A long baseline base station networking method and system

Abstract

The present invention belongs to the field of positioning technology, and in particular relates to a long-baseline base station networking method and system. The method includes determining installation locations and setting array base stations to form a positioning network based on the specifications of the target long baseline and the target water area; placing simple transponders at designated locations according to a monitoring period; outputting question-and-answer signals and receiving response signals at random locations; and determining whether to exclude array base stations from the positioning network based on the response signals. By determining installation locations and setting array base stations based on the specifications of the target long baseline and the target water area to complete initial networking; placing simple transponders at designated locations according to a monitoring period to enable signal comparison of specific array base stations; outputting question-and-answer signals and receiving response signals at random locations to ensure reliability of verification through randomness; and determining whether to exclude array base stations from the positioning network based on the response signals, the accuracy of the positioning network can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of positioning technology, and in particular relates to a long-baseline base station networking method and system. Background Art

[0002] Baseline positioning technology calculates a vessel's position by using the response signals between transceivers. It can be applied to underwater positioning and navigation, complementing the shortcomings of space-based positioning.

[0003] Baseline positioning technology generally involves installing a transponder underwater and an interrogator on a vessel. These two devices can be arranged to form a line. Baseline positioning technology can be categorized into long baseline, short baseline, and ultra-short baseline based on the length of the corresponding line. Long baselines, due to their length, offer high positioning accuracy.

[0004] Long-baseline positioning requires widely distributed base stations, which are designed to support transponders or interrogators. Signals from these base stations form a positioning signal network. In practice, due to issues with the underwater environment or the equipment itself, base stations can experience anomalies, yet they still output response signals, leading to issues with positioning accuracy. Summary of the Invention

[0005] In order to solve or improve the above problems, the present invention provides a long baseline base station networking method and system. The specific technical solutions are as follows:

[0006] The present invention provides a long baseline base station networking method, comprising: determining an installation location and setting corresponding array base stations based on the specifications of a target long baseline and a target water area to form a positioning network; placing a simple transponder at a designated location around each of the installation locations according to a preset monitoring period; outputting a question-and-answer signal at a random location in the target water area and receiving a response signal from the simple transponder and the array base station; and determining whether to exclude the array base station from the positioning network based on the response signal.

[0007] Preferably, the determining whether to exclude the array element base station from the positioning network based on the response signal includes: obtaining base station positioning information and transponder positioning information based on the response signals output by the array element base station and the simple transponder, respectively; if the base station positioning information is consistent with the historical positioning information corresponding to the random position, and the difference between the transponder positioning information and the base station positioning information is less than a specified threshold, then maintaining the networking status of the array element base station.

[0008] Preferably, the method further includes: if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, then modifying the response signal output by the array base station according to the placement position of the simple transponder to re-access the positioning network.

[0009] Preferably, the method further includes: if the base station positioning information is consistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, re-deploying the simple transponder and re-verifying the response signal to determine whether to exclude the array base station from the positioning network.

[0010] Preferably, the method further comprises: if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is inconsistent with the base station positioning information, excluding the array element base station from the positioning network.

[0011] The present invention provides a long baseline base station networking system, comprising: a first unit, for determining an installation location and setting a corresponding array base station to form a positioning network based on the specifications of a target long baseline and a target water area; a second unit, for placing a simple transponder at a designated location around each of the installation locations according to a preset monitoring period; a third unit, for outputting a question-and-answer signal at a random location in the target water area and receiving a response signal from the simple transponder and the array base station; and a fourth unit, for deciding whether to exclude the array base station from the positioning network based on the response signal.

[0012] Preferably, the determining whether to exclude the array base station from the positioning network according to the response signal includes:

[0013] Obtaining base station positioning information and transponder positioning information respectively according to the response signals output by the array element base station and the simple transponder;

[0014] If the base station positioning information is consistent with the historical positioning information corresponding to the random position, and the difference between the transponder positioning information and the base station positioning information is less than a specified threshold, the networking state of the array element base station is maintained.

[0015] Preferably, the fourth unit is also used to modify the response signal output by the array base station according to the placement position of the simple transponder to re-access the positioning network if the base station positioning information is inconsistent with the historical positioning information and the transponder positioning information is consistent with the base station positioning information.

[0016] Preferably, the fourth unit is further used to re-deploy the simple transponder and verify the response signal again if the base station positioning information is consistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, so as to decide whether to exclude the array base station from the positioning network.

[0017] Preferably, the fourth unit is further configured to exclude the array base station from the positioning network if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is inconsistent with the base station positioning information.

[0018] The beneficial effects of the present invention are as follows: by determining the installation location and setting the array base station to form a positioning network based on the specifications of the target long baseline and the target water area, the initial networking can be completed; according to the preset monitoring period, a simple transponder is placed at a designated location around each of the installation locations, so that the signal comparison of the specific array base station can be realized; at a random location of the target water area, a question and answer signal is output and the response signal of the simple transponder and the array base station is received, so that the reliability of verification can be ensured through randomness; according to the response signal, it is decided whether to exclude the array base station from the positioning network, which can improve the accuracy of the positioning network. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of a long baseline base station networking method according to the present invention;

[0020] Figure 2 Schematic diagram of a long baseline base station networking system according to the present invention.

[0021] Description of main reference numerals:

[0022] 1-first unit, 2-second unit, 3-third unit, 4-fourth unit. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0025] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0027] In order to solve or improve the problems raised in the background, the present invention provides Figure 1 A long baseline base station networking method is shown, comprising: S1, based on the specifications of the target long baseline and the target water area, determining the installation location and setting the corresponding array base station to form a positioning network; S2, according to a preset monitoring period, placing a simple transponder at a designated location around each of the installation locations; S3, at a random location in the target water area, outputting a question-and-answer signal and receiving a response signal from the simple transponder and the array base station; S4, based on the response signal, deciding whether to exclude the array base station from the positioning network.

[0028] The target long baseline is the code name for the long baseline array element of the planned positioning system. Specifications are the specific specifications of the long baseline, including length, base station spacing, and number of base stations. The target water area is the area where the long baseline array element will be installed / applied. Based on the construction plan, the installation location is determined, and the array base station is set up underwater or in the water at the corresponding installation location. A basic signal question-and-answer process is performed to confirm that all array base stations are functioning properly, completing the positioning network.

[0029] During the use of the array base station, abnormalities may occur due to the influence of the hydrological environment or its own failure. Therefore, it is necessary to set up a monitoring cycle and verify the array base station at least once during the monitoring cycle. The specific operation method of verification includes: placing a simple transponder at a designated location around each installation location. The designated location is an accurate location within a certain range around the installation location, such as 20 meters in front of the installation location; the simple transponder is a transponder that can work underwater for a period of time, and the response signal it outputs has specific signal characteristics that can be used as its own identification feature.

[0030] The positioning network composed of array base stations may be affected by the hydrological environment, resulting in inconsistent positioning accuracy. Therefore, if the positioning function is tested at a designated location, it may not be possible to reasonably evaluate the accuracy of the positioning network. Therefore, it is necessary to output question and answer signals at random locations and receive response signals output by simple transponders and array base stations.

[0031] At least two pieces of positioning information can be obtained through the response signal, and based on the difference between the positioning information, it is decided whether to exclude the corresponding array base station from the positioning network.

[0032] The determining, based on the response signal, whether to exclude the array element base station from the positioning network includes: obtaining base station positioning information and transponder positioning information respectively based on the response signals output by the array element base station and the simple transponder; if the base station positioning information is consistent with the historical positioning information corresponding to the random position, and the difference between the transponder positioning information and the base station positioning information is less than a specified threshold, maintaining the networking state of the array element base station.

[0033] The response signals output by the array base station and the simple transponder can have different signal characteristics. By distinguishing the response signals, the response signals from the array base station and the simple transponder can be distinguished. Since the number of simple transponders is limited to one, at least two sets of positioning information based on the array base station and the simple transponder are generated. Positioning information based on the array base station is called base station positioning information; positioning information including the transponder is called transponder positioning information. A random location can be determined based on historical data to determine the historical positioning information of that location. If the base station positioning information and the historical positioning information are consistent, theoretically, the array base station is correct. To further improve verification accuracy, the difference between the transponder positioning information and the base station positioning information can be compared. Since the simple transponder is deployed near the array base station, the difference between the corresponding transponder positioning information and the base station positioning information should be relatively small. Specifically, using the positioning calculation formula corresponding to the array base station's response signal for the simple transponder will inevitably result in an error. This error is corrected based on the relative position of the simple transponder and the array base station. Therefore, if the difference (the error generated by the formula) is less than a specified threshold, it indicates that the array base station's position has not changed and is functioning properly.

[0034] The method also includes: if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, then modifying the response signal output by the array base station according to the placement position of the simple transponder to re-access the positioning network.

[0035] If the base station positioning information is inconsistent with the historical positioning information, it means that there may be a problem with the array base station, but at this time we don't know what the problem is, so we need to use the transponder positioning information to determine the specific problem. Simple transponders are deployed according to the installation location. The relationship between the deployment location and the installation location is controllable, certain, or accurately inferred. Therefore, if the transponder positioning information is consistent with the base station positioning information, there may be a problem with the response signal output by the array base station, resulting in an error in the calculation of the positioning information. By converting the error through the transponder positioning information and a preset mathematical formula, we can obtain a response signal that can be used to correct the output of the array base station. After correcting the response signal output by the array base station, the array base station can reconnect to the positioning network. Before that, the response signal output by the array base station is temporarily ignored (i.e., excluded from networking).

[0036] The method further includes: if the base station positioning information is consistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, re-deploying the simple transponder and re-verifying the response signal to determine whether to exclude the array base station from the positioning network.

[0037] The base station positioning information is consistent with the historical positioning information, and it is generally believed that the function of the array base station is fine. However, if the transponder positioning information is consistent with the base station positioning information, it means that there is still an anomaly, because the position of the simple transponder is not the installation position. Therefore, if the simple transponder's response signal uses the positioning calculation formula corresponding to the array base station's response signal, an error should occur. Only by correcting this error based on the relative position between the simple transponder and the array base station can we obtain truly accurate random position positioning information, and the transponder positioning information should not be directly consistent with the base station positioning information. The reason for this situation may be that the simple transponder is placed in an abnormal position, so it is necessary to re-place the simple transponder and repeat the response signal; if the situation of this embodiment still occurs after re-placement, it means that the consistency between the base station positioning information and the historical positioning information may be accidental, and is not suitable for the entire area of ​​the target waters, and the array base station needs to be excluded from the positioning network.

[0038] The method further includes: if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is inconsistent with the base station positioning information, excluding the array base station from the positioning network.

[0039] In addition to the functions of the equipment itself, factors affecting the accuracy of baseline positioning technology also include the hydrological environment. Therefore, if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is inconsistent with the base station positioning information, it means that the hydrological environment at the location of the array base station is abnormal, causing problems for both the array base station and the simple transponder. Therefore, the array base station needs to be excluded from the positioning network.

[0040] The present invention provides a long baseline base station networking system, comprising: a first unit 1, used to determine the installation location and set the corresponding array base station to form a positioning network based on the specifications of the target long baseline and the target water area; a second unit 2, used to place a simple transponder at a designated location around each of the installation locations according to a preset monitoring period; a third unit 3, used to output a question-and-answer signal at a random location in the target water area and receive a response signal from the simple transponder and the array base station; and a fourth unit 4, used to decide whether to exclude the array base station from the positioning network based on the response signal.

[0041] The determining, based on the response signal, whether to exclude the array base station from the positioning network includes:

[0042] Obtaining base station positioning information and transponder positioning information respectively according to the response signals output by the array element base station and the simple transponder;

[0043] If the base station positioning information is consistent with the historical positioning information corresponding to the random position, and the difference between the transponder positioning information and the base station positioning information is less than a specified threshold, the networking state of the array element base station is maintained.

[0044] The fourth unit is further configured to modify the response signal output by the array base station according to the placement position of the simple transponder, if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, so as to re-access the positioning network.

[0045] The fourth unit is further configured to, if the base station positioning information is consistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, re-deploy the simple transponder and verify the response signal again to determine whether to exclude the array base station from the positioning network.

[0046] The fourth unit is further configured to exclude the array base station from the positioning network if the base station positioning information is inconsistent with the historical positioning information and the transponder positioning information is inconsistent with the base station positioning information.

[0047] Those skilled in the art will appreciate that the units of the various examples described in conjunction with the embodiments disclosed in this embodiment can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition of each example has been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0048] In the embodiments provided in the present application, it should be understood that the division of units is merely a logical function division, and there may be other division methods in actual implementation, for example, multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored, etc.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A long baseline base station networking method, characterized in that: include: Based on the specifications of the target long baseline and the target water area, determine the installation location and set up the corresponding array base stations to form a positioning network; placing a simple transponder at a designated location around each of the installation locations according to a preset monitoring period; At a random location in the target waters, outputting a question-answer signal and receiving a response signal from the simple transponder and the array base station; According to the response signal, it is determined whether to exclude the array base station from the positioning network.

2. The long baseline base station networking method according to claim 1, characterized in that: The determining, based on the response signal, whether to exclude the array base station from the positioning network includes: Obtaining base station positioning information and transponder positioning information respectively according to the response signals output by the array element base station and the simple transponder; If the base station positioning information is consistent with the historical positioning information corresponding to the random position, and the difference between the transponder positioning information and the base station positioning information is less than a specified threshold, the networking state of the array element base station is maintained.

3. The long baseline base station networking method according to claim 2, characterized in that: Also includes: If the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, the response signal output by the array base station is modified according to the placement position of the simple transponder to re-access the positioning network.

4. The long baseline base station networking method according to claim 2, characterized in that: Also includes: If the base station positioning information is consistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, the simple transponder is re-deployed and the response signal is verified again to determine whether to exclude the array base station from the positioning network.

5. The long baseline base station networking method according to claim 2, characterized in that: Also includes: If the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is inconsistent with the base station positioning information, the array element base station is excluded from the positioning network.

6. A long baseline base station networking system, characterized in that: include: The first unit is used to determine the installation location and set the corresponding array base station to form a positioning network based on the specifications of the target long baseline and the target water area; The second unit is configured to place a simple transponder at a designated location around each of the installation locations according to a preset monitoring period; The third unit is configured to output a question-answer signal and receive a response signal from the simple transponder and the array base station at a random position in the target waters; The fourth unit is configured to determine whether to exclude the array base station from the positioning network according to the response signal.

7. The long baseline base station networking system according to claim 6, characterized in that: The determining, based on the response signal, whether to exclude the array base station from the positioning network includes: Obtaining base station positioning information and transponder positioning information respectively according to the response signals output by the array element base station and the simple transponder; If the base station positioning information is consistent with the historical positioning information corresponding to the random position, and the difference between the transponder positioning information and the base station positioning information is less than a specified threshold, the networking state of the array element base station is maintained.

8. The long baseline base station networking system according to claim 7, characterized in that: The fourth unit is further configured to modify the response signal output by the array base station according to the placement position of the simple transponder, if the base station positioning information is inconsistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, so as to re-access the positioning network.

9. The long baseline base station networking system according to claim 7, characterized in that: The fourth unit is further configured to, if the base station positioning information is consistent with the historical positioning information, and the transponder positioning information is consistent with the base station positioning information, re-deploy the simple transponder and verify the response signal again to determine whether to exclude the array base station from the positioning network.

10. The long baseline base station networking system according to claim 7, characterized in that: The fourth unit is further configured to exclude the array base station from the positioning network if the base station positioning information is inconsistent with the historical positioning information and the transponder positioning information is inconsistent with the base station positioning information.

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