deck of the hull, with the intersection of the plane where the transducer and the deck are located as the origin, the hull coordinate system is established. ...

technical field

[0001] The invention relates to a static calibration method of an ultra-short baseline underwater acoustic positioning system, belonging to the technical field of underwater target positioning. Background technique

[0002] The ultra-short baseline system generally includes two parts: the acoustic part (the acoustic transducer installed on the hull and placed underwater, the acoustic transponder installed on the underwater target), the external sensor (the GPS sensor installed on the hull, the heading sensor and attitude sensor). The latter is used to convert the relative position of the underwater target measured by the underwater acoustic system into the position of the target in the absolute geographic coordinate system. Since the coordinate systems of the acoustic system and the external sensor do not completely coincide during the installation process, there are systematic deviations between them, which are an important reason for the positioning error ...

Examples

Embodiment Construction

[0025] The experimental methods used in the following examples are conventional methods unless otherwise specified.

[0026] The materials and reagents used in the following examples can be obtained from commercial sources unless otherwise specified.

[0027] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following embodiments.

[0028] Such as figure 1 As shown in Fig. 1, the construction ship uses the tugboat to throw multiple anchor cables around to fix the ship. In this way, the horizontal stability of the hull during operation can be basically guaranteed. The transducer (Tcvr) in the ultra-short baseline hydroacoustic positioning system is installed on the outer side of the stern, along the vertical direction of the deck of the hull, with the intersection of the plane where the transducer and the deck are located as the origin, the hull coordinate system is established. ...

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