A submarine cable posture detection system and method based on ultra-wideband positioning

Abstract

The application relates to the technical field of submarine cable laying, and particularly discloses a submarine cable posture detection system and method based on ultra-wideband positioning, wherein a positioning crawler belt is arranged between a cable laying ship and a burying plough, a UWB positioning module and a magnet are arranged on the positioning crawler belt, the submarine cable is magnetically adhered to the positioning crawler belt through the magnet, the UWB positioning module at the adhering position emits positioning information, a ship-based station arranged on the cable laying ship and a plough-based station arranged on the burying plough simultaneously acquire information and send the relevant information when receiving the wireless positioning information to an upper computer, the upper computer calculates the positions of each UWB positioning module emitting the wireless positioning information according to the acquired information, and then the positions are connected in series, so that the posture of the submarine cable adhered to the positioning crawler belt is obtained. The positioning crawler belt can make the submarine cable adhere to the positioning crawler belt, so that the posture of the submarine cable is conveniently measured. The application can guarantee the accuracy and reliability of the submarine cable posture detection by means of the accurate positioning function of the UWB wireless positioning.

Description

Technical Field

[0001] This invention relates to the field of submarine cable laying technology, and in particular to a submarine cable attitude detection system and method based on ultra-wideband positioning. Background Technology

[0002] Submarine cables are prone to excessive bending and twisting during installation, which can damage the cable structure, rendering it inoperable and seriously jeopardizing the safety and reliability of the installation process. The traditional solution is to use cable guide cages, but these are limited to shallow waters and are too heavy, significantly increasing the workload. Currently, the main method used is the catenary installation method. This involves measuring parameters such as the cable's entry angle and plowing angle, importing them into a model to obtain the catenary guideline, and then using this model to guide the installation operation.

[0003] During submarine cable laying, real-time acquisition and reconstruction of the cable's attitude and shape can prevent damage from excessive bending and twisting. Current solutions only address the cable's attitude at the cable exit point or laying point, and cannot detect the cable's attitude between the exit point and the laying point. Summary of the Invention

[0004] This invention provides a submarine cable attitude detection system and method based on ultra-wideband positioning, which solves the technical problem of how to detect the attitude of the submarine cable from the cable location to the laying location.

[0005] To solve the above technical problems, the present invention provides a submarine cable attitude detection system based on ultra-wideband positioning, including an active module and a shipboard base station installed on a cable laying vessel, a driven module and a base station installed on a laying plow, a positioning track installed between the active module and the driven module, a plurality of UWB positioning modules installed on the positioning track at first preset distances, a plurality of magnets installed on the positioning track at second preset distances, and a host computer.

[0006] The active module drives the positioning track to perform cyclic transmission between the active module and the driven module. During the cyclic transmission of the positioning track, a section of submarine cable is magnetically bonded to a section of the positioning track. The UWB positioning module at the bonding point emits wireless positioning information. The shipboard base station and the plow-mounted base station receive the wireless positioning information and send relevant information received from the wireless positioning information to the host computer. The host computer calculates the position of each UWB positioning module that emitted the wireless positioning information based on the information received from the shipboard base station and the plow-mounted base station, and connects these positions in series to obtain the attitude of the submarine cable bonded to the positioning track.

[0007] Preferably, a locking tooth is provided on the positioning track at every first preset distance, and a UWB positioning module is embedded in each locking tooth.

[0008] Preferably, a magnet is disposed between two adjacent teeth.

[0009] Preferably, each of the teeth is provided with a sensor connected to the UWB positioning module in that tooth. The sensor is used to send a corresponding signal to the UWB positioning module it is connected to when it senses that a cable is attracted to the positioning track.

[0010] Preferably, the active module includes a drive motor and an active wheel connected to each other, the driven module is a driven wheel, and the positioning track is installed between the active wheel and the driven wheel.

[0011] Preferably, there are two shipboard base stations and two plow-mounted base stations. The host computer calculates the location of each UWB positioning module that sends wireless positioning information based on the information sent by the shipboard base stations and the plow-mounted base stations. Specifically, this includes the following steps:

[0012] A three-dimensional rectangular coordinate system is established with a fixed point on the cable-laying vessel as the origin to determine the position coordinates of the four base stations;

[0013] The host computer determines the arrival time of each UWB positioning module that sends the wireless positioning information to different base stations based on the calibration data sent by the reference UWB positioning tag and the relevant information when receiving the wireless positioning information.

[0014] For each UWB positioning module that transmits wireless positioning information, assuming its coordinates are unknown (x, y, z), the following equation is constructed:

[0015]

[0016] Where R1, R2, R3, and R4 represent the distances between the UWB positioning module and the four base stations, respectively; t1, t2, t3, and t4 represent the times when the calibrated UWB positioning module arrives at the four base stations; and c represents the speed of light.

[0017] The equations for each UWB positioning module are solved for coordinates to obtain the three-dimensional coordinates of each UWB positioning module.

[0018] Preferably, the host computer connects these positions in series to obtain the attitude of the submarine cable attached to the positioning track, specifically including the following steps:

[0019] 1) Take the outermost point among these positions as the first point;

[0020] 2) Take the point closest to the first point as the second point, the point closest to the second point as the third point, and so on, until the last point is taken as the Nth point;

[0021] 3) Connect these points in the order of the first point, the second point, the third point, up to the Nth point to form a broken line;

[0022] 4) Transform the broken line into a smooth curve to represent the orientation of the submarine cable that fits onto the positioning track.

[0023] This invention also provides a submarine cable attitude detection method based on ultra-wideband positioning, used in the aforementioned submarine cable attitude detection system based on ultra-wideband positioning. The key feature is that this method includes the following steps:

[0024] S1. Activate the active module to drive the positioning track to perform cyclic transmission motion between the active module and the driven module;

[0025] S2. At preset time intervals, the UWB positioning module corresponding to the position on the positioning track where the cable is magnetically attached sends out wireless positioning information.

[0026] S3. The shipboard base station and the plow base station receive the wireless positioning information and send relevant information about receiving the wireless positioning information to the host computer.

[0027] S4. The host computer calculates the location of each UWB positioning module that sends wireless positioning information based on the information sent by the ship's base station and the plow base station;

[0028] S5. The host computer concatenates the positions of each UWB positioning module that sends wireless positioning information to obtain the attitude of the submarine cable attached to the positioning track.

[0029] Furthermore, step S4 specifically includes the following steps:

[0030] S41. Establish a three-dimensional rectangular coordinate system with a fixed point on the cable-laying vessel as the origin, and determine the position coordinates of the four base stations;

[0031] S42. The host computer determines the arrival time of each UWB positioning module that sends the wireless positioning information to different base stations based on the calibration data sent by the reference UWB positioning tag and the relevant information when receiving the wireless positioning information.

[0032] S43. For each UWB positioning module that transmits wireless positioning information, construct the following equation:

[0033]

[0034] Where R1, R2, R3, and R4 represent the distances between the UWB positioning module and the four base stations, respectively; t1, t2, t3, and t4 represent the times when the calibrated UWB positioning module arrives at the four base stations; and c represents the speed of light.

[0035] S44. Solve the coordinate equations for each UWB positioning module to obtain the three-dimensional coordinates of each UWB positioning module.

[0036] Furthermore, step S5 specifically includes the following steps:

[0037] 1) Take the outermost point among these positions as the first point;

[0038] 2) Take the point closest to the first point as the second point, the point closest to the second point as the third point, and so on, until the last point is taken as the Nth point;

[0039] 3) Connect these points in the order of the first point, the second point, the third point, up to the Nth point to form a broken line;

[0040] 4) Transform the broken line into a smooth curve to represent the orientation of the submarine cable that fits onto the positioning track.

[0041] This invention provides a submarine cable attitude detection system and method based on ultra-wideband (UWB) positioning. A positioning track is installed between the cable-laying vessel and the burial plow, with UWB positioning modules and magnets mounted on it. The magnets magnetically attract and adhere the submarine cable to the positioning track. Positioning information is emitted by the UWB positioning modules at the attachment points. Base stations on both the cable-laying vessel and the burial plow simultaneously acquire this information and transmit relevant data to a host computer. The host computer calculates the position of each UWB positioning module that emitted the wireless positioning information based on the acquired information. These positions are then concatenated to obtain the attitude of the submarine cable attached to the positioning track, i.e., the attitude of the submarine cable from the cable exit point to the laying point. This invention's positioning track not only facilitates cable attitude measurement by ensuring the cable adheres to the track but also provides guidance, preventing excessive bending, twisting, or knotting of the cable. This invention employs multiple UWB positioning modules. Utilizing the precise positioning capabilities of UWB wireless positioning, the position of each module is determined. Since the submarine cable is attached to the positioning track, the cable's attitude can be reconstructed by connecting the positions of the various UWB positioning modules in a continuous curve. The UWB positioning modules offer advantages such as high transmission rate, large system capacity, low transmission power, high multipath resolution, good system security, strong penetration capability, high positioning accuracy, insensitivity to channel fading, low transmitted signal power spectrum, high ranging accuracy, and low system cost, ensuring the accuracy and reliability of submarine cable attitude detection. Attached Figure Description

[0042] Figure 1 This is a structural diagram of a submarine cable attitude detection system based on ultra-wideband positioning provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram illustrating the cooperation between the positioning track and the active module provided in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the TDOA of a single UWB positioning module provided in an embodiment of the present invention;

[0045] Figure 4 This is a flowchart of a submarine cable attitude detection method based on ultra-wideband positioning provided in an embodiment of the present invention.

[0046] Reference numerals: 1-Active module, 2-Driven module, 3-Positioning track, 4-UWB positioning module, 5-Magnet, 11-Drive motor, 12-Drive wheel, 31-Clamping tooth. Detailed Implementation

[0047] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments are given for illustrative purposes only and should not be construed as limiting the present invention. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0048] This invention provides a submarine cable attitude detection system based on ultra-wideband positioning, such as... Figure 1 The structural diagram shows that it includes an active module 1 and a shipboard base station installed on the cable-laying vessel, a driven module 2 and a base station installed on the burying plow, a positioning track 3 installed between the active module 1 and the driven module 2, multiple UWB positioning modules 4 installed on the positioning track 3 at first preset distances, multiple magnets 5 installed on the positioning track 3 at second preset distances, and also includes a host computer.

[0049] The active module 1 is used to drive the positioning track 3 to perform cyclic transmission between the active module 1 and the driven module 2. During the cyclic transmission of the positioning track 3, a section of submarine cable is magnetically attached to a section of the positioning track 3. The UWB positioning module 4 at the attachment point emits wireless positioning information. The ship's base station and the plow base station are used to receive the wireless positioning information and send the relevant information when receiving the wireless positioning information to the host computer. The host computer calculates the position of each UWB positioning module 4 that emits wireless positioning information based on the information sent by the ship's base station and the plow base station, and connects these positions in series to obtain the attitude of the submarine cable attached to the positioning track 3.

[0050] refer to Figure 2The active module 1 includes a drive motor 11 and a drive wheel 12 connected to each other. The driven module 2 is a driven wheel, and the positioning track 3 is installed between the drive wheel 12 and the driven wheel. The drive motor 11 drives the drive wheel 12 to rotate, thereby driving the positioning track 3 and the driven wheel to achieve transmission.

[0051] A locking tooth 31 (for meshing with the drive wheel 12 and the driven wheel) is provided at first preset intervals on the positioning track 3. A UWB positioning module 4 is embedded in each locking tooth 31 (the distance between UWB positioning modules 4, i.e., the second preset distance, is equal to the first preset distance). A magnet 5 is provided between two adjacent locking teeth 31. Embedding the UWB positioning module 4 in the locking teeth 31 saves space and protects the UWB positioning module 4.

[0052] In addition, to accurately replicate the shape of the submarine cable magnetically attached to the positioning track 3, each locking tooth 31 is equipped with a sensor connected to the UWB positioning module 4 within that tooth 31. The sensor sends a corresponding signal to the connected UWB positioning module 4 when it detects a cable being magnetically attached to the positioning track 3. That is, at a certain sampling moment, after the sensor corresponding to the portion of the positioning track 3 with the magnetically attached submarine cable senses the attachment signal, it sends a corresponding signal to its connected UWB positioning module 4. Upon receiving this signal, the UWB positioning module 4 transmits its own wireless positioning information. The shipboard base station and the plow-mounted base station receive the wireless positioning information and send the relevant information (time) of receiving the wireless positioning information to the host computer. The host computer calculates the position of each UWB positioning module 4 that transmitted the wireless positioning information based on the information received from the shipboard base station and the plow-mounted base station.

[0053] In this embodiment, each positioning tag (i.e., UWB positioning module 4) first transmits data frames repeatedly and continuously using UWB pulses; the transmitted UWB pulse trains are received by the positioning base stations (i.e., the shipborne base station and the plow base station); each positioning base station uses a highly sensitive short pulse detector to measure the time when the data frame of each positioning tag arrives at the receiver antenna; the positioning engine refers to the calibration data sent by the tag, determines the time between the tag arriving at different positioning base stations, further calculates the time difference when the tag arrives at different base stations, and uses tri-point positioning technology and optimization algorithms to calculate the tag position.

[0054] This embodiment employs multi-base station positioning and mainly uses the TDOA (Time Difference of Arrival) algorithm.

[0055] like Figure 3As shown, the tag O broadcasts UWB signals to positioning base stations A, B, C, and D. During this process, since the distances from any two positioning base stations to the mobile station O are different, the time points at which the UWB signals are received by any two positioning base stations are also different. Since the actual locations of the positioning base stations are known information, the distances between any two positioning base stations are also fixed. Therefore, mathematically, the mobile station must lie on a hyperbola with the locations of these two positioning base stations as its foci. Figure 3 As shown, multiple hyperbolas with the positioning base stations as foci can be constructed based on distance differences and other relationships. The location of the mobile station O is the common intersection point of these hyperbolas. In a two-dimensional plane, as long as there are two pairs of hyperbolas, the intersection point obtained by solving for the hyperbolas is the desired location of the mobile station. In this case, at least three positioning base stations are required. However, in three-dimensional positioning, in addition to the original horizontal position, the altitude of the mobile station also needs to be determined. Therefore, in three-dimensional positioning, at least three pairs of hyperbolas need to be constructed and their common intersection point solved, i.e., four positioning base stations are required to complete the positioning. Therefore, in this embodiment, two base stations are set on the ship and two base stations are set on the plow.

[0056] Therefore, assuming the coordinates of mobile station O are unknown (x, y, z), the distance between mobile station O and positioning base station A is R1, the distance between mobile station O and positioning base station B is R2, the distance between mobile station O and positioning base station C is R3, and the distance between mobile station O and positioning base station D is R4, then we have:

[0057]

[0058] Where c is the speed of light, and t1, t2, t3, and t4 represent the times when the calibrated UWB positioning module 4 arrives at the four base stations. At this point, the actual location of the positioning base station is known. Then, the coordinates are calculated using the CHAN algorithm on the main positioning base station (based on the distance between the known and unknown points and the coordinates of the known points, the coordinates of the unknown points are calculated), thus obtaining the final calculated coordinates of the UWB positioning tag.

[0059] Overall, this embodiment first deploys four positioning base stations on a cable-laying vessel and a burying plow. A three-dimensional spatial coordinate system is established on the cable-laying vessel, with one of the base stations on the cable-laying vessel as the origin, the line connecting the base stations as the X-axis, the cable-laying direction as the Y-axis, and the vertical direction as the Z-axis. Given the coordinates of the four positioning base stations in the three-dimensional spatial coordinate system as A(x1y1z1), B(x2y2z2), C(x3y3z3), and D(x4y4z4), the TDOA algorithm is used to obtain the distances R1, R2, R3, and R4 from each positioning tag to each base station. The arrival times of the positioning tags to each base station are also obtained, thus constructing equations. Finally, the CHAN algorithm is used to solve the coordinates, yielding the final calculated coordinates of the UWB positioning tags.

[0060] Specifically, the host computer calculates the location of each UWB positioning module 4 that emits wireless positioning information based on the information sent by the ship's base station and the plow base station. The specific steps include:

[0061] A three-dimensional rectangular coordinate system is established with a fixed point on the cable-laying vessel as the origin to determine the position coordinates of the four base stations;

[0062] The host computer determines the arrival times of each UWB positioning module 4 that sends out wireless positioning information to different base stations based on the reference calibration data and relevant information when receiving wireless positioning information.

[0063] For each UWB positioning module 4 that transmits wireless positioning information, the following equation is constructed:

[0064]

[0065] Where R1, R2, R3, and R4 represent the distances between the UWB positioning module 4 and the four base stations, respectively; t1, t2, t3, and t4 represent the times when the calibrated UWB positioning module 4 arrives at the four base stations; and c represents the speed of light.

[0066] The equations for each UWB positioning module 4 are solved using the CHAN algorithm to obtain the three-dimensional coordinates of each UWB positioning module 4.

[0067] After calculating the positions, these positions are connected into a curve to obtain the attitude of the submarine cable attached to the positioning track 3. The specific steps include:

[0068] 1) Take the outermost point among these positions as the first point;

[0069] 2) Take the point closest to the first point as the second point, the point closest to the second point as the third point, and so on, until the last point is taken as the Nth point;

[0070] 3) Connect these points in the order of the first point, the second point, the third point, up to the Nth point to form a broken line;

[0071] 4) Transform the broken line into a smooth curve to represent the posture of the submarine cable that fits onto the positioning track 3.

[0072] To achieve high attitude detection accuracy, a shorter first preset distance is better, but this means requiring more UWB positioning modules, leading to higher costs and more complex calculations. UWB tags offer high positioning accuracy, while catenary cable laying doesn't require high cable coordinate accuracy; the primary goal is to obtain the shape of the catenary. The shape of the catenary changes slowly, and its minimum bending radius is 20 times the cable radius. Typically, the cable radius is around 300mm, and with redundancy, the minimum bending radius is around 10m. During normal cable laying, the bending radius is even larger, making a preset distance of 2m to 3m more appropriate. The bending amplitude is larger at the cable entry point and the pier entry point, and using other detection devices can compensate for errors. Finally, after modeling and analysis, this embodiment sets the first preset distance to 3m. This distance is the maximum distance to ensure attitude detection accuracy of 98%, thus guaranteeing both attitude detection accuracy and achieving the lowest possible cost.

[0073] Corresponding to the above system, this embodiment of the invention also provides a submarine cable attitude detection method based on ultra-wideband positioning, such as... Figure 4 As shown, the steps include:

[0074] S1. Activate the active module 1 to drive the positioning track 3 to perform cyclic transmission motion between the active module 1 and the driven module 2.

[0075] S2. Every preset time interval, the UWB positioning module 4 corresponding to the position on the track 3 where the cable is magnetically attached sends out wireless positioning information.

[0076] S3. The shipboard base station and the plow base station receive wireless positioning information and send relevant information when receiving wireless positioning information to the host computer.

[0077] S4. The host computer calculates the position of each UWB positioning module 4 that sends out wireless positioning information based on the information sent by the ship's base station and the plow base station;

[0078] S5. The host computer connects the positions of each UWB positioning module 4 that sends wireless positioning information to obtain the attitude of the submarine cable attached to the positioning track 3.

[0079] Corresponding to the above system, step S4 specifically includes the following steps:

[0080] S41. Establish a three-dimensional rectangular coordinate system with a fixed point on the cable-laying vessel as the origin, and determine the position coordinates of the four base stations;

[0081] S42. The host computer determines the arrival time of each UWB positioning module 4 that sends out wireless positioning information to different base stations based on the calibration data sent by the reference UWB positioning tag and the relevant information when receiving wireless positioning information.

[0082] S43. For each UWB positioning module 4 that transmits wireless positioning information, construct an equation;

[0083] S44. Solve the coordinate equations for each UWB positioning module 4 to obtain the three-dimensional coordinates of each UWB positioning module 4.

[0084] Step S5 specifically includes the following steps:

[0085] 1) Take the outermost point among these positions as the first point;

[0086] 2) Take the point closest to the first point as the second point, the point closest to the second point as the third point, and so on, until the last point is taken as the Nth point;

[0087] 3) Connect these points in the order of the first point, the second point, the third point, up to the Nth point to form a broken line;

[0088] 4) Transform the broken line into a smooth curve to represent the posture of the submarine cable that fits onto the positioning track 3.

[0089] In summary, the submarine cable attitude detection system and method based on ultra-wideband positioning provided by this invention involves setting up a positioning track 3 between the cable-laying vessel and the burial plow, and installing a UWB positioning module 4 and a magnet 5 on the positioning track 3. The submarine cable is magnetically attached to the positioning track 3 by the magnet 5. The UWB positioning module 4 at the attachment point then emits positioning information. The base station on the cable-laying vessel and the base station on the burial plow simultaneously acquire the information and send the relevant information received from the wireless positioning information to the host computer. The host computer calculates the position of each UWB positioning module 4 that emits the wireless positioning information based on the acquired information, and then concatenates these positions to obtain the attitude of the submarine cable attached to the positioning track 3, that is, the attitude of the submarine cable from the cable exit point to the laying point.

[0090] The positioning track 3 in this embodiment of the invention not only allows the submarine cable to fit on the positioning track for easy measurement of the submarine cable's attitude, but also plays a certain guiding role for the submarine cable, making it less likely for the submarine cable to be excessively bent, twisted or knotted.

[0091] This invention embodiment sets up multiple UWB positioning modules. With the help of the precise positioning function of UWB wireless positioning, the position of each UWB positioning module is obtained. Since the submarine cable is attached to the positioning track 3, the attitude of the submarine cable can be reconstructed by connecting the positions of each UWB positioning module into a continuous curve. The UWB positioning module has the advantages of high transmission rate, large system capacity, low transmission power, high multipath resolution, good system confidentiality, strong penetration ability, high positioning accuracy, insensitivity to channel fading, low transmission signal power spectrum, high ranging accuracy, and low system cost, which can ensure the accuracy and reliability of submarine cable attitude detection.

[0092] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A submarine cable attitude detection system based on ultra-wideband positioning, characterized in that: It includes an active module (1) and a shipboard base station installed on a cable-laying vessel, a driven module (2) and a base station installed on a burying plow, a positioning track (3) installed between the active module (1) and the driven module (2), multiple UWB positioning modules (4) installed on the positioning track (3) at first preset distances, multiple magnets (5) installed on the positioning track (3) at second preset distances, and also includes a host computer; The active module (1) is used to drive the positioning track (3) to perform cyclic transmission between the active module (1) and the driven module (2); during the cyclic transmission of the positioning track (3), a section of submarine cable is magnetically attached to a section of the positioning track (3), and the UWB positioning module (4) at the attachment point emits wireless positioning information. The shipboard base station and the plow base station are used to receive the wireless positioning information and send the relevant information when receiving the wireless positioning information to the host computer. The host computer calculates the position of each UWB positioning module (4) that emits wireless positioning information based on the information sent by the shipboard base station and the plow base station, and connects these positions in series to obtain the attitude of the submarine cable attached to the positioning track (3). The shipboard base station is configured with two base stations, and the plow base station is configured with two base stations. The host computer calculates the location of each UWB positioning module (4) that sends wireless positioning information based on the information sent by the shipboard base station and the plow base station. The specific steps include: A three-dimensional rectangular coordinate system is established with a fixed point on the cable-laying vessel as the origin to determine the position coordinates of the four base stations; The host computer determines the arrival times of each UWB positioning module (4) that sends out the wireless positioning information at different base stations based on the reference calibration data and relevant information when receiving the wireless positioning information. For each UWB positioning module (4) that transmits wireless positioning information, its coordinates are assumed to be unknown. x , y , z Construct the following equation: ， in, R 1. R 2. R 3. R 4 represents the distance between the UWB positioning module (4) and the four base stations, respectively. t 1. t 2. t 3. t 4 indicates the time when the calibrated UWB positioning module (4) arrives at the four base stations. c Represents the speed of light; The coordinates of each UWB positioning module (4) are calculated by solving the equations. The three-dimensional coordinates of each UWB positioning module (4) are obtained.

2. The submarine cable attitude detection system based on ultra-wideband positioning according to claim 1, characterized in that: The positioning track (3) is provided with a tooth (31) every first preset distance, and a UWB positioning module (4) is embedded in each tooth (31).

3. The submarine cable attitude detection system based on ultra-wideband positioning according to claim 2, characterized in that: A magnet (5) is disposed between two adjacent teeth (31).

4. The submarine cable attitude detection system based on ultra-wideband positioning according to claim 2, characterized in that: Each of the toothed teeth (31) is provided with a sensor connected to the UWB positioning module (4) in the toothed tooth (31). The sensor is used to send a corresponding signal to the UWB positioning module (4) connected to it when it senses that a cable is attracted to the positioning track (3).

5. The submarine cable attitude detection system based on ultra-wideband positioning according to claim 4, characterized in that: The active module (1) includes a drive motor (11) and an active wheel (12) connected to each other. The driven module (2) is a driven wheel. The positioning track (3) is installed between the active wheel (12) and the driven wheel.

6. The submarine cable attitude detection system based on ultra-wideband positioning according to claim 1, characterized in that, The host computer connects these positions in series to obtain the attitude of the submarine cable attached to the positioning track (3), specifically including the following steps: 1) Take the outermost point among these positions as the first point; 2) Take the point closest to the first point as the second point, the point closest to the second point as the third point, and so on, until the last point is taken as the Nth point; 3) Connect these points in the order of the first point, the second point, the third point, up to the Nth point to form a broken line; 4) Transform the broken line into a smooth curve to represent the posture of the submarine cable attached to the positioning track (3).

7. A submarine cable attitude detection method based on ultra-wideband positioning, used in the submarine cable attitude detection system based on ultra-wideband positioning as described in any one of claims 1 to 6, characterized in that, The method includes the following steps: S1. Activate the active module (1) to drive the positioning track (3) to perform cyclic transmission between the active module (1) and the driven module (2); S2. Every preset time interval, the UWB positioning module (4) corresponding to the position where the cable is magnetically attached on the positioning track (3) sends out wireless positioning information. S3. The shipboard base station and the plow base station receive the wireless positioning information and send relevant information about receiving the wireless positioning information to the host computer. S4, the host computer calculates the location of each UWB positioning module (4) that sends wireless positioning information based on the information sent by the shipborne base station and the plow base station; step S4 specifically includes the following steps: S41. Establish a three-dimensional rectangular coordinate system with a fixed point on the cable-laying vessel as the origin, and determine the position coordinates of the four base stations; S42, the host computer determines the time when each UWB positioning module (4) that sends the wireless positioning information arrives at different base stations based on the calibration data sent by the reference UWB positioning tag and the relevant information when receiving the wireless positioning information; S43. For each UWB positioning module (4) that transmits wireless positioning information, let its coordinates be unknown. x , y , z Construct the following equation: ， in, R 1. R 2. R 3. R 4 represents the distance between the UWB positioning module (4) and the four base stations, respectively. t 1. t 2. t 3. t 4 indicates the time when the calibrated UWB positioning module (4) arrives at the four base stations. c Represents the speed of light; S44. Solve the coordinate equations of each UWB positioning module (4) to obtain the three-dimensional coordinates of each UWB positioning module (4); S5. The host computer connects the positions of each UWB positioning module (4) that sends wireless positioning information to obtain the attitude of the submarine cable attached to the positioning track (3).

8. The submarine cable attitude detection method based on ultra-wideband positioning according to claim 7, characterized in that, Step S5 specifically includes the following steps: 1) Take the outermost point among these positions as the first point; 2) Take the point closest to the first point as the second point, the point closest to the second point as the third point, and so on, until the last point is taken as the Nth point; 3) Connect these points in the order of the first point, the second point, the third point, up to the Nth point to form a broken line; 4) Transform the broken line into a smooth curve to represent the posture of the submarine cable attached to the positioning track (3).

Images