A method for rapid underwater floating Beidou positioning

Abstract

The present invention provides a method for underwater rapid buoyancy Beidou positioning, the method comprising the following steps: the mass of water discharged by the underwater device in real time under the coordination of the buoyancy regulation system, the mass change of the effective load on the underwater device at a time interval of Δt; calculating the wet weight of the underwater device underwater; calculating the rate of change of the lifting buoyancy formed by the buoyancy regulation system, and then obtaining the lifting buoyancy; using the Kalman filter algorithm for iterative optimization, estimating the optimal solution of the actual buoyancy generated by the buoyancy regulation system. The present invention can quickly and effectively adjust the buoyancy of the underwater device, sensitively respond to the remote control center to float or sink the underwater device with the Beidou positioning module and the central control chip to continue to measure the hydrological parameters such as temperature, depth and salt at different depths, or control it to swim according to the path planned by the remote control center after floating to reach the area where the parameters are to be detected.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater devices, and in particular relates to an underwater rapid floating Beidou positioning method. Background Art

[0002] As non-renewable resources on land are decreasing, the ocean is becoming more and more important as a resource for the survival and development of human society. In recent years, as humans pay more attention to marine resources and the process of marine development is gradually accelerating, people are increasingly focusing on the research and development of various marine devices as tools for the development of marine resources. Deep diving, long range, multi-function and intelligence have become their future development trends.

[0003] The deep diving and long range are limited by weight and volume, and the energy they carry is limited. While developing new energy sources, researchers are also constantly exploring energy-saving technologies in the process of heave and sinking. As an adjustable ballast unit for deep diving and long range, the oil bladder buoyancy adjustment system plays an important role in replacing vertical thrusters in complex marine environments, performing unpowered heave and sinking, depth-fixed buoyancy fine-tuning, and operating attitude adjustment.

[0004] At present, there are few studies on the buoyancy regulation system configured on the surface in China. It is necessary to carry out research on deep-sea buoyancy regulation technology with large diving depth, low power consumption, high reliability, and repeatable high-precision buoyancy. On this basis, research on depth control technology of underwater devices based on buoyancy regulation system is carried out. This has important research significance and practical value for reducing the energy consumption of underwater devices, reducing system costs, and improving the maneuverability, safety and quality of underwater operations of underwater devices. Summary of the invention

[0005] In view of the above-mentioned defects, the present invention provides an underwater rapid buoyancy Beidou positioning method, which can quickly control the device to float, remove measurement noise and process noise through Kalman filter iterative optimization, and improve the accuracy of the control signal.

[0006] The present invention provides the following technical solution: an underwater rapid floating Beidou positioning method, comprising the following steps:

[0007] S1: Real-time detection of the mass of water discharged by the underwater device under the coordination of the buoyancy regulation system, the mass of the discharged water, and the mass change of the effective load on the underwater device at a time interval of time;

[0008] S2: Calculating the wet weight of the underwater device under water according to the monitoring result of step S1;

[0009] S3: Calculating the rate of change of the lifting buoyancy generated by the buoyancy adjustment system on the underwater device, and then obtaining the lifting buoyancy;

[0010] S4: Iterative optimization using the Kalman filter algorithm is used to estimate the optimal solution for the actual buoyancy generated by the buoyancy adjustment system for the underwater device, and the device is controlled to float up quickly.

[0011] Furthermore, the formula for calculating the wet weight of the underwater device in step S2 is as follows:

[0012] ;

[0013] in, is the wet weight of the underwater device in water, g is the acceleration due to gravity, is the dry weight of the underwater device in air, is the mass of water discharged by the underwater device under the coordination of the buoyancy adjustment system, The effective load on the underwater device The time interval to be monitored.

[0014] Furthermore, the S3 step includes the following steps:

[0015] S31: real-time monitoring of the air temperature, air quality, air molar mass and ambient pressure of the ballast tank of the buoyancy adjustment system, the inflation solenoid valve opening control signal obtained by the buoyancy adjustment system, and the exhaust solenoid valve opening control signal obtained by the buoyancy adjustment system;

[0016] S32: Calculate the volume of the ballast tank of the buoyancy adjustment system, the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system, and the mass reduction rate of the underwater device caused by the opening of the exhaust solenoid valve;

[0017] S33: According to the volume of the ballast tank of the buoyancy adjustment system, the mass increase rate of the underwater device and the mass decrease rate of the underwater device calculated in step S2, calculate the rate of change of the lifting buoyancy force generated by the buoyancy adjustment system on the underwater device, and then obtain the lifting buoyancy.

[0018] Furthermore, the calculation formula for the volume of the ballast tank of the buoyancy adjustment system is as follows:

[0019] ;

[0020] Wherein, V is the volume of the ballast tank of the buoyancy regulation system, m is the air mass in the ballast tank of the buoyancy regulation system, M is the molar mass of the air in the ballast tank of the buoyancy regulation system, T is the air temperature in the ballast tank of the buoyancy regulation system, P is the ambient pressure of the ballast tank of the buoyancy regulation system, and R is the ideal gas constant.

[0021] Furthermore, the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system and the mass reduction rate of the underwater device caused by the opening of the exhaust solenoid valve of the buoyancy adjustment system meet the following conditions respectively:

[0022]

[0023] ;

[0024] in, is the inflation solenoid valve opening control signal obtained by the buoyancy regulating system, is the exhaust solenoid valve opening control signal obtained by the buoyancy regulating system, It is the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system. The mass reduction rate of the underwater device caused by the opening of the buoyancy control system exhaust solenoid valve, is the constant inflation rate of the ballast tanks of the buoyancy control system, is the constant exhaust rate of the ballast tanks of the buoyancy control system.

[0025] Furthermore, the lifting buoyancy change rate The calculation formula is as follows:

[0026] ;

[0027] in, is the lifting buoyancy change rate, is the buoyancy, ρ is the water density of the water environment where the underwater device is located, g is the acceleration of gravity, V is the volume of the ballast tank of the buoyancy adjustment system, The buoyancy regulating system obtains an inflation solenoid valve opening control signal, is the exhaust solenoid valve opening control signal obtained by the buoyancy regulating system, is the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system, It is the mass reduction rate of the underwater device caused by opening the exhaust solenoid valve of the buoyancy adjustment system.

[0028] Furthermore, the S4 step includes the following steps:

[0029] S41: Constructing the actual buoyancy generated by the buoyancy adjustment system on the underwater device Computational model: ;in is the wet weight of the underwater device under water, To increase the buoyancy of the vehicle;

[0030] S42: Construct an iterative optimization model for the Kalman filter algorithm to estimate the actual buoyancy generated The previous state estimate of , and based on this, the actual buoyancy generated at this time is predicted Status value , based on the covariance estimate of the previous state estimate Update Kalman gain ;

[0031] S43: The updated Kalman gain obtained according to step S42 , update the actual buoyancy generated The estimated value of the state , construct the actual buoyancy generated The status update value Computational models;

[0032] S44: The actual buoyancy generated for each Repeat steps S41-S43 until the actual buoyancy generated by the buoyancy adjustment system on the underwater device is obtained through iterative optimization. The optimal solution of .

[0033] Furthermore, the actual buoyancy generated at this time is predicted in step S42. Status value The calculation formula is as follows:

[0034] ;

[0035] in, is the inflation rate of the ballast tank of the buoyancy control system at time t, is the exhaust rate of the ballast tank of the buoyancy control system at time t, is the inflation solenoid valve opening control signal obtained by the buoyancy regulating system in the previous state, The exhaust solenoid valve opening control signal obtained by the buoyancy regulating system in the previous state;

[0036] Furthermore, the Kalman gain after the update in step S43 is The calculation formula is: ;

[0037] The actual buoyancy generated in step S43 is updated The estimated value of the state The calculation formula is: ;

[0038] The actual buoyancy generated in step S43 is constructed The status update value The calculation model is as follows: ;

[0039] Where q is the process noise, r is the measurement noise, Measure the value for the new sensor.

[0040] The present invention also provides an underwater fast floating Beidou positioning device using the method as described above, the device is an underwater device, characterized in that the device includes an underwater device 1, a buoyancy coordination system, the buoyancy coordination system includes a compressed air cylinder 2 arranged inside the underwater device, a ballast tank 3 arranged on the upper part of the underwater device, an airflow pipe 4 connecting the compressed air cylinder 2 and the ballast tank 3, a weighing sensor 5 arranged at the airflow pipe connection port 4-1 of the ballast tank, an inflation solenoid valve 6 arranged at the airflow pipe connection port 4-2 of the compressed air cylinder, and an exhaust solenoid valve 6 arranged on the top of the ballast tank 3; the underwater fast floating Beidou positioning device is provided with a control chip inside, executes the underwater fast floating Beidou positioning method as described above, accurately predicts the optimal solution of the actual buoyancy generated by the buoyancy adjustment system for the underwater device, and then controls the underwater fast floating Beidou positioning device to float rapidly according to remote control information; the underwater device 1 adopts the Beidou positioning method to locate the navigation geographical location coordinates in real time.

[0041] The beneficial effects of the present invention are:

[0042] 1. The method and device provided by the present invention can sense the environmental condition parameters of the underwater device through the control chip, and calculate the wet weight of the underwater device under water. Calculate the rate of change of the lifting buoyancy generated by the buoyancy adjustment system on the underwater device , thereby increasing the buoyancy The actual buoyancy is constructed by the difference between the underwater clock and the lifting buoyancy of the underwater device. The calculation model is then optimized iteratively by constructing a simple Kalman filter algorithm to calculate the actual buoyancy generated by each Repeat steps S41-S43 until the actual buoyancy generated by the buoyancy adjustment system on the underwater device is obtained through iterative optimization. The optimal solution is obtained, thereby controlling the underwater rapid floating Beidou positioning device to rapidly float according to the remote control information;

[0043] 2. The present invention can quickly and effectively adjust the buoyancy of the underwater device, and can sensitively respond to the remote control center to float or sink the underwater device with Beidou positioning module and central control chip to continue to measure hydrological parameters such as temperature, depth and salt at different depths, or control it to swim according to the path planned by the remote control center after floating to reach the area where the parameters are to be detected;

[0044] 3. The method provided by the present invention can quickly control the device to float up, and remove measurement noise and process noise through Kalman filtering iterative optimization, thereby improving the accuracy of the control signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0046] Figure 1 This is an overall schematic diagram of the continuous reaction electrocoagulation electroplating wastewater treatment device provided by the present invention;

[0047] Figure 2 A side view of the electro-flocculation reaction unit container provided by the present invention. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Embodiment 1:

[0050] like Figure 1 As shown, a method for underwater rapid floating Beidou positioning provided by the present invention comprises the following steps:

[0051] S1: Real-time detection of the mass of water discharged by the underwater device under the coordination of the buoyancy regulation system, the mass of the discharged water, and the mass change of the effective load on the underwater device at a time interval of time;

[0052] S2: Calculate the wet weight of the underwater device under water according to the monitoring result of step S1;

[0053] S3: Calculate the rate of change of the lifting buoyancy generated by the buoyancy adjustment system on the underwater device, and then obtain the lifting buoyancy;

[0054] S4: Use the Kalman filter algorithm for iterative optimization to estimate the optimal solution for the actual buoyancy generated by the buoyancy control system for the underwater device, and control the device to float quickly.

[0055] Embodiment 2:

[0056] like Figure 1 As shown, a method for underwater rapid floating Beidou positioning provided by the present invention comprises the following steps:

[0057] S1: Real-time detection of the mass of water discharged by the underwater device under the coordination of the buoyancy adjustment system. , the mass change of the payload on the underwater device at a time interval of Δt ;

[0058] S2: Calculate the wet weight of the underwater device under water based on the monitoring results of step S1 :

[0059] ;

[0060] Where g is the acceleration due to gravity (usually g=9.81m / s 2 ), is the dry mass of the underwater device in air, The mass of water displaced by the underwater device under the coordination of the buoyancy control system. For the payload on the underwater device The time interval being monitored;

[0061] S3: Calculate the rate of change of the buoyancy force generated by the buoyancy adjustment system on the underwater device , thereby increasing the buoyancy ;

[0062] S4: Use Kalman filter algorithm to iteratively optimize and estimate the actual buoyancy generated by the buoyancy control system on the underwater device The optimal solution of .

[0063] like Figure 2 As shown, step S3 includes the following steps:

[0064] S31: Real-time monitoring of the air temperature T, air mass m, air molar mass M in the ballast tank of the buoyancy adjustment system, the ambient pressure P of the ballast tank of the buoyancy adjustment system, and the opening control signal of the inflation solenoid valve obtained by the buoyancy adjustment system And the exhaust solenoid valve opening control signal obtained by the buoyancy adjustment system .

[0065] S32: Calculate the volume V of the ballast tank of the buoyancy adjustment system and the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system , the mass reduction rate of the underwater device caused by the opening of the exhaust solenoid valve ;

[0066] ;

[0067] Wherein, m is the mass of air in the ballast tank of the buoyancy control system, M is the molar mass of air in the ballast tank of the buoyancy control system, T is the air temperature in the ballast tank of the buoyancy control system, P is the ambient pressure of the ballast tank of the buoyancy control system, and R is the ideal gas constant.

[0068] The mass increase rate of the underwater device caused by the opening of the buoyancy control system inflation solenoid valve , the mass reduction rate of the underwater device caused by the opening of the exhaust solenoid valve of the buoyancy adjustment system The following conditions are met respectively:

[0069] ;

[0070] ;

[0071] in, The inflation solenoid valve opening control signal obtained by the buoyancy adjustment system, The exhaust solenoid valve opening control signal obtained by the buoyancy adjustment system, is the constant inflation rate of the ballast tanks of the buoyancy control system, A constant exhaust rate for ballast tanks of the buoyancy control system.

[0072] when When it is equal to 1, Equal to constant inflation rate ;when When it is equal to 1, Equal to constant exhaust rate . Real-time inflation rate and exhaust rate and depend on the ambient pressure and the compressed air supply pressure, respectively.

[0073] S33: The volume V of the ballast tank of the buoyancy adjustment system and the mass increase rate of the underwater device calculated according to step S2 and the mass reduction rate of the underwater device , calculate the rate of change of the lifting buoyancy force generated by the buoyancy adjustment system on the underwater device , thereby increasing the buoyancy ;

[0074] Improve the buoyancy change rate The calculation formula is as follows:

[0075] ;

[0076] Wherein, ρ is the water density of the water environment in which the underwater device is located, and V is the volume of the ballast tank of the buoyancy adjustment system.

[0077] like Figure 3 As shown, step S4 includes the following steps:

[0078] S41: Constructing the actual buoyancy of the underwater device by the buoyancy adjustment system Computational model: ;in is the wet weight of the underwater device under water, To improve buoyancy;

[0079] S42: Construct an iterative optimization model for the Kalman filter algorithm to estimate the actual buoyancy generated The previous state estimate of , and based on this, the actual buoyancy generated at this time is predicted Status value , based on the covariance estimate of the previous state estimate Update Kalman gain ;

[0080] ;

[0081] in, is the inflation rate of the ballast tank of the buoyancy control system at time t, is the exhaust rate of the ballast tank of the buoyancy control system at time t, The inflation solenoid valve opening control signal obtained by the buoyancy control system in the previous state, The exhaust solenoid valve opening control signal obtained by the buoyancy control system in the previous state;

[0082] S43: The updated Kalman gain obtained according to step S42 , update the actual buoyancy generated The estimated value of the state , construct the actual buoyancy generated The status update value Computational models;

[0083] Updated Kalman gain The calculation formula is: ;

[0084] Update the actual buoyancy generated The estimated value of the state The calculation formula is: ;

[0085] The actual buoyancy generated by the construction The status update value The calculation model is as follows: ;

[0086] Where q is the process noise, r is the measurement noise, Measure the value for the new sensor;

[0087] S44: The actual buoyancy generated for each Repeat steps S41-S43 until the actual buoyancy generated by the buoyancy adjustment system on the underwater device is obtained through iterative optimization. The optimal solution of .

[0088] Embodiment 3:

[0089] like Figure 4 As shown, an underwater fast floating Beidou positioning device provided by the present invention adopts the method provided in Example 1 or Example 2. The device is an underwater device, comprising an underwater device 1 and a buoyancy coordination system. The buoyancy coordination system comprises a compressed air cylinder 2 arranged inside the underwater device, a ballast tank 3 arranged on the upper part of the underwater device, an airflow pipe 4 connecting the compressed air cylinder 2 and the ballast tank 3, a weighing sensor 5 arranged at the ballast tank airflow pipe connection port 4-1, an inflation solenoid valve 6 arranged at the compressed air cylinder airflow pipe connection port 4-2, and an exhaust solenoid valve 7 arranged on the top of the ballast tank 3; a control chip is arranged inside the underwater fast floating Beidou positioning device, which executes any underwater fast floating Beidou positioning method as claimed in claims 1-9 to accurately predict the actual buoyancy generated by the buoyancy adjustment system on the underwater device The optimal solution is obtained, and then the underwater rapid ascent Beidou positioning device is controlled to rapidly ascent according to the remote control information; the underwater device 1 adopts the Beidou positioning method to locate the navigation geographical location coordinates in real time.

[0090] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for rapid underwater floating Beidou positioning, characterized in that: The following steps are involved: S1: Real-time detection of the mass of water discharged by the underwater device under the coordination of the buoyancy adjustment system and the mass change of the effective load on the underwater device at a time interval of time; S2: Calculating the wet weight of the underwater device under water according to the monitoring result of step S1; The formula for calculating the wet weight of the underwater device in step S2 is as follows: ； in, is the wet weight of the underwater device in water, g is the acceleration due to gravity, is the dry weight of the underwater device in air, is the mass of water discharged by the underwater device under the coordination of the buoyancy adjustment system, The effective load on the underwater device The time interval being monitored; S3: Calculating the rate of change of the lifting buoyancy generated by the buoyancy adjustment system on the underwater device, and then obtaining the lifting buoyancy; S4: Iterative optimization using the Kalman filter algorithm is used to estimate the optimal solution for the actual buoyancy generated by the buoyancy adjustment system for the underwater device, and the device is controlled to float up quickly.

2. The underwater rapid floating Beidou positioning method according to claim 1 is characterized in that: The S3 step includes the following steps: S31: real-time monitoring of the air temperature, air quality, air molar mass and ambient pressure of the ballast tank of the buoyancy adjustment system, the inflation solenoid valve opening control signal obtained by the buoyancy adjustment system, and the exhaust solenoid valve opening control signal obtained by the buoyancy adjustment system; S32: Calculate the volume of the ballast tank of the buoyancy adjustment system, the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system, and the mass reduction rate of the underwater device caused by the opening of the exhaust solenoid valve; S33: The volume of the ballast tank of the buoyancy adjustment system calculated according to step S2 、 The mass increase rate and the mass decrease rate of the underwater device are used to calculate the rate of change of the lifting buoyancy formed by the buoyancy adjustment system on the underwater device, thereby obtaining the lifting buoyancy.

3. The underwater rapid floating Beidou positioning method according to claim 2 is characterized in that: The calculation formula for the volume of the ballast tank of the buoyancy adjustment system is as follows: ； Wherein, V is the volume of the ballast tank of the buoyancy regulation system, m is the air mass in the ballast tank of the buoyancy regulation system, M is the molar mass of the air in the ballast tank of the buoyancy regulation system, T is the air temperature in the ballast tank of the buoyancy regulation system, P is the ambient pressure of the ballast tank of the buoyancy regulation system, and R is the ideal gas constant.

4. The underwater rapid floating Beidou positioning method according to claim 2 is characterized in that: The mass increase rate of the underwater device caused by the opening of the buoyancy adjustment system inflation solenoid valve and the mass reduction rate of the underwater device caused by the opening of the buoyancy adjustment system exhaust solenoid valve shall meet the following conditions respectively: ； ； in, is the inflation solenoid valve opening control signal obtained by the buoyancy regulating system, is the exhaust solenoid valve opening control signal obtained by the buoyancy regulating system, It is the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system. The mass reduction rate of the underwater device caused by the opening of the buoyancy control system exhaust solenoid valve, is the constant inflation rate of the ballast tanks of the buoyancy control system, is the constant exhaust rate of the ballast tanks of the buoyancy control system.

5. The underwater rapid floating Beidou positioning method according to claim 2 is characterized in that: The lifting buoyancy change rate The calculation formula is as follows: ； in, is the lifting buoyancy change rate, To increase buoyancy, ρ is the water density of the water environment where the underwater device is located, g is the acceleration due to gravity, V is the volume of the ballast tank of the buoyancy adjustment system, The buoyancy regulating system obtains an inflation solenoid valve opening control signal, is the exhaust solenoid valve opening control signal obtained by the buoyancy regulating system, is the mass increase rate of the underwater device caused by the opening of the inflation solenoid valve of the buoyancy adjustment system, It is the mass reduction rate of the underwater device caused by opening the exhaust solenoid valve of the buoyancy adjustment system.

6. The underwater rapid floating Beidou positioning method according to claim 1 is characterized in that: The S4 step includes the following steps: S41: Constructing the actual buoyancy generated by the buoyancy adjustment system on the underwater device Computational model: ;in is the wet weight of the underwater device under water, To increase the buoyancy of the vehicle; S42: Construct an iterative optimization model for the Kalman filter algorithm to estimate the actual buoyancy generated The previous state estimate of , and based on this, the actual buoyancy generated at this time is predicted Status value , based on the covariance estimate of the previous state estimate Update Kalman gain ; S43: The updated Kalman gain obtained according to step S42 , update the actual buoyancy generated The estimated value of the state , construct the actual buoyancy generated The status update value Computational models; S44: The actual buoyancy generated for each Repeat steps S41-S43 until the actual buoyancy generated by the buoyancy adjustment system on the underwater device is obtained through iterative optimization. The optimal solution of .

7. The underwater rapid floating Beidou positioning method according to claim 6 is characterized in that: The actual buoyancy generated at this time is predicted in step S42 Status value The calculation formula is as follows: ； in, is the inflation rate of the ballast tank of the buoyancy control system at time t, is the exhaust rate of the ballast tank of the buoyancy control system at time t, is the inflation solenoid valve opening control signal obtained by the buoyancy regulating system in the previous state, It is the exhaust solenoid valve opening control signal obtained by the buoyancy regulating system in the previous state.

8. The underwater rapid floating Beidou positioning method according to claim 6 is characterized in that: The Kalman gain after the update in step S43 The calculation formula is: ; The actual buoyancy generated in step S43 is updated The estimated value of the state The calculation formula is: ； The actual buoyancy generated in step S43 is constructed The status update value The calculation model is as follows: ； Where q is the process noise, r is the measurement noise, Measure the value for the new sensor.

9. An underwater fast floating Beidou positioning device using the method as claimed in any one of claims 1 to 8, wherein the device is an underwater device, characterized in that: The device comprises an underwater device (1) and a buoyancy coordination system, wherein the buoyancy coordination system comprises a compressed air cylinder (2) arranged inside the underwater device, a ballast tank (3) arranged on the upper part of the underwater device, an airflow pipe (4) connecting the compressed air cylinder (2) and the ballast tank (3), a weighing sensor (5) arranged at the airflow pipe connection port (4-1) of the ballast tank, an inflation solenoid valve (6) arranged at the airflow pipe connection port (4-2) of the compressed air cylinder, and an exhaust solenoid valve (7) arranged at the top of the ballast tank (3); a control chip is arranged inside the underwater rapid floating Beidou positioning device, which executes the underwater rapid floating Beidou positioning method as claimed in any one of claims 1 to 8, and accurately predicts the actual buoyancy generated by the buoyancy adjustment system on the underwater device The optimal solution is obtained, and then the underwater rapid buoyancy Beidou positioning device is controlled to rapidly float according to the remote control information; the underwater device (1) uses the Beidou positioning method to locate the coordinates of the navigation geographical location in real time.

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