A positioning method of an autonomous underwater vehicle and an underwater beacon positioning system

Abstract

The present disclosure provides a positioning method of an autonomous underwater vehicle and an underwater beacon positioning system. The positioning method comprises the following steps: receiving positioning code information sent by a positioning beacon, and analyzing a beacon clock pulse and beacon position information included in the positioning code information; determining a target time difference between each beacon clock pulse and a clock signal corresponding to a data receiving device; determining a target distance between the autonomous underwater vehicle and a positioning beacon corresponding to the target time difference according to the target time difference; and determining target position information corresponding to the autonomous underwater vehicle according to each target distance and the beacon position information of the corresponding positioning beacon. The present disclosure can realize high-precision and wide-coverage real-time positioning of the autonomous underwater vehicle, effectively eliminate drift errors of an inertial navigation system, and improve the real-time performance and reliability of acoustic positioning.

Description

Technical Field

[0001] This disclosure relates to the field of underwater communication and navigation, and more specifically, to a positioning method for an autonomous underwater vehicle and an underwater lighthouse positioning system. Background Technology

[0002] With the deepening of global marine resource development and marine scientific research, the demand for autonomous underwater vehicles (AUVs) is increasing. AUVs are widely used in marine mapping, environmental monitoring, and resource exploration, capable of performing long-duration, multi-task operations in complex underwater environments. However, positioning and navigation in underwater environments has always been a significant bottleneck restricting their operational capabilities and application scope. Currently, AUV positioning technology mainly relies on inertial navigation systems (INS) and acoustic positioning technology. INS acquires the AUV's motion state and calculates its position through internal sensors (such as accelerometers and gyroscopes). However, due to sensor drift and error accumulation, INS can generate significant positioning errors during long-term operation, leading to a decrease in positioning accuracy.

[0003] To address the positioning error problem of inertial navigation systems, existing technologies typically incorporate acoustic positioning systems. Acoustic positioning technologies include long baseline (LBL), short baseline (SBL), and ultra-short baseline (USBL) positioning systems. However, existing acoustic positioning systems still suffer from drawbacks in practical applications, such as poor real-time performance, limited coverage, complex equipment deployment, and significant susceptibility to environmental influences, making them difficult to implement in certain specific areas (such as the deep sea). Summary of the Invention

[0004] This disclosure provides at least one positioning method and underwater lighthouse positioning system for autonomous underwater vehicles (AUVs), which can achieve high-precision, wide-coverage real-time positioning of AUVs. It can not only effectively eliminate the drift error of inertial navigation systems, but also improve the real-time performance and reliability of acoustic positioning.

[0005] This disclosure provides a positioning method for an autonomous underwater vehicle (AUV), applied to a data receiving device mounted on the AUV within an underwater lighthouse positioning system. The underwater lighthouse positioning system further includes multiple positioning lighthouses mounted on the seabed. The method includes:

[0006] Receive positioning encoding information sent by the positioning lighthouse, and parse the lighthouse clock pulse and lighthouse location information included in the positioning encoding information;

[0007] Determine the target time difference between each of the lighthouse clock pulses and the corresponding clock signal of the data receiving device;

[0008] Based on the target time difference, determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference;

[0009] Based on the distance to each target and the location information of the corresponding positioning lighthouse, the target location information corresponding to the autonomous underwater vehicle is determined.

[0010] In an optional implementation, after parsing the lighthouse clock pulse and lighthouse location information included in the positioning encoding information, the method further includes:

[0011] Parse the lighthouse identification information included in the location coding information;

[0012] Based on the identity information, the location beacon that sent the location coding information is identified.

[0013] In one optional implementation, the positioning lighthouse releases its data antenna and floats to the water surface according to a preset time calibration interval;

[0014] The data antenna receives satellite clock pulses sent by the positioning satellite and calibrates the lighthouse clock pulses according to the satellite clock pulses.

[0015] In one optional implementation, determining the target time difference between each of the lighthouse clock pulses and the clock signal corresponding to the data receiving device specifically includes:

[0016] Determine the first rising edge corresponding to the lighthouse clock pulse, and the second rising edge corresponding to the clock signal of the data receiving device;

[0017] The difference between the time corresponding to the first rising edge and the time corresponding to the second rising edge is determined as the target time difference.

[0018] In one optional implementation, the target location information corresponding to the autonomous underwater vehicle is determined based on each target distance and the lighthouse location information corresponding to the positioning lighthouse, specifically including:

[0019] For each of the positioning beacons, the target distance between the autonomous underwater vehicle and the positioning beacon is determined;

[0020] For each of the positioning beacons, a set of distance equations corresponding to the target location information is constructed based on the beacon location information and the target distance.

[0021] The distance equations are solved using the least squares method to determine the target location information corresponding to the autonomous underwater vehicle.

[0022] In an optional implementation, after calibrating the lighthouse clock pulse according to the satellite clock pulse, the method further includes:

[0023] The antenna retrieval device installed on the positioning lighthouse is controlled to retrieve the data antenna to the bottom of the water.

[0024] This disclosure also provides a positioning device for an autonomous underwater vehicle (AUV), applied to a data receiving device installed on the AUV in an underwater lighthouse positioning system. The underwater lighthouse positioning system further includes multiple positioning lighthouses installed on the seabed. The method includes:

[0025] The encoding information parsing module is used to receive the positioning encoding information sent by the positioning lighthouse, and parse the lighthouse clock pulse and lighthouse location information included in the positioning encoding information;

[0026] A time difference determination module is used to determine the target time difference between each of the lighthouse clock pulses and the clock signal corresponding to the data receiving device;

[0027] The distance determination module is used to determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference based on the target time difference;

[0028] An autonomous underwater vehicle (AUV) position determination module is used to determine the target position information corresponding to the AUV based on the distance to each target and the position information of the corresponding positioning lighthouse.

[0029] This disclosure also provides an underwater lighthouse positioning system, including multiple positioning lighthouses installed on the seabed and a data receiving device installed on an autonomous underwater vehicle;

[0030] The positioning lighthouse is used to send positioning encoded information, including lighthouse clock pulses and lighthouse location information, to the data receiving device;

[0031] The data receiving device is used to receive positioning encoding information sent by the positioning lighthouse, parse the lighthouse clock pulse and the lighthouse position information, determine the target time difference between each lighthouse clock pulse and the clock signal corresponding to the data receiving device, determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference based on the target time difference, and determine the target position information corresponding to the autonomous underwater vehicle based on each target distance and the lighthouse position information corresponding to the positioning lighthouse.

[0032] This disclosure also provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the above-described positioning method for autonomous underwater vehicles, or any possible implementation of the above-described positioning method for autonomous underwater vehicles.

[0033] This disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the above-described autonomous underwater vehicle positioning method, or any possible implementation of the above-described autonomous underwater vehicle positioning method.

[0034] This disclosure also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the above-described positioning method for autonomous underwater vehicles, or the steps in any possible implementation of the above-described positioning method for autonomous underwater vehicles.

[0035] This disclosure provides a positioning method for an autonomous underwater vehicle (AUV), applied to a data receiving device mounted on the AUV within an underwater lighthouse positioning system. The underwater lighthouse positioning system also includes multiple positioning lighthouses located on the seabed. The method receives positioning encoding information transmitted by the lighthouses and parses the lighthouse clock pulses and lighthouse position information included in the positioning encoding information. It determines the target time difference between each lighthouse clock pulse and the corresponding clock signal of the data receiving device. Based on the target time difference, it determines the target distance between the AUV and the corresponding lighthouse. Based on each target distance and the lighthouse position information corresponding to the lighthouse, it determines the target position information corresponding to the AUV. This method enables high-precision, wide-coverage real-time positioning of the AUV, effectively eliminating drift errors in inertial navigation systems and improving the real-time performance and reliability of acoustic positioning.

[0036] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this disclosure and, together with the specification, serve to explain the technical solutions of this disclosure. It should be understood that the following drawings only show some embodiments of this disclosure and should not be considered as limiting the scope. Those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0038] Figure 1 A schematic diagram of an underwater lighthouse positioning system provided in an embodiment of this disclosure is shown;

[0039] Figure 2 A flowchart illustrating a positioning method for an autonomous underwater vehicle provided in an embodiment of this disclosure is shown.

[0040] Figure 3 A schematic diagram of a positioning device for an autonomous underwater vehicle provided in an embodiment of this disclosure is shown;

[0041] Figure 4 A schematic diagram of an electronic device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The components of the embodiments of this disclosure described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0045] Research has revealed that to address the positioning error problem of inertial navigation systems for autonomous underwater vehicles (AUVs), existing technologies typically incorporate acoustic positioning systems. Acoustic positioning technologies include long baseline (LBL), short baseline (SBL), and ultra-short baseline (USBL) positioning systems. However, existing acoustic positioning systems still suffer from drawbacks in practical applications, including poor real-time performance, limited coverage, complex equipment deployment, and significant susceptibility to environmental influences, making them difficult to implement in certain specific areas (such as the deep sea).

[0046] Based on the above research, this disclosure provides a positioning method for autonomous underwater vehicles (AUVs), applied to a data receiving device installed on the AUV within an underwater lighthouse positioning system. The underwater lighthouse positioning system also includes multiple positioning lighthouses installed on the seabed. The method receives positioning encoding information transmitted by the positioning lighthouses and parses the lighthouse clock pulses and lighthouse position information included in the positioning encoding information. It determines the target time difference between each lighthouse clock pulse and the corresponding clock signal of the data receiving device. Based on the target time difference, it determines the target distance between the AUV and the corresponding positioning lighthouse. Based on each target distance and the corresponding lighthouse position information, it determines the target position information corresponding to the AUV. This method enables high-precision, wide-coverage real-time positioning of the AUV, effectively eliminating drift errors of inertial navigation systems and improving the real-time performance and reliability of acoustic positioning.

[0047] To facilitate understanding of this embodiment, a positioning method for an autonomous underwater vehicle (AUV) disclosed in this disclosure will first be described in detail. The AUV positioning method provided in this disclosure is executed by a data receiving device installed on the AUV within an underwater lighthouse positioning system.

[0048] See Figure 1 The diagram shown is a schematic representation of an underwater lighthouse positioning system 10 provided in an embodiment of this disclosure. Figure 1 As shown, the underwater lighthouse positioning system 10 includes a data receiving device 11 mounted on an autonomous underwater vehicle and multiple positioning lighthouses 12 mounted on the seabed.

[0049] In practice, the positioning beacon 12 is fixed on the seabed, and its precise geographical coordinates are known. Each beacon has a unique ID and periodically (e.g., hourly) synchronizes its time with the positioning satellite via its surfacing antenna to ensure system time accuracy. After synchronization, the antenna is retracted to the seabed. Each positioning beacon 12 sends acoustic positioning encoded information, including the beacon clock pulse and the beacon's location information, to the data receiving device 11. The data receiving device 11 on the autonomous underwater vehicle (AUV) receives and decodes the acoustic positioning encoded information from the positioning beacon 12. By comparing it with its own clock, the AUV can calculate its current position based on the location information of multiple underwater beacons, thereby achieving precise positioning.

[0050] Here, the positioning lighthouse 12 releases its data antenna to float to the water surface according to a preset time calibration interval; it receives satellite clock pulses sent by the positioning satellite through the data antenna, calibrates the lighthouse clock pulses according to the satellite clock pulses, and controls the antenna recovery device set on the positioning lighthouse 12 to recover the data antenna to the bottom of the water after calibration.

[0051] It should be noted that, in order to improve positioning accuracy, the positioning beacons 12 should be evenly distributed in the predetermined navigation area of ​​the autonomous underwater vehicle, and the interval between every two positioning beacons 12 should be kept within a certain range, preferably 1 km.

[0052] As one possible implementation, the positioning lighthouse 12 can be powered by an external power source or a submarine cable and installed on a submarine mounting device. It also has an antenna deployment and retraction control system. If there is a pile foundation or a location for installing an antenna, the antenna can be directly connected to the positioning lighthouse 12.

[0053] In this way, the autonomous underwater vehicle (AUV) can effectively improve positioning accuracy by receiving signals from multiple positioning beacons 12 and calculating the distance between itself and each beacon 12 using the time difference, especially in complex underwater environments. Furthermore, since it does not need to surface frequently, the AUV's endurance is significantly improved. Although the acoustic signal bandwidth is limited, positioning information can be acquired in real time during the mission, rather than waiting until the mission ends.

[0054] This application provides an underwater lighthouse positioning system, including multiple positioning lighthouses installed on the seabed and a data receiving device installed on an autonomous underwater vehicle (AUV). Each positioning lighthouse transmits positioning encoded information, including lighthouse clock pulses and lighthouse position information, to the data receiving device. The data receiving device receives the positioning encoded information transmitted by the positioning lighthouses, parses the lighthouse clock pulses and lighthouse position information, determines the target time difference between each lighthouse clock pulse and the corresponding clock signal of the data receiving device, determines the target distance between the AUV and the corresponding positioning lighthouse based on the target time difference, and determines the target position information corresponding to the AUV based on each target distance and the corresponding lighthouse position information. This system enables high-precision, wide-coverage real-time positioning of the AUV, effectively eliminating drift errors in inertial navigation systems and improving the real-time performance and reliability of acoustic positioning.

[0055] See Figure 2 The diagram shows a flowchart of a positioning method for an autonomous underwater vehicle provided in an embodiment of this disclosure. The method is applied to applications such as... Figure 1 The data receiving device 11 in the underwater lighthouse positioning system 10 shown is installed on the autonomous underwater vehicle. The method includes steps S201 to S204, wherein:

[0056] S201. Receive the positioning encoding information sent by the positioning lighthouse, and parse the lighthouse clock pulse and lighthouse location information included in the positioning encoding information.

[0057] In practice, the data receiving equipment installed on the autonomous underwater vehicle receives the acoustic positioning code information sent by the positioning lighthouse installed on the seabed, and deciphers the lighthouse clock pulse and lighthouse position information carried in the positioning code information.

[0058] Here, the positioning lighthouse, located underwater, utilizes the property of acoustic signals propagating in water to transmit lighthouse clock pulses and lighthouse location information by continuously sending coded pulses.

[0059] The data receiving device can also parse the lighthouse identification information carried in the positioning code information and determine the positioning lighthouse that sent the positioning code information based on the identification information.

[0060] Specifically, the positioning beacon transmits a 32-bit encoded acoustic signal at fixed time intervals. This signal includes a beacon clock pulse, beacon location information, and beacon identification information. The beacon identification information is a unique ID code, ensuring that the system can operate multiple beacons simultaneously in the same waters without signal confusion. The beacon clock pulse is generated by the beacon's clock and, together with the beacon location information, corrects the autonomous underwater vehicle's clock and calculates the distance between the autonomous underwater vehicle and the positioning beacon.

[0061] Here, the positioning beacon encoding can use binary encoding. Each beacon transmits positioning encoded information containing multiple acoustic pulses, arranged according to a specific encoding rule. Assuming 32-bit binary encoding is used, each beacon's signal consists of two pulse sequences. Each beacon generates two consecutive 32-bit pulse sequences, with each bit corresponding to one acoustic pulse. For example, beacon A's ID is "101010...", and beacon B's ID is "010101...". These pulse sequences can distinguish between different beacons.

[0062] Furthermore, the data receiving equipment on the autonomous underwater vehicle (AUV) captures the acoustic signals emitted by the positioning beacon and converts them into digital signals. The received pulse sequence is analyzed, and by comparing it with a predetermined encoding table, the beacon ID contained in the signal is determined. Since each beacon's ID is unique, the AUV can accurately identify which beacon emitted the signal.

[0063] Optionally, in underwater environments, signals may be affected by noise, reflections, and multipath effects. Therefore, the coding technology for positioning lighthouses needs to have strong anti-interference capabilities. Redundant coding, spread spectrum technology, and signal filtering can be employed. Redundant coding adds redundant bits during encoding, allowing for the recovery of original information through error correction techniques even if the signal is damaged or partially lost. Spread spectrum technology, using techniques such as DSSS or FHSS, can reduce interference between the signal and environmental noise, improving signal stability and reliability. Autonomous underwater vehicles (AUVs) can use filtering and digital signal processing techniques to remove errors caused by noise and multipath effects, enhancing decoding accuracy.

[0064] S202. Determine the target time difference between each of the lighthouse clock pulses and the clock signal corresponding to the data receiving device.

[0065] In practice, autonomous underwater vehicles (AUVs) typically operate underwater for extended periods. During this time, the accuracy error of the AUV's internal clock accumulates, leading to positional deviations. This accumulated error affects the navigation accuracy of the AUV.

[0066] Here, the clock accuracy of the autonomous underwater vehicle (AUV) is a crucial factor affecting positioning accuracy. The clock signal generated by the crystal oscillator used inside the AUV will develop minute errors over time, and these errors accumulate and affect positioning accuracy.

[0067] The precision of a crystal oscillator is typically expressed in parts per million (PPM), which is a millionth of the ratio of the crystal's frequency error to its nominal frequency. Assume the nominal frequency of the crystal oscillator is f. n If the actual frequency is f, then the formula for calculating the PPM error is:

[0068]

[0069] Specifically, the larger the PPM error, the greater the crystal oscillator frequency deviation, resulting in a more significant time error. Over time, the clock error of the autonomous underwater vehicle (AUV) accumulates. For example, assuming the AUV's crystal oscillator produces a time deviation of 3.6 ms per hour (i.e., a deviation of 3.6 ms per hour), the position deviation is calculated using the speed of sound.

[0070] Here, in seawater, the speed of sound is typically about 1500 m / s. A time deviation of 3.6 ms would result in a distance error of: position deviation = 1500 m / s × 3.6 ms = 5.4 m. This means that the position of an autonomous underwater vehicle may deviate by about 5.4 m per hour.

[0071] Therefore, the autonomous underwater vehicle will deviate by 5.4 meters every hour. If accurate measurement and navigation are required, a positioning beacon needs to be set up on the seabed for positioning.

[0072] Furthermore, time synchronization between the autonomous underwater vehicle (AUV) and the positioning beacon is crucial. Asynchrony will lead to positioning errors. Therefore, in the system design, the positioning beacon periodically raises its data transmission antenna to the surface to synchronize with GPS or BeiDou satellites. The antenna floats on the surface via a control mechanism and is retrieved to the bottom after synchronization, ensuring the accuracy of the positioning beacon's time. After receiving the acoustic signal from the positioning beacon, the AUV uses the beacon's clock pulses to calibrate its own clock.

[0073] As one possible implementation, the target time difference between the lighthouse clock pulse and the clock signal corresponding to the data receiving device can be determined by: determining the first rising edge corresponding to the lighthouse clock pulse and the second rising edge corresponding to the clock signal corresponding to the data receiving device; and determining the difference between the time corresponding to the first rising edge and the time corresponding to the second rising edge as the target time difference.

[0074] S203. Based on the target time difference, determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference.

[0075] In practice, the distance between each positioning beacon and the autonomous underwater vehicle can be determined by the time difference between the propagation speed of the acoustic signal underwater and the pulse signal between the data receiving equipment on the autonomous underwater vehicle and the positioning code information sent by the positioning beacon.

[0076] For example, after receiving positioning code information C1 sent by positioning lighthouse B1 and positioning code information C2 sent by positioning lighthouse B2, the autonomous underwater vehicle (AUV) compares its own clock signal with C1 and C2 respectively. Calculating the time difference between the AUV and C1 based on the rising edge, it is found to be 0.1s, and the time difference between the AUV and C2 is 0.2s. Based on the speed of sound in seawater, which is approximately 1500m / s, the distance between the AUV and positioning lighthouse B1 is determined to be 150m, and the distance between the AUV and positioning lighthouse B2 is determined to be 300m.

[0077] S204. Based on the distance to each target and the location information of the corresponding positioning lighthouse, determine the target location information corresponding to the autonomous underwater vehicle.

[0078] In practice, to obtain more accurate positioning results, it is usually necessary to use positioning encoding information transmitted by three or more positioning beacons. Positioning encoding information transmitted by a single positioning beacon can only provide horizontal distance information and cannot accurately provide depth information. By using multiple positioning beacons, autonomous underwater vehicles can accurately locate their position in three-dimensional space.

[0079] As one possible implementation, the target location information of the autonomous underwater vehicle can be obtained based on the following steps 1-3:

[0080] Step 1: For each of the positioning beacons, determine the target distance between the autonomous underwater vehicle and the positioning beacon.

[0081] Step 2: For each of the positioning lighthouses, construct a set of distance equations corresponding to the target location information based on the lighthouse location information and the target distance.

[0082] Step 3: Solve the distance equations using the least squares method to determine the target location information corresponding to the autonomous underwater vehicle.

[0083] In practical implementation, assuming the target position information coordinates of the autonomous underwater vehicle are (x, y, z), and the corresponding lighthouse position information are (x1, y1, z1), (x2, y2, z2), ..., the distances d1, d2, ... between the autonomous underwater vehicle and each lighthouse can be expressed as:

[0084]

[0085] Here, by using the location information of the lighthouses corresponding to different positioning lighthouses and the distance between the autonomous underwater vehicle and each positioning lighthouse, a set of equations for the corresponding target location information coordinates (x, y, z) can be obtained. The set of equations can then be solved by the least squares method or other numerical methods to obtain the target location information of the autonomous underwater vehicle.

[0086] This application provides a positioning method for an autonomous underwater vehicle (AUV), applied to a data receiving device mounted on the AUV within an underwater lighthouse positioning system. The underwater lighthouse positioning system also includes multiple positioning lighthouses located on the seabed. The method receives positioning encoding information transmitted by the lighthouses and parses the lighthouse clock pulses and lighthouse position information included in the positioning encoding information. It determines the target time difference between each lighthouse clock pulse and the corresponding clock signal of the data receiving device. Based on the target time difference, it determines the target distance between the AUV and the corresponding lighthouse. Based on each target distance and the lighthouse position information corresponding to the lighthouse, it determines the target position information corresponding to the AUV. This method enables high-precision, wide-coverage real-time positioning of the AUV, effectively eliminating drift errors in inertial navigation systems and improving the real-time performance and reliability of acoustic positioning.

[0087] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0088] Based on the same inventive concept, this disclosure also provides a face liveness detection device corresponding to the face liveness detection method. Since the principle of the device in this disclosure is similar to the face liveness detection method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0089] Please see Figure 3 , Figure 3 This is a schematic diagram of a positioning device for an autonomous underwater vehicle provided in an embodiment of this disclosure. The device is applied to, for example... Figure 1The underwater lighthouse positioning system 10 shown includes a data receiving device 11 mounted on an autonomous underwater vehicle. The underwater lighthouse positioning system 10 also includes multiple positioning lighthouses 12 mounted on the seabed. For example... Figure 3 As shown in the illustration, the positioning device 300 for an autonomous underwater vehicle provided in this embodiment includes:

[0090] The encoding information parsing module 310 is used to receive the positioning encoding information sent by the positioning lighthouse, and parse the lighthouse clock pulse and lighthouse location information included in the positioning encoding information.

[0091] The time difference determination module 320 is used to determine the target time difference between each of the lighthouse clock pulses and the clock signal corresponding to the data receiving device.

[0092] The distance determination module 330 is used to determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference based on the target time difference.

[0093] The autonomous underwater vehicle (AUV) position determination module 340 is used to determine the target position information corresponding to the AUV based on the distance to each target and the position information of the corresponding positioning lighthouse.

[0094] The processing flow of each module in the device and the interaction flow between each module can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.

[0095] This disclosure provides a positioning device for an autonomous underwater vehicle (AUV), applied to a data receiving device mounted on the AUV within an underwater lighthouse positioning system. The underwater lighthouse positioning system further includes multiple positioning lighthouses located on the seabed. The device receives positioning encoding information transmitted by the lighthouses and parses the lighthouse clock pulses and lighthouse position information included in the positioning encoding information. It determines the target time difference between each lighthouse clock pulse and the corresponding clock signal of the data receiving device. Based on the target time difference, it determines the target distance between the AUV and the corresponding lighthouse. Based on each target distance and the lighthouse position information corresponding to the lighthouse, it determines the target position information corresponding to the AUV. This device enables high-precision, wide-coverage real-time positioning of the AUV, effectively eliminating drift errors in inertial navigation systems and improving the real-time performance and reliability of acoustic positioning.

[0096] Corresponding to Figure 2 The present disclosure also provides an electronic device 400, such as a positioning method for autonomous underwater vehicles. Figure 4The diagram shown is a structural schematic of an electronic device 400 provided in an embodiment of this disclosure, including:

[0097] Processor 41, memory 42, and bus 43; memory 42 is used to store execution instructions, including main memory 421 and external memory 422; the main memory 421, also called internal memory, is used to temporarily store the computational data in processor 41, as well as the data exchanged with external memory 422 such as hard disk. Processor 41 exchanges data with external memory 422 through main memory 421. When the electronic device 400 is running, processor 41 and memory 42 communicate through bus 43, enabling processor 41 to execute... Figure 2 The steps of the positioning method for autonomous underwater vehicles.

[0098] This disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the autonomous underwater vehicle positioning method described in the above-described method embodiments. The storage medium can be either volatile or non-volatile computer-readable storage.

[0099] This disclosure also provides a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, they can perform the steps of the positioning method for an autonomous underwater vehicle described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0100] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0101] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this disclosure, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] In addition, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0104] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A positioning method for an autonomous underwater vehicle, characterized in that, A data receiving device installed on an autonomous underwater vehicle (AUV) in an underwater lighthouse positioning system, wherein the underwater lighthouse positioning system also includes multiple positioning lighthouses installed on the seabed, and the method includes: Receive positioning encoding information sent by the positioning lighthouse, and parse the lighthouse clock pulse and lighthouse location information included in the positioning encoding information; The target time difference between each lighthouse clock pulse and the corresponding clock signal of the data receiving device is determined. The positioning lighthouse releases the data antenna to float to the water surface according to a preset time calibration interval. It receives satellite clock pulses sent by the positioning satellite through the data antenna, calibrates the lighthouse clock pulses according to the satellite clock pulses, and controls the antenna recovery device set on the positioning lighthouse to recover the data antenna to the bottom of the water after calibration. Based on the target time difference, determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference; Based on the distance to each target and the location information of the corresponding positioning lighthouse, the target location information corresponding to the autonomous underwater vehicle is determined.

2. The method according to claim 1, characterized in that, After parsing the lighthouse clock pulse and lighthouse location information included in the positioning encoding information, the method further includes: Parse the lighthouse identification information included in the location coding information; Based on the identity information, the location beacon that sent the location coding information is identified.

3. The method according to claim 1, characterized in that, Determining the target time difference between each of the lighthouse clock pulses and the corresponding clock signal of the data receiving device specifically includes: Determine the first rising edge corresponding to the lighthouse clock pulse, and the second rising edge corresponding to the clock signal of the data receiving device; The difference between the time corresponding to the first rising edge and the time corresponding to the second rising edge is determined as the target time difference.

4. The method according to claim 1, characterized in that, Based on each target distance and the corresponding location information of the positioning beacon, the target location information corresponding to the autonomous underwater vehicle is determined, specifically including: For each of the positioning beacons, the target distance between the autonomous underwater vehicle and the positioning beacon is determined; For each of the positioning beacons, a set of distance equations corresponding to the target location information is constructed based on the beacon location information and the target distance. The distance equations are solved using the least squares method to determine the target location information corresponding to the autonomous underwater vehicle.

5. A positioning device for an autonomous underwater vehicle, characterized in that, A data receiving device installed on an autonomous underwater vehicle (AUV) in an underwater lighthouse positioning system, wherein the underwater lighthouse positioning system also includes multiple positioning lighthouses installed on the seabed, and the device includes: The encoding information parsing module is used to receive the positioning encoding information sent by the positioning lighthouse, and parse the lighthouse clock pulse and lighthouse location information included in the positioning encoding information; The time difference determination module is used to determine the target time difference between each of the lighthouse clock pulses and the clock signal corresponding to the data receiving device. The positioning lighthouse releases the data antenna to float to the water surface according to a preset time calibration interval; receives satellite clock pulses sent by the positioning satellite through the data antenna, calibrates the lighthouse clock pulses according to the satellite clock pulses, and controls the antenna recovery device set on the positioning lighthouse to recover the data antenna to the bottom of the water after calibration. The distance determination module is used to determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference based on the target time difference; An autonomous underwater vehicle (AUV) position determination module is used to determine the target position information corresponding to the AUV based on the distance to each target and the position information of the corresponding positioning lighthouse.

6. An underwater lighthouse positioning system, characterized in that, It includes multiple positioning beacons installed on the seabed and data receiving equipment installed on the autonomous underwater vehicle; The positioning lighthouse is used to send positioning encoded information, including lighthouse clock pulses and lighthouse location information, to the data receiving device. The positioning lighthouse releases its data antenna to float to the water surface according to a preset time calibration interval. It receives satellite clock pulses sent by positioning satellites through the data antenna, calibrates the lighthouse clock pulses according to the satellite clock pulses, and controls the antenna recovery device set on the positioning lighthouse to recover the data antenna to the bottom of the water after calibration. The data receiving device is used to receive positioning encoding information sent by the positioning lighthouse, parse the lighthouse clock pulse and the lighthouse position information, determine the target time difference between each lighthouse clock pulse and the clock signal corresponding to the data receiving device, determine the target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference based on the target time difference, and determine the target position information corresponding to the autonomous underwater vehicle based on each target distance and the lighthouse position information corresponding to the positioning lighthouse.

7. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the positioning method for an autonomous underwater vehicle as described in any one of claims 1 to 4 are performed.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the positioning method for an autonomous underwater vehicle as described in any one of claims 1 to 4.

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