Guidance positioning method and guidance positioning device based on communication process

Abstract

The present invention discloses a guidance positioning method and guidance positioning device based on a communication process, wherein the guidance positioning method comprises the following steps: (a) based on underwater acoustic communication, obtaining the coordinates of at least two underwater transponders in the local coordinate system of the positioning device; (b) respectively mapping the coordinates of the at least two underwater transponders in the local coordinate system of the positioning device to the coordinates of the northeast celestial coordinate system, so as to obtain the azimuth information of one of the at least two underwater transponders relative to the other transponder; (c) according to the azimuth information, guiding one of the at least two underwater transponders to move to the location of the other transponder. Through the above steps, the positioning device can accurately guide the second transponder to move to the location of the first transponder.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater target positioning, and in particular to a guidance positioning method and a guidance positioning device based on a communication process. Background Art

[0002] In underwater environments, due to the serious attenuation of electromagnetic waves, hydroacoustic communication technology is the most important means of communication between underwater devices and between surface devices and underwater devices. Generally, one of the purposes of communication between underwater devices and between surface devices and underwater devices is to locate underwater devices. The positioning devices used in the positioning process are usually short baselines and ultra-short baselines. At present, there are low-precision positioning devices and high-precision positioning devices on the market. The price of low-precision positioning devices is cheap, but the error is large. The positioning accuracy of existing low-precision positioning devices is usually not higher than 2%, that is, when the distance between the positioning device and the underwater device is 300 meters, the error will reach 6 meters, which means that when the positioning device wants to guide an underwater device to move to the location of another underwater device, the positioning error will reach 12 meters, and each positioning error will show obvious jumps, which is fatal for underwater environments with poor visibility. High-precision positioning devices are expensive and are unaffordable for most application scenarios (such as underwater search and rescue). Summary of the invention

[0003] The present application provides a guidance and positioning system based on a communication process. Based on the underwater acoustic communication between a positioning device and a transponder, the positioning device can accurately locate at least two underwater transponders and determine the orientation information of these transponders, so as to guide at least one transponder to the location of another transponder later.

[0004] In a first aspect, the present application provides a guidance and positioning method, which can be performed by a guidance and positioning device, or can also be performed by an assembly component (e.g., a chip and / or a circuit) of the guidance and positioning device, and the present application does not limit this. For ease of description, the following description takes the guidance and positioning method performed by the guidance and positioning device as an example.

[0005] The guiding positioning device includes a processor and a memory, the processor and the memory are coupled, and the memory stores a computer program. When the processor executes the computer program, the guiding positioning device executes the steps of: based on underwater acoustic communication, obtaining the coordinates of at least two underwater transponders in the local coordinate system of the positioning device; respectively mapping the coordinates of the at least two transponders in the local coordinate system of the positioning device to the coordinates of the northeast celestial coordinate system to obtain the azimuth information of one of the at least two underwater transponders relative to the other transponder; (c) according to the azimuth information, guiding one of the at least two underwater transponders to move to the location of the other transponder.

[0006] Based on the above technical solution, the positioning device can accurately guide one transponder to move to the location of another transponder.

[0007] In conjunction with the first aspect of the present application, the guidance and positioning device further includes a transceiver, the processor and the transceiver communicate with each other through an internal circuit, and the processor controls the transceiver to send and / or receive signals when executing a computer program stored in the memory. The transceiver may be a transceiver circuit, which is not limited in the present application.

[0008] In conjunction with the first aspect of the present application, the positioning device sends a broadcast query signal, and the transponders can receive the broadcast query signal respectively. In other words, the positioning device and the transponders do not need to communicate in a point-to-point manner, which is conducive to saving time and improving positioning efficiency.

[0009] In a second aspect, the present application provides a guided positioning method, wherein the guided positioning method comprises the following steps:

[0010] (a) obtaining coordinates of at least two underwater transponders in a local coordinate system of a positioning device based on underwater acoustic communication;

[0011] (b) mapping the coordinates of the at least two underwater transponders in the local coordinate system of the positioning device to the coordinates of the northeast celestial coordinate system, so as to obtain the azimuth information of one of the at least two underwater transponders relative to the other transponder; and

[0012] (c) guiding one of the at least two underwater transponders to move toward a location of the other transponder based on the position information.

[0013] In conjunction with the second aspect of the present application, the at least two underwater transponders include a first transponder, a second transponder and a third transponder. In the step (a), the coordinates of the first transponder, the second transponder and the third transponder in the local coordinate system of the positioning device are obtained ( )、( )、( ), in the step (b), mapping the coordinates of the first transponder, the second transponder and the third transponder in the local coordinate system of the positioning device ( )、( )、( ) to the coordinates in the northeast celestial coordinate system ( )、( )、( ), to respectively obtain the position information of the first transponder relative to the second transponder and the third transponder, and in the step (c), the position information is fed back to the second transponder and the third transponder to guide the second transponder and the third transponder to move toward the position of the first transponder.

[0014] In conjunction with the second aspect of the present application, in the step (a), the positioning device Initiating an inquiry signal to the first transponder, the second transponder and the third transponder at the same time, wherein the inquiry signal includes a response sequence requirement;

[0015] The first transponder, the second transponder and the third transponder respectively record the arrival time of the inquiry signal as , , ;

[0016] After the first transponder receives the inquiry signal from the positioning device, it delays responding to the positioning device, wherein the response signal of the first responder includes the depth information of the first responder and delay information ;

[0017] After the positioning device receives the response signal from the first transponder, the first transponder arrives at the positioning device according to the time Calculate the distance between the positioning device and the first transponder , where the parameters , , , , Satisfies the relationship: ,parameter is the speed of sound in water;

[0018] The positioning device calculates the azimuth of the first transponder in the local coordinate system of the positioning device according to the phase difference information or time difference information of the response signal of the first transponder in multiple receiving channels of the positioning device. and , yes exist Projection of the plane and The angle of the axis is positive when viewed clockwise from a top-down perspective. yes and The angle of the plane is positive below the horizontal plane, according to the parameter , , and the depth information of the positioning device Calculate the coordinates of the first transponder in the local coordinate system of the positioning device ( ), the coordinates of the first transponder in the local coordinate system of the positioning device ( ) is: ; ; ;

[0019] After the second transponder receives the response signal from the first transponder, it records the time when the response signal from the first transponder reaches the second transponder. , the second transponder is Delay based on The second transponder then responds to the positioning device, wherein the response signal of the second transponder includes the depth information of the second transponder , Delay information and from Delay from the start to the moment when the second transponder sends a response signal ;

[0020] After the positioning device receives the response signal from the second transponder, it records the arrival time of the signal And calculate the distance between the positioning device and the second transponder and the distance between the first transponder and the second transponder , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: , where the parameters a perimeter of a triangle formed by the positioning device, the first transponder, and the second transponder;

[0021] The positioning device calculates the coordinates of the second transponder in the local coordinate system of the positioning device ( ) is: ; ; ;

[0022] After the third transponder receives the response signal from the first transponder, it records the time when the response signal from the first transponder arrives at the third transponder After the third transponder receives the response signal from the second transponder, Delay based on The positioning device then responds, wherein the response signal of the third responder includes the depth information of the third responder , Delay information and from The delay from the start to the time when the third transponder sends the response signal ;

[0023] After the positioning device receives the response signal from the third transponder, it records the arrival time of the signal And calculate the distance between the positioning device and the third transponder and the distance between the first transponder and the third transponder , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: , where the parameters a perimeter of a triangle formed by the positioning device, the first transponder and the third transponder;

[0024] The positioning device calculates the coordinates of the third transponder in the local coordinate system of the positioning device ( ) is: ; ; .

[0025] In conjunction with the second aspect of the present application, the at least two underwater transponders include a first transponder and a second transponder. In the step (a), the coordinates of the first transponder and the second transponder in the local coordinate system of the positioning device are obtained. , In step (b), the coordinates of the first transponder and the second transponder in the local coordinate system of the positioning device are mapped , To the coordinates in the northeast celestial coordinate system ( )、( ), to obtain the position information of the first transponder relative to the second transponder, and in the step (c), the position information is fed back to the second transponder to guide the second transponder to move to the position of the first transponder.

[0026] In conjunction with the second aspect of the present application, the step (a) further comprises the steps of:

[0027] (a.1) After receiving the inquiry signal from the positioning device, the first transponder responds to the positioning device;

[0028] (a.2) the second transponder responds to the positioning device after receiving the response signal from the first transponder; and

[0029] (a.3) Based on the response signal of the first transponder and the response signal of the second transponder, the positioning device calculates the coordinates of the first transponder and the second transponder in the local coordinate system of the positioning device. , .

[0030] In combination with the second aspect of the present application, before step (a.1), step (a) further includes the step of: allowing the positioning device to send a broadcast inquiry signal to the first responder and the second responder, so that in step (a.1), the first responder responds to the positioning device after receiving the broadcast inquiry signal sent by the positioning device, and the second responder responds to the positioning device after receiving the broadcast inquiry signal sent by the positioning device and the response signal of the first responder.

[0031] In combination with the second aspect of the present application, in the step (a.1), the first transponder delays responding to the positioning device after receiving the inquiry signal from the positioning device, and in the step (a.2), the second transponder delays responding to the positioning device after receiving the response signal from the first transponder.

[0032] In conjunction with the second aspect of the present application, the parameter , , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: ,parameter , , , , , , , Satisfies the relationship: , so we can get the relationship: , where the coordinates of the first transponder in the local coordinate system of the positioning device are The formula is: ; ; ;

[0033] The coordinates of the second transponder in the local coordinate system of the positioning device The formula is: , ;

[0034] The parameters is the distance between the first transponder and the positioning device, parameter is the distance between the second transponder and the positioning device, parameter is the distance between the first transponder and the second transponder, parameter is the speed of sound in water, and the parameter is the time when the response signal of the first transponder arrives at the positioning device, and the parameter is the time when the response signal of the second transponder arrives at the positioning device, is the time when the positioning device sends the broadcast query signal, and the parameter is the time from when the first transponder receives the broadcast inquiry signal of the positioning device to when the first transponder responds. is the time from when the second transponder receives the response signal from the first transponder to when the second transponder responds. is the time interval from the moment the broadcast query signal sent by the positioning device reaches the second transponder to the moment the response signal of the first transponder reaches the second transponder, and the parameter is the depth information of the first transponder, parameter is the depth information of the second transponder, parameter is the depth information of the positioning device, parameter and parameters is the azimuth of the first transponder in the local coordinate system of the positioning device, yes exist Projection of the plane and The angle of the axis is positive when viewed clockwise from a top-down perspective. yes and The angle of a plane is positive when it is below the horizontal plane.

[0035] In combination with the second aspect of the present application, the delayed response time of the first transponder is the same as the delayed response time of the second transponder.

[0036] In a third aspect, the present application provides a guiding and positioning device, comprising a processor and a memory coupled to the processor, wherein the memory stores a computer program, and when the processor executes the computer program, the guiding and positioning device performs a guiding and positioning method, wherein the guiding and positioning method comprises the following steps:

[0037] (a) obtaining coordinates of at least two underwater transponders in a local coordinate system of a positioning device based on underwater acoustic communication;

[0038] (b) mapping the coordinates of the at least two underwater transponders in the local coordinate system of the positioning device to the coordinates of the northeast celestial coordinate system, so as to obtain the azimuth information of one of the at least two underwater transponders relative to the other transponder; and

[0039] (c) guiding one of the at least two underwater transponders to move toward a location of the other transponder based on the position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a block diagram of a guidance and positioning system provided in an embodiment of the present application.

[0041] Figure 2A and Figure 2B They are respectively schematic diagrams of an application scenario of the guidance and positioning system provided in an embodiment of the present application.

[0042] Figure 3A and Figure 3BThey are respectively schematic diagrams of another application scenario of the guidance and positioning system provided in an embodiment of the present application.

[0043] Figure 4 It is a schematic diagram of the coordinates of the first transponder and the second transponder of the guidance and positioning system provided in an embodiment of the present application in the local coordinate system of the positioning device.

[0044] Figure 5 It is a structural schematic diagram of a guiding and positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0046] The guidance and positioning system based on the communication process provided in the present application can be applied to but not limited to the fields of underwater rescue, team collaboration, etc., wherein the underwater positioning system includes a positioning device 100 and at least two underwater transponders 200, and the positioning device 100 and the at least two underwater transponders 200 can communicate based on the underwater acoustic communication technology, and the at least two underwater transponders 200 can also communicate with each other based on the underwater acoustic communication technology.

[0047] In some typical examples, the positioning device 100 may be an ultra-short baseline positioning system, a short baseline positioning system or a long baseline positioning system, which may be installed on a surface device 300. For example, the surface device 300 may be a ship, that is, the positioning device 100 may be installed on a ship, and the at least two underwater transponders 200 may be carried by divers. Based on the underwater acoustic communication technology, when the positioning device 100 sends an inquiry signal to the at least two underwater transponders 200 and the at least two underwater transponders 200 receive the inquiry signal, the at least two underwater transponders 200 may respond to the positioning device 100, so that the positioning device 100 obtains the coordinates of the at least two underwater transponders 200 in the local coordinate system of the positioning device 100, thereby realizing the positioning of the at least two underwater transponders 200 by the positioning device 100, that is, the staff of the surface device 300 can determine the coordinates of the divers in the local coordinate system of the positioning device 100.

[0048] Exemplarily, after the at least two underwater transponders 200 receive the inquiry signal from the positioning device 100, the at least two underwater transponders 200 may delay responding to the positioning device 100. For example, the at least two underwater transponders 200 may delay responding to the positioning device 100 by 100ms to 300ms. During the delay period of 100ms to 300ms, the at least two underwater transponders 200 may complete tasks such as signal reception and charging of the transmitting circuit, thereby facilitating ensuring that the at least two underwater transponders 200 receive complete inquiry signals and transmit complete response signals.

[0049] It should be noted that the delay time of the at least two underwater transponders 200 of 100ms to 300ms is only for example. In actual applications, the delay time can be longer or shorter. The delay time of the at least two underwater transponders 200 is limited by the performance of the at least two underwater transponders 200 themselves.

[0050] exist Figure 2A and Figure 2B In a typical application scenario of the guidance and positioning system shown, the number of the at least two underwater transponders 200 is three. For the convenience of description, the at least two underwater transponders 200 are divided into a first transponder 201, a second transponder 202 and a third transponder 203. After obtaining the orientation information of the first transponder 201 relative to the second transponder 202 and the orientation information relative to the third transponder 203, the positioning device 100 can feed back the orientation information to the second transponder 202 and the third transponder 203 to guide the second transponder 202 and the third transponder 203 to move to the position of the first transponder 204.

[0051] For example, if Figure 2A and Figure 2B The application scenario of the guidance and positioning system shown is a rescue scenario, that is, when the diver carrying the first transponder 201 is in danger, the positioning device 100 can guide the diver carrying the second transponder 202 and the diver carrying the third transponder 203 to move to the location of the diver carrying the first transponder 201, so as to rescue the diver carrying the first transponder 201. In this application scenario, it is very important for the positioning device 100 to accurately determine the locations of the first transponder 201, the second transponder 202 and the third transponder 203 in the underwater environment for successful rescue.

[0052] In the embodiment of the present application, the positioning device 100 sends a broadcast inquiry signal, and the first transponder 201, the second transponder 202 and the third transponder 203 can all receive the broadcast inquiry signal sent by the positioning device 100. The communication signal of the broadcast inquiry signal sent by the positioning device 100 is composed of a synchronization signal segment, a communication header segment and a communication data segment in sequence.

[0053] In other words, in the present application, the positioning device 100 sends a broadcast inquiry signal, and the first transponder 201, the second transponder 202 and the third transponder 203 can all receive the broadcast inquiry signal, that is, the positioning device 100 and the first transponder 201, the second transponder 202, the third transponder 203 do not need to communicate in a point-to-point manner, which is helpful to save time and improve positioning efficiency.

[0054] Exemplarily, after receiving the inquiry signal of the positioning device 100, the first transponder 201 responds to the positioning device 100, after receiving the response signal of the first transponder 201, the second transponder 202 responds to the positioning device 100, and after receiving the response signal of the first transponder 201, the third transponder 203 responds to the positioning device 100, and the response time of the third transponder 203 is later than the response time of the second transponder 202. In this way, the collision of response signals can be avoided, ensuring that the response signals of the first transponder 201, the second transponder 202 and the third transponder 203 can all reach the positioning device 100. According to the response signal of the first transponder 201, the response signal of the second transponder 202 and the response signal of the third transponder 203, the positioning device 100 respectively calculates the coordinates of the first transponder 201, the second transponder 202 and the third transponder 203 in the local coordinate system of the positioning device 100 ( )、( )、( ).

[0055] That is to say, in an embodiment of the present application, the positioning device 100 simultaneously initiates an inquiry signal to the first responder 201, the second responder 202 and the third responder 30, and the inquiry signal includes a response order requirement, so that the first responder 201 responds to the positioning device 100 after receiving the inquiry signal of the positioning device 100, the second responder 202 responds to the positioning device 100 after receiving the response signal of the first responder 201, and the third responder 203 responds to the positioning device 100 after receiving the response signal of the first responder 201, and the response time of the third responder 203 is later than the response time of the second responder 202, that is, the response order of the first responder 201, the second responder 202 and the third responder 203 is that the first responder 201 responds first, the second responder 202 responds subsequently, and the third responder 203 responds last.

[0056] Further, see Attachment Figure 2A and Figure 2B , the positioning device 100 is At the same time, the query signal is sent to the first transponder 201, the second transponder 202 and the third transponder 203, wherein the query signal includes a response sequence requirement. The first transponder 201 records the arrival time of the query signal as The second transponder 202 records the arrival time of the inquiry signal as The third transponder 203 records the arrival time of the inquiry signal as .

[0057] After the first transponder 201 receives the inquiry signal from the positioning device 100, it delays In response to the positioning device 100, the response signal of the first transponder 201 includes the depth information of the first transponder 201 and delay information After the positioning device 100 receives the response signal of the first transponder 201, the first transponder 201 arrives at the positioning device 100. Calculate the distance between the positioning device 100 and the first transponder 201 , where the parameters , , , , Satisfies the relationship: ,parameter is the speed of sound in water. The first transponder 201 can receive the complete inquiry signal and transmit the complete response signal. It is 100ms to 300ms, that is, the first transponder 201 delays 100ms to 300ms to respond to the positioning device 100 after receiving the inquiry signal from the positioning device 100.

[0058] The positioning device 100 calculates the azimuth of the first transponder 201 in the local coordinate system of the positioning device 100 according to the phase difference information or time difference information (TDOA) of the response signal of the first transponder 201 in multiple receiving channels of the positioning device 100. and , according to the parameters , , and the depth information of the positioning device 100 Calculate the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 ( ), the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 ( ) is: ; ; In this way, the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 ( ) is obtained.

[0059] It is understandable that, referring to the Figure 2A and Figure 2B , the positioning device 100, the first transponder 201 and the second transponder 202 form a triangle. Since the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 ( ) is known, so the coordinates of the second transponder 202 in the local coordinate system of the positioning device 100 can be solved ( ).

[0060] Specifically, after the second transponder 202 receives the response signal from the first transponder 201, it records the arrival time of the response signal from the second transponder 202. , the second transponder 202 is Delay based on The positioning device 100 then responds, wherein the response signal of the second transponder 202 includes the depth information of the second transponder 202 , Delay information and from The delay from the start to the time when the second transponder 202 sends the response signal After the positioning device 100 receives the response signal from the second transponder 202, it records the signal arrival time And calculate the distance between the positioning device 100 and the second transponder 202 and the distance between the first transponder 201 and the second transponder 202 , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: , where the parameters is the perimeter of the triangle formed by the positioning device 100, the first transponder 201 and the second transponder 202. The second transponder 202 can receive the complete inquiry signal and transmit the complete response signal. The positioning device 100 calculates the coordinates of the second transponder 202 in the local coordinate system of the positioning device ( ) is: ; ; In this way, the coordinates of the second transponder 202 in the local coordinate system of the positioning device 100 ( ) is obtained.

[0061] It is understandable that, referring to the Figure 2A and Figure 2B , the positioning device 100, the first transponder 201 and the third transponder 203 form a triangle. Since the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 ( ) is known, so the coordinates of the third transponder 203 in the local coordinate system of the positioning device 100 can be solved ( ).

[0062] Specifically, after the third transponder 203 receives the response signal from the first transponder 201, the third transponder 203 records the arrival time of the response signal from the third transponder 203. After receiving the response signal from the second transponder 202, the third transponder 203 Delay based on The positioning device 100 then responds, wherein the response signal of the third responder 203 includes the depth information of the third responder 203 , Delay information and from The delay from the start to the time when the third transponder 203 sends the response signal After the positioning device 100 receives the response signal from the third transponder 203, it records the signal arrival time. And calculate the distance between the positioning device 100 and the third transponder 203 and the distance between the first transponder 201 and the third transponder 203 , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: , where the parameters = is the perimeter of the triangle formed by the positioning device 100, the first transponder 201 and the third transponder 203. The positioning device 100 responds, so that the third responder 203 can receive the complete inquiry signal and transmit the complete response signal. The positioning device 100 calculates the coordinates of the third transponder 203 in the local coordinate system of the positioning device 100 ( ) is: ; ; In this way, the coordinates of the third transponder 203 in the local coordinate system of the positioning device 100 ( ) is obtained.

[0063] After obtaining the coordinates of the first transponder 201, the second transponder 202, and the third transponder 203 in the local coordinate system of the positioning device 100 ( )、( )、( ), the guiding positioning system maps the coordinates of the first transponder 201, the second transponder 202 and the third transponder 203 in the local coordinate system of the positioning device 100 respectively ( )、( )、( ) to the Northeastern Sky Coordinate System (ENU), so as to obtain the coordinates of the first transponder 201, the second transponder 202 and the third transponder 203 in the Northeastern Sky Coordinate System ( )、( )、( ), so that the guidance and positioning system can obtain the orientation information of the first transponder 201 relative to the second transponder 202 and obtain the orientation information of the first transponder 201 relative to the second transponder 202, wherein the X-axis in the northeast celestial coordinate system points to the east, the Y-axis points to the north, and the Z-axis points to the sky. Subsequently, the orientation information of the first transponder 201 relative to the second transponder 202 is fed back to the second transponder 202 by the guidance and positioning system to allow the second transponder 202 to move to the position of the first transponder 201, and the orientation information of the first transponder 201 relative to the third transponder 203 is fed back to the third transponder 203 by the guidance and positioning system to allow the third transponder 203 to move to the position of the first transponder 201.

[0064] In an embodiment of the present application, the positioning and guidance system performs mapping based on the Euler angle provided by the attitude meter carried by the positioning device 100. That is, the positioning and guidance system can map the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 ( ) is transformed into coordinates in the northeast celestial coordinate system ( ), the coordinates of the second transponder 202 in the local coordinate system of the positioning device 100 ( ) is transformed into coordinates in the northeast celestial coordinate system ( ), the coordinates of the third transponder 203 in the local coordinate system of the positioning device 100 ( ) is transformed into coordinates in the northeast celestial coordinate system ( ).

[0065] In the attached Figure 3A and Figure 3B In another typical application scenario of the guidance and positioning system shown, the number of the at least two underwater transponders 200 is two. For ease of description, the at least two underwater transponders 200 include the first transponder 201 and the second transponder 202. First, the guidance and positioning system can obtain the coordinates of the first transponder 201 and the second transponder 202 in the local coordinate system of the positioning device 100. , Secondly, the guiding positioning system maps the coordinates of the first transponder 201 and the second transponder 202 in the local coordinate system of the positioning device 100 , To the coordinates in the northeast celestial coordinate system ( )、( ), to obtain the position information of the first transponder 201 relative to the second transponder 202, and finally, the guidance and positioning system feeds back the position information to the second transponder 202 to guide the second transponder 202 to move to the position of the first transponder 201.

[0066] In an embodiment of the present application, the positioning device 100 sends a broadcast inquiry signal, and the first transponder 201 and the second transponder 202 can both receive the broadcast inquiry signal sent by the positioning device 100. The first transponder 201 responds to the positioning device 100 after receiving the inquiry signal of the positioning device 100, and the second transponder 202 responds to the positioning device 100 after receiving the response signal of the first transponder 201. According to the response signal of the first transponder 201 and the response signal of the second transponder 202, the positioning device 100 calculates the coordinates of the first transponder 201 and the second transponder 202 in the local coordinate system of the positioning device 100. , In this way, the collision of response signals can be avoided, ensuring that the response signals of the first responder 201 and the second responder 202 can both reach the positioning device 100 .

[0067] Exemplarily, when the first transponder 201 receives the inquiry signal sent by the positioning device 100, it delays the response to the positioning device 100. For example, the first transponder 201 can delay the response to the positioning device 100 by 100ms to 300ms. During the delay period of 100ms to 300ms, the first transponder 201 can complete the signal reception, the charging of the transmitting circuit, etc., so as to help ensure that the first transponder 201 receives the complete inquiry signal and transmits the complete response signal. When the second transponder 202 receives the response signal of the first transponder 201, it delays the response to the positioning device 100. For example, the second transponder 202 can delay the response to the positioning device 100 by 100ms to 300ms. During the period of 100ms to 300ms, the second transponder 202 can complete the signal reception, the charging of the transmitting circuit, etc., so as to help ensure that the second transponder 202 receives the complete inquiry signal and transmits the complete response signal.

[0068] Particularly, the delay time of the first transponder 201 delaying responding to the positioning device 100 after receiving the inquiry signal sent by the positioning device 100 is the same as the delay time of the second transponder 202 delaying responding to the positioning device 100 after receiving the response signal of the first transponder 201 .

[0069] In the embodiment of the present application, the parameter is the distance between the first transponder 201 and the positioning device 100, and the parameter is the distance between the second transponder 202 and the positioning device 100, and the parameter is the distance between the first transponder 201 and the second transponder 202, and the parameter is the speed of sound in water, and the parameter is the time when the response signal of the first transponder 201 arrives at the positioning device 100, and the parameter is the time when the response signal of the second transponder 202 arrives at the positioning device 100, is the time when the positioning device 100 sends the broadcast query signal, and the parameter is the time from when the first transponder 201 receives the broadcast inquiry signal of the positioning device 100 to when the first transponder 201 responds. is the time from when the second transponder 202 receives the response signal from the first transponder 201 to when the second transponder 202 responds. is the time interval from the moment when the broadcast inquiry signal sent by the positioning device 100 reaches the second transponder 202 to the moment when the response signal of the first transponder 201 reaches the second transponder 202, and the parameter is the depth information of the first transponder 201, and the parameter is the depth information of the second transponder 202, and the parameter is the depth information of the positioning device 100, and the parameter and parameters is the azimuth of the first transponder 201 in the local coordinate system of the positioning device 100, yes exist The projection of a plane (parallel to the horizontal plane) is The angle of the axis is positive when viewed clockwise from a top-down perspective. yes and The angle of the plane is positive below the horizontal plane, where the parameter , , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: ,parameter , , , , , , , Satisfies the relationship: , so we can get the relationship: , where the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 are The formula is: ; ; The coordinates of the second transponder 202 in the local coordinate system of the positioning device 100 are The formula is: , .

[0070] The embodiment of the present application also provides a guidance positioning method based on the communication process, wherein the guidance positioning method comprises the following steps:

[0071] (a) acquiring the coordinates of the at least two underwater transponders 200 in the local coordinate system of the positioning device 100 based on underwater acoustic communication;

[0072] (b) mapping the coordinates of the at least two underwater transponders 200 in the local coordinate system of the positioning device 100 to the coordinates of the northeast celestial coordinate system, so as to obtain the orientation information of one of the at least two underwater transponders 200 relative to the other transponder; and

[0073] (c) guiding one of the at least two underwater transponders 200 to move toward a location of the other transponder according to the position information.

[0074] In a specific application scenario of the embodiment of the present application, refer to the attached Figure 2A and Figure 2B The at least two underwater transponders 200 include the first transponder 201, the second transponder 202 and the third transponder 203. In the step (a), the coordinates of the first transponder 201, the second transponder 202 and the third transponder 203 in the local coordinate system of the positioning device 100 are obtained ( )、( )、( ), in the step (b), the coordinates of the first transponder 201, the second transponder 202 and the third transponder 203 in the local coordinate system of the positioning device 100 are mapped ( )、( )、( ) to the coordinates in the northeast celestial coordinate system ( )、( )、( ), to respectively obtain the position information of the first transponder 201 relative to the second transponder 202 and the third transponder 203, and in the step (c), feed back the position information to the second transponder 202 and the third transponder 203 to guide the second transponder 202 and the third transponder 203 to move toward the position of the first transponder 201.

[0075] Furthermore, the step (a) further includes the steps of: the first transponder 201 responds to the positioning device 100 after receiving the inquiry signal of the positioning device 100; the second transponder 202 responds to the positioning device 100 after receiving the response signal of the first transponder 201; the third transponder 203 responds to the positioning device 100 after receiving the response signal of the second transponder 202; the positioning device 100 calculates the coordinates of the first transponder 201, the second transponder 202 and the third transponder 203 in the local coordinate system of the positioning device 100 ( )、( )、( ). That is to say, the first transponder 201, the second transponder 202 and the third transponder 203 respond in sequence to avoid information collision, so that the guided positioning method can ensure that the response signals of the first transponder 201, the second transponder 202 and the third transponder 203 can all reach the positioning device 100. Compared with the traditional method of preset response time, the guided positioning method of the embodiment of the present application allows the second transponder 202 to respond immediately after receiving the response signal of the first transponder 201, rather than responding within a preset time window. Therefore, the response efficiency of the at least two underwater transponders 200 of the guided positioning method of the embodiment of the present application is higher. In a typical example, the traditional preset response time interval is 1s. Only after one transponder completes the response for 1s can the other transponder respond. If the previous transponder completes the response at 400ms, it will inevitably lead to no transponder response in the time period from 400ms to 1s. In the guided positioning method of the embodiment of the present application, the second transponder 202 can adaptively respond according to the response time of the first transponder 201. For example, if the first transponder 201 completes the response at 400ms, the second transponder 202 can respond immediately. If the first transponder 201 completes the response at 600ms, the second transponder 202 can respond immediately. This makes the response efficiency of the at least two underwater transponders 200 of the guided positioning method of the embodiment of the present application higher.

[0076] Furthermore, in the step (a), the positioning device 100 At the same time, an inquiry signal is sent to the first transponder 201, the second transponder 202 and the third transponder 203, wherein the inquiry signal includes a response sequence requirement. The first transponder 201, the second transponder 202 and the third transponder 203 respectively record the arrival time of the inquiry signal as , , After the first transponder 201 receives the inquiry signal from the positioning device 100, it delays In response to the positioning device 100, the response signal of the first transponder 201 includes the depth information of the first transponder 201 and delay information After the positioning device 100 receives the response signal of the first transponder 201, the first transponder 201 arrives at the positioning device 100. Calculate the distance between the positioning device 100 and the first transponder 201 , where the parameters , , , , Satisfies the relationship: ,parameter The positioning device 100 calculates the azimuth of the first transponder 201 in the local coordinate system of the positioning device 100 according to the phase difference information or time difference information (Time Delay Of Arrival, TDOA) of the response signal of the first transponder 201 in multiple receiving channels of the positioning device 100. and , yes exist The projection of a plane (parallel to the horizontal plane) is The angle of the axis is positive when viewed clockwise from a top-down perspective. yes and The angle of the plane is positive below the horizontal plane, according to the parameter , , and the depth information of the positioning device 100 Calculate the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 ( ), the coordinates of the first transponder 201 in the local coordinate system of the positioning device 100 The formula is: ; ; .

[0077] After receiving the response signal from the first transponder 201, the second transponder 202 records the time when the response signal from the first transponder 201 reaches the second transponder 202. , the second transponder 202 is Delay based on The second transponder 202 then responds to the positioning device 100, and the response signal of the second transponder 202 includes the depth information of the second transponder 202 , Delay information and from The delay from the start to the time when the second transponder 202 sends the response signal After the positioning device 100 receives the response signal from the second transponder 202, it records the signal arrival time And calculate the distance between the positioning device 100 and the second transponder 202 and the distance between the first transponder 201 and the second transponder 202 , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: , where the parameters is the perimeter of the triangle formed by the positioning device 100, the first transponder 201 and the second transponder 202. The positioning device 100 calculates the coordinates of the second transponder 202 in the local coordinate system of the positioning device 100 ( ) is: ; ; .

[0078] After receiving the response signal from the first transponder 201, the third transponder 203 records the time when the response signal from the first transponder 201 reaches the third transponder 203. After the third transponder 203 receives the response signal from the second transponder 202, Delay based on The positioning device 100 then responds, and the response signal of the third transponder 203 includes the depth information of the third transponder 203. , Delay information and from The delay from the start to the time when the third transponder 203 sends the response signal After the positioning device 100 receives the response signal from the third transponder 203, it records the signal arrival time. And calculate the distance between the positioning device 100 and the third transponder 203 and the distance between the first transponder 201 and the third transponder 203 , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: ,parameter is the perimeter of the triangle formed by the positioning device 100, the first transponder 201 and the third transponder 203. The positioning device 100 calculates the coordinates of the third transponder 203 in the local coordinate system of the positioning device 100 ( ) is: ; ; .

[0079] The guidance positioning method of the embodiment of the present application uses underwater acoustic ranging and depth sensor information to assist in the coordinate calculation of the first transponder 201, the second transponder 202 and the third transponder 203. The advantages of the simple and higher precision of the underwater acoustic ranging and depth measurement process can be used to improve the relative position accuracy of the first transponder 201, the second transponder 202 and the third transponder 203, so that the guidance positioning method of the embodiment of the present application can greatly improve the guidance accuracy. The traditional multi-target positioning method is that the positioning device locates each transponder separately. Since it is difficult to achieve a high direction-finding accuracy, when the distance between the positioning device and the transponder is far, the direction-finding error will rapidly increase with the increase of the distance, resulting in the relative position measurement is not accurate enough, which is difficult to meet the guidance requirements. In a specific application scenario of the embodiment of the present application, refer to the attached Figure 3A and Figure 3B The at least two underwater transponders 200 include the first transponder 201 and the second transponder 202. In the step (a), the coordinates of the first transponder 201 and the second transponder 202 in the local coordinate system of the positioning device 100 are obtained. , In the step (b), the coordinates of the first transponder 201 and the second transponder 202 in the local coordinate system of the positioning device 100 are mapped. , To the coordinates in the northeast celestial coordinate system ( )、( ), to obtain the position information of the first transponder 201 relative to the second transponder 202, and in the step (c), the position information is fed back to the second transponder 202 to guide the second transponder 202 to move to the position of the first transponder 201.

[0080] Furthermore, the step (a) further includes the steps of: the first transponder 201 responds to the positioning device 100 after receiving the inquiry signal from the positioning device 100; the second transponder 202 responds to the positioning device 100 after receiving the response signal from the first transponder 201; the positioning device 100 calculates the coordinates of the first transponder 201 and the second transponder 202 in the local coordinate system of the positioning device 100 according to the response signal from the first transponder 201 and the response signal from the second transponder 202 , . In such a manner as described above, the guided positioning method can avoid information collision and ensure that the response signals of the first transponder 201 and the second transponder 202 can both reach the positioning device 100. Compared with the traditional method of preset response time, the guided positioning method of the embodiment of the present application allows the second transponder 202 to respond immediately after receiving the response signal of the first transponder 201, rather than responding within a preset time window. Therefore, the response efficiency of the at least two underwater transponders 200 of the guided positioning method of the embodiment of the present application is higher. In a typical example, the traditional preset response time interval is 1s. Only after one transponder completes the response for 1s can the other transponder respond. If the previous transponder completes the response at 400ms, it will inevitably lead to no transponder response in the time period from 400ms to 1s. In the guided positioning method of the embodiment of the present application, the second transponder 202 can adaptively respond according to the response time of the first transponder 201. For example, if the first transponder 201 completes the response at 400ms, the second transponder 202 can respond immediately. If the first transponder 201 completes the response at 600ms, the second transponder 202 can respond immediately. This makes the response efficiency of the at least two underwater transponders 200 of the guided positioning method of the embodiment of the present application higher.

[0081] Further, the guided positioning method allows the positioning device 100 to send a broadcast inquiry signal to the first transponder 201 and the second transponder 202, so that the first transponder 201 responds to the positioning device 100 after receiving the broadcast inquiry signal sent by the positioning device 100, and the second transponder 202 responds to the positioning device 100 after receiving the broadcast inquiry signal sent by the positioning device 100 and the response signal of the first transponder 201, so as to avoid information collision. In this way, the guided positioning method can ensure that the response signals of the first transponder 201 and the second transponder 202 can both reach the positioning device 100. In other words, in the present application, the positioning device 100 sends a broadcast inquiry signal, and the first transponder 201 and the second transponder 202 can both receive the broadcast inquiry signal, that is, the positioning device 100 and the first transponder 201 and the second transponder 202 do not need to communicate in a point-to-point manner, which is conducive to saving time and improving positioning efficiency.

[0082] Furthermore, in the step (a.1), the first transponder delays responding to the positioning device after receiving the inquiry signal from the positioning device, and in the step (a.2), the second transponder delays responding to the positioning device after receiving the response signal from the first transponder. In this way, the first transponder 201 and the second transponder 202 can complete tasks such as signal reception and charging of the transmitting circuit, thereby ensuring that the first transponder 201 and the second transponder 202 receive a complete inquiry signal and transmit a complete response signal.

[0083] Furthermore, the parameter , , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: ,parameter , , , , , , , Satisfies the relationship: , so we can get the relationship: , where the coordinates of the first transponder in the local coordinate system of the positioning device are The formula is: ; ; ; wherein the coordinates of the second transponder in the local coordinate system of the positioning device The formula is: , .

[0084] The present application also provides a guiding and positioning device 400, see the attached Figure 5The guiding positioning device 400 includes a processor 401 and a memory 402 coupled to the processor 401, wherein the memory 402 stores a computer program. When the processor 401 executes the computer program, the guiding positioning device 400 executes the guiding positioning method. The guiding positioning method includes the following steps: (a) based on underwater acoustic communication, obtaining the coordinates of the at least two underwater transponders 200 in the local coordinate system of the positioning device 100; (b) mapping the coordinates of the at least two underwater transponders 200 in the local coordinate system of the positioning device 100 to the coordinates of the northeast celestial coordinate system, so as to obtain the azimuth information of one of the at least two underwater transponders 200 relative to the other transponder; and (c) according to the azimuth information, guiding one of the at least two underwater transponders 200 to move to the location of the other transponder.

[0085] Furthermore, the guiding and positioning device 400 further includes a transceiver 403. The processor 401 and the transceiver 403 communicate with each other through an internal circuit, and the processor 401 controls the transceiver 403 to send and / or receive signals when executing the computer program stored in the memory 402. The transceiver 403 may be a transceiver circuit.

[0086] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A guidance positioning method based on a communication process, characterized in that: The guiding positioning method comprises the following steps: (a) obtaining coordinates of at least two underwater transponders in a local coordinate system of a positioning device based on underwater acoustic communication; (b) mapping the coordinates of the at least two underwater transponders in the local coordinate system of the positioning device to the coordinates of the northeast celestial coordinate system, so as to obtain the azimuth information of one of the at least two underwater transponders relative to the other transponder; and (c) guiding one of the at least two underwater transponders to move toward a location of the other transponder based on the position information; The at least two underwater transponders include a first transponder, a second transponder and a third transponder. In the step (a), the coordinates of the first transponder, the second transponder and the third transponder in the local coordinate system of the positioning device are obtained ( )、( )、( ), in the step (b), mapping the coordinates of the first transponder, the second transponder and the third transponder in the local coordinate system of the positioning device ( )、( )、( ) to the coordinates in the northeast celestial coordinate system ( )、( )、( ), to respectively obtain the position information of the first transponder relative to the second transponder and the third transponder, and in the step (c), feed back the position information to the second transponder and the third transponder to guide the second transponder and the third transponder to move toward the position of the first transponder; Wherein said step (a) further comprises the steps of: (a.1) After receiving the inquiry signal from the positioning device, the first transponder responds to the positioning device; (a.2) After receiving the response signal from the first responder, the second responder responds to the positioning device; (a.3) After receiving the response signal from the second responder, the third responder responds to the positioning device; as well as (a.4) The positioning device calculates the coordinates of the first transponder, the second transponder and the third transponder in the local coordinate system of the positioning device according to the response signal of the first transponder, the response signal of the second transponder and the response signal of the third transponder ( )、( )、( ); In step (a), the positioning device is Initiating an inquiry signal to the first transponder, the second transponder and the third transponder at the same time, wherein the inquiry signal includes a response sequence requirement; The first transponder, the second transponder and the third transponder respectively record the arrival time of the inquiry signal as , , ; After the first transponder receives the inquiry signal from the positioning device, it delays responding to the positioning device, wherein the response signal of the first responder includes the depth information of the first responder and delay information ; After the positioning device receives the response signal from the first transponder, the first transponder arrives at the positioning device according to the time Calculate the distance between the positioning device and the first transponder , where the parameters , , , , Satisfies the relationship: ,parameter is the speed of sound in water; The positioning device calculates the azimuth of the first transponder in the local coordinate system of the positioning device according to the phase difference information or time difference information of the response signal of the first transponder in multiple receiving channels of the positioning device. and , yes exist Projection of the plane and The angle of the axis is positive when viewed clockwise from a top-down perspective. yes and The angle of the plane is positive below the horizontal plane, according to the parameter , , and the depth information of the positioning device Calculate the coordinates of the first transponder in the local coordinate system of the positioning device ( ), the coordinates of the first transponder in the local coordinate system of the positioning device ( ) is: ; ; ; After the second transponder receives the response signal from the first transponder, it records the time when the response signal from the first transponder reaches the second transponder. , the second transponder is Delay based on The second transponder then responds to the positioning device, wherein the response signal of the second transponder includes the depth information of the second transponder , Delay information and from Delay from the start to the moment when the second transponder sends a response signal ; After the positioning device receives the response signal from the second transponder, it records the arrival time of the signal And calculate the distance between the positioning device and the second transponder and the distance between the first transponder and the second transponder , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: , where the parameters a perimeter of a triangle formed by the positioning device, the first transponder, and the second transponder; The positioning device calculates the coordinates of the second transponder in the local coordinate system of the positioning device ( ) is: ; ; ; After the third transponder receives the response signal from the first transponder, it records the time when the response signal from the first transponder arrives at the third transponder After the third transponder receives the response signal from the second transponder, Delay based on The third transponder then responds to the positioning device, wherein the response signal of the third transponder includes the depth information of the third transponder , Delay information and from The delay from the start to the time when the third transponder sends the response signal ; After the positioning device receives the response signal from the third transponder, it records the arrival time of the signal And calculate the distance between the positioning device and the third transponder and the distance between the first transponder and the third transponder , where the parameters , , , , Satisfies the relationship: ,parameter , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: , where the parameters a perimeter of a triangle formed by the positioning device, the first transponder and the third transponder; The positioning device calculates the coordinates of the third transponder in the local coordinate system of the positioning device ( ) is: ; ; .

2. The guided positioning method according to claim 1, wherein the at least two underwater transponders include a first transponder and a second transponder, and in the step (a), the coordinates of the first transponder and the second transponder in the local coordinate system of the positioning device are obtained. , In step (b), the coordinates of the first transponder and the second transponder in the local coordinate system of the positioning device are mapped , To the coordinates in the northeast celestial coordinate system ( )、( ), to obtain the position information of the first transponder relative to the second transponder, and in the step (c), the position information is fed back to the second transponder to guide the second transponder to move to the position of the first transponder.

3. The guided positioning method according to claim 2, wherein the step (a) further comprises the steps of: (a.1) After receiving the inquiry signal from the positioning device, the first transponder responds to the positioning device; (a.2) the second transponder responds to the positioning device after receiving the response signal from the first transponder; and (a.3) Based on the response signal of the first transponder and the response signal of the second transponder, the positioning device calculates the coordinates of the first transponder and the second transponder in the local coordinate system of the positioning device. , .

4. The guided positioning method according to claim 3, wherein before step (a.1), step (a) further includes the step of: allowing the positioning device to send a broadcast inquiry signal to the first responder and the second responder, so that in step (a.1), the first responder responds to the positioning device after receiving the broadcast inquiry signal sent by the positioning device, and the second responder responds to the positioning device after receiving the broadcast inquiry signal sent by the positioning device and the response signal of the first responder.

5. The guided positioning method according to claim 4, wherein in the step (a.1), the first transponder delays responding to the positioning device after receiving the inquiry signal from the positioning device, and in the step (a.2), the second transponder delays responding to the positioning device after receiving the response signal from the first transponder.

6. The guided positioning method according to claim 5, wherein the parameter , , , , Satisfies the relationship: ,parameter , , , , , Satisfies the relationship: ,parameter , , , , , , , Satisfies the relationship: , so we can get the relationship: , where the coordinates of the first transponder in the local coordinate system of the positioning device are The formula is: ; ; ; The coordinates of the second transponder in the local coordinate system of the positioning device The formula is: , ; The parameters is the distance between the first transponder and the positioning device, parameter is the distance between the second transponder and the positioning device, parameter is the distance between the first transponder and the second transponder, parameter is the speed of sound in water, and the parameter is the time when the response signal of the first transponder arrives at the positioning device, and the parameter is the time when the response signal of the second transponder arrives at the positioning device, is the time when the positioning device sends the broadcast query signal, and the parameter is the time from when the first transponder receives the broadcast inquiry signal of the positioning device to when the first transponder responds. is the time from when the second transponder receives the response signal from the first transponder to when the second transponder responds. is the time interval from the moment the broadcast query signal sent by the positioning device reaches the second transponder to the moment the response signal of the first transponder reaches the second transponder, and the parameter is the depth information of the first transponder, parameter is the depth information of the second transponder, parameter is the depth information of the positioning device, parameter and parameters is the azimuth of the first transponder in the local coordinate system of the positioning device, yes exist Projection of the plane and The angle of the axis is positive when viewed clockwise from a top-down perspective. yes and The angle of a plane is positive when it is below the horizontal plane.

7. The guided positioning method according to claim 5 or 6, wherein the delayed response time of the first transponder is the same as the delayed response time of the second transponder.

8. A guidance and positioning device based on a communication process, characterized in that: The invention comprises a processor and a memory coupled to the processor, wherein the memory stores a computer program, and when the processor executes the computer program, the guiding and positioning device executes the guiding and positioning method according to any one of claims 1 to 7.

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