Positioning structure based on data cable and positioning method thereof

Abstract

The invention discloses a positioning structure based on a data cable and a positioning method thereof, and relates to the technical field of cable type communication positioning, the positioning structure comprises a plurality of rigid rods arranged outside the data cable in a sleeving mode, the adjacent rigid rods are connected end to end through universal joints, and the universal joints are provided with conduction ports for the data cable to penetrate through. The universal joint is of a cross-shaped structure formed by a first rotating shaft and a second rotating shaft which are arranged in the longitudinal direction and the transverse direction, the two rotating shafts are both connected to the output ends of the angle sensors, and the pair of angle sensors arranged in the single universal joint are used for detecting the angle phi and the angle theta respectively. The rigid rods are connected through the universal joints, the angle sensors measure the rotation angles of shafts of the universal joints and the chain, angle information on each universal joint is transmitted back to the processor in real time through a data bus, then the processor can calculate the relative position between the end points of the chain, and according to the data, the relative position between the end points of the chain can be calculated. And the attitude of the whole data cable is displayed on the upper computer.

Description

Technical Field

[0001] The present application relates to the field of cable communication positioning technology, and in particular to a positioning structure based on a data cable and a positioning method thereof. Background Art

[0002] With the rapid development of the global economy, the demand for offshore oil, marine engineering, underwater engineering and underwater exploration is gradually increasing. The development of these fields has promoted the continuous advancement of underwater communication technology. Underwater communication is mainly divided into wired communication and wireless communication. Wired communication technology uses optical fiber to transmit information by laying submarine data cables; underwater wireless communication technology is more flexible, mainly including underwater radio electromagnetic wave communication, underwater acoustic communication and underwater optical communication; with the continuous advancement and innovation of technology, in addition to underwater communication technology, underwater precise positioning technology is also required.

[0003] Existing data cables only have data transmission or power supply functions, but do not have positioning capabilities; existing unmanned detectors are equipped with wireless positioning equipment, which mainly rely on long baseline (LBL) and short baseline (SBL) positioning systems for positioning through acoustic signals. However, although acoustic positioning has good propagation performance underwater, it also has inherent limitations. First, acoustic signals are subject to the physical properties of the underwater environment, such as temperature, salinity, and water flow, which affect the accuracy and stability of positioning. Second, the deployment of acoustic positioning systems in large areas of water is complex and costly, especially long baseline systems, which require the deployment of multiple underwater acoustic base stations in the operating area, which is not feasible in some complex underwater environments; At the same time, although the inertial navigation system (INS) can provide autonomous positioning in a short period of time without external signal interference, it faces the problem of cumulative error. As time goes by, the error of inertial navigation will continue to accumulate, resulting in a gradual decrease in positioning accuracy. This cumulative error is particularly significant in long-term and long-distance underwater operations; In summary, the existing acoustic positioning and inertial navigation technologies seem to be unable to cope with higher precision requirements and complex operating environments.

[0004] Therefore, in environments where GPS signals cannot be received, such as underwater or in caves, how to combine existing data transmission cables so that they can not only carry data and energy but also provide high-precision and stable positioning capabilities in these complex environments has become a key issue that needs to be solved urgently. Summary of the invention

[0005] This device provides a positioning structure and positioning method based on a data cable, and develops a data cable with trajectory tracking and precise terminal positioning functions, which can effectively make up for the limitations of existing wireless positioning technology and improve the safety and efficiency of underwater operations and caves where wireless signals are blocked and interfered. The specific implementation methods are as follows:

[0006] A positioning structure based on a data cable, comprising:

[0007] A plurality of rigid rods are sleeved on the outside of the data cable, and the adjacent rigid rods are connected end to end through a universal joint, and a conducting hole for the data cable to pass through is opened on the universal joint;

[0008] The universal joint is composed of a first rotating shaft and a second rotating shaft arranged longitudinally and transversely to form a cross-shaped structure, and both rotating shafts are connected to the output ends of the angle sensor. A pair of angle sensors built into a single universal joint are used to detect ∠Φ and ∠Θ respectively, and the angle sensors built into each universal joint are electrically connected to the remote processor.

[0009] Preferably, the rigid rod is a split structure, with hinged joints at both ends, and a rod body inserted between the two hinged joints. The covering length of the data cable can be adjusted by selecting rod bodies of different lengths.

[0010] A positioning method based on a positioning structure of a data cable comprises the following steps:

[0011] S100, scanning the seabed topography, establishing a global coordinate system of x, y, and z axes, and confirming the universal joint at the initial end as the origin P0 of the global coordinate system, that is, its coordinates are;

[0012] S200, establishing a local coordinate system of x', y', and z' axes on each rigid rod with the universal joint as the origin;

[0013] S300, setting the length of the rigid rod to L, the rotation angle of the rigid rod around the y-axis in the global coordinate system to ∠θ, and the rotation angle of the rigid rod around the x-axis in the global coordinate system to ∠Φ;

[0014] S400, for the universal joint of the i-th section, a matrix for rotation around the y-axis is established according to ∠Θ:

[0015]

[0016] S500, for the universal joint of the i-th section, a matrix for rotation around the x-axis is established according to ∠Φ:

[0017]

[0018] S600, according to steps S400 and S500, calculate the local rotation matrix:

[0019] R local =R X (Φ i )·R Y (Θ i );

[0020] S700, for the universal joint of the i-th section, calculate the global rotation matrix:

[0021] R global，i =R global，-1 ·R local，i ;

[0022]

[0023] Among them, Rglobal,0 is the identity matrix, indicating that the starting position of the first universal joint is the origin of the global coordinate system);

[0024] S800. Calculate the total position of the end of the Nth rigid rod as:

[0025]

[0026] S900, statistically record the relative positions between the end points of each rigid rod, and the processor displays the posture diagram of the entire data cable on the host computer based on these data.

[0027] In summary, this application includes the following beneficial technical effects:

[0028] 1. The present invention locates the data cable through a chain structure. Each rigid rod is connected by a universal joint. The angle sensor measures the rotation angle between the axis of the universal joint and the chain. The angle information on each universal joint is transmitted back to the processor in real time through a data bus, and then the processor can calculate the relative position between the end points of the chain. The posture of the entire data cable can also be displayed on the host computer based on these data to facilitate the subsequent real-time monitoring of the data cable, so that the remote end has the ability to effectively monitor and evaluate the status of the data cable and can respond to potential problems or risks in a timely manner. By observing the posture diagram, the bending damage of the rigid rod affected by the underwater environment can also be detected, so that it can be disassembled and replaced for long-term use, and the entanglement of seaweed and the knotting of adjacent cables can be detected;

[0029] 2. When the present invention is applied to underwater drones, underwater detectors or detection equipment in mines, the use of cable-type positioning can effectively eliminate environmental influences and effectively solve the problem that the terminal underwater equipment cannot be accurately positioned. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The side view structure of the present invention is schematically shown Figure 1 ;

[0031] Figure 2 The side view structure of the present invention is schematically shown Figure 2 ;

[0032] Figure 3 It is a front view structural schematic diagram of the present invention;

[0033] Figure 4is a schematic diagram of a parameter curve of verification method 1 of the present invention;

[0034] Figure 5 is a schematic diagram of a parameter curve of the second verification method of the present invention;

[0035] Figure 6 It is a schematic diagram of parameter curves in practice of the present invention.

[0036] Description of reference numerals:

[0037] 1. Rigid rod, 2. Universal joint,

[0038] 201, conduction port, 202, first rotating shaft, 203, second rotating shaft. DETAILED DESCRIPTION

[0039] The specific implementation of the invention is described below in conjunction with the accompanying drawings and embodiments:

[0040] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them, and are not used to limit the conditions under which the invention can be implemented. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the invention without affecting the effects and purposes that can be achieved by the invention.

[0041] At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of the invention. Changes or adjustments in their relative relationships should be regarded as within the scope of the invention without substantially changing the technical content.

[0042] The following is combined with Figure 1-Figure 6 This application is described in further detail.

[0043] The embodiment of the present application discloses a positioning structure based on a data cable.

[0044] Example 1

[0045] Reference Figures 1 to 3The present embodiment discloses a positioning structure based on a data cable, comprising a plurality of rigid rods 1 sleeved on the outside of the data cable, adjacent rigid rods 1 are connected end to end through a universal joint 2, and a conducting port 201 for the data cable to pass through is provided on the universal joint 2, the universal joint 2 is composed of a first rotating shaft 202 and a second rotating shaft 203 arranged longitudinally and transversely to form a cross-shaped structure, and both rotating shafts are connected to the output end of the angle sensor, a pair of angle sensors built into a single universal joint 2 are used to detect ∠Φ and ∠Θ respectively, and the angle sensors built into each universal joint 2 are electrically connected to a remote processor, in the present structure, the universal joint 2 may also not be provided with a conducting port 201 for the data cable to pass through, thereby improving the overall strength of the universal joint 2, and the data cable may pass through the gap between the universal joint 2 and the inner wall of the rigid rod 1.

[0046] Example 2

[0047] Reference Figures 1 to 3 Based on the above embodiment, this embodiment further discloses a positioning structure based on a data cable, wherein the rigid rod 1 is a split structure, both ends of which are arranged as hinged joints, a rod body is inserted between the two hinged joints, and the covering length of the data cable is adjusted by selecting a rod body of different lengths.

[0048] Example 3

[0049] Reference Figures 3 to 6 Based on the above embodiment, this embodiment further discloses a positioning method based on a positioning structure of a data cable, comprising the following steps:

[0050] S100, scanning the seabed topography, establishing a global coordinate system of x, y, and z axes, and confirming the gimbal 2 at the initial end as the origin P0 of the global coordinate system, that is, its coordinates are 0, 0, 0;

[0051] S200, establishing a local coordinate system of x', y', z' axes on each rigid rod 1 with the universal joint 2 as the origin;

[0052] S300, setting the length of the rigid rod 1 to L, the rotation angle of the rigid rod 1 around the y-axis in the global coordinate system to ∠θ, and the rotation angle of the rigid rod 1 around the x-axis in the global coordinate system to ∠Φ;

[0053] S400, for the universal joint 2 of the i-th section, a matrix for rotation around the y-axis is established according to ∠Θ:

[0054]

[0055] S500, for the universal joint 2 of the i-th section, a matrix for rotation around the x-axis is established according to ∠Φ:

[0056]

[0057] S600, according to steps S400 and S500, calculate the local rotation matrix:

[0058] R local =R X (Φ i )·R Y (Θ i );

[0059] S700, for the universal joint 2 of the i-th segment, calculate the global rotation matrix:

[0060] R global，i =R global，i-1 ·R local，i ;

[0061]

[0062] Among them, Rglobal,0 is the identity matrix, indicating that the starting position of the first universal joint 2 is the origin of the global coordinate system;

[0063] S800, calculate the total position of the end of the Nth rigid rod 1 as:

[0064]

[0065] S900, statistically record the relative positions between the end points of each rigid rod 1, and the processor displays the posture diagram of the entire data cable on the host computer based on these data, referring to Figure 6 The overall posture of the rigid rod 1 underwater can be obtained.

[0066] Example 4

[0067] Reference Figure 1 and Figure 4 , and based on Example 3, this embodiment also discloses a verification method for a positioning structure positioning method based on a data cable, which is verified using a closed rectangle. The length L of each rigid rod 1 is set to 1 meter, wherein ∠Θ1=∠Θ2=∠Θ3=∠Θ4=90°, ∠Φ1=∠Φ2=∠Φ3=∠Φ4=0°, that is, the rotation of all rigid rods 1 is performed relative to the global z-axis.

[0068] The first step is to calculate the end coordinates of the first rigid rod 1. The coordinates of the initial point P0 of the first rigid rod 1 are [0, 0, 0]. Calculate its rotation matrix:

[0069]

[0070] After calculation, the end coordinate position of the first rigid rod 1 is:

[0071]

[0072] The second step is to calculate the end coordinates of the second rigid rod 1. The initial point of the first rigid rod P1 is [1, 0, 0], and calculate its local rotation matrix:

[0073]

[0074] Calculate its global rotation matrix:

[0075]

[0076] After calculation, the end coordinate position of the second rigid rod 1 is:

[0077]

[0078] The third step is to calculate the end coordinates of the third rigid rod 1. The initial point of the second rigid rod P2 is [1, 0, -1], and calculate its local rotation matrix:

[0079]

[0080] Calculate its global rotation matrix:

[0081]

[0082] After calculation, the end coordinate position of the third rigid rod 1 is:

[0083]

[0084] The fourth step is to calculate the end coordinates of the fourth rigid rod 1. The initial point of the third rigid rod P3 is [0, 0, -1], and calculate its local rotation matrix:

[0085]

[0086] Calculate its global rotation matrix:

[0087]

[0088] After calculation, the end coordinate position of the second rigid rod 1 is:

[0089]

[0090] In summary, P4=[0,0,0] returns to the initial point P0 of the first rigid rod 1, which is a square of a closed path, verifying the correctness of this positioning method.

[0091] Example 5

[0092] Reference Figure 3 and Figure 5, and based on Example 3, this embodiment also discloses a verification method for a positioning method of a positioning structure based on a data cable, which is verified using a closed square. The length L of each rigid rod 1 is set to 1 meter, wherein ∠Θ1=∠Θ2=∠Θ3=∠Θ4=90°, ∠Φ1=45°, ∠Φ2=∠Φ3=∠Φ4=0°, and the rotation of the rigid rod 1 is a closed square trajectory of 45° rotation around the x-axis.

[0093] The first step is to calculate the end coordinates of the first rigid rod 1. The coordinates of the initial point P0 of the first rigid rod 1 are [0, 0, 0]. Calculate its rotation matrix:

[0094]

[0095] After calculation, the end coordinate position of the first rigid rod 1 is:

[0096]

[0097] The second step is to calculate the end coordinates of the second rigid rod 1. The initial point of the first rigid rod P1 is [1, 0, 0], and calculate its local rotation matrix:

[0098]

[0099] Calculate its global rotation matrix:

[0100]

[0101] After calculation, the end coordinate position of the second rigid rod 1 is:

[0102]

[0103] The third step is to calculate the end coordinates of the third rigid rod 1. The initial point of the second rigid rod P2 is Calculate its local rotation matrix:

[0104]

[0105] Calculate its global rotation matrix:

[0106]

[0107] After calculation, the end coordinate position of the third rigid rod 1 is:

[0108]

[0109] The fourth step is to calculate the end coordinates of the fourth rigid rod 1. The initial point of the third rigid rod P3 is Calculate its local rotation matrix:

[0110]

[0111] Calculate its global rotation matrix:

[0112]

[0113] After calculation, the end coordinate position of the second rigid rod 1 is:

[0114]

[0115] In summary, P4=[0,0,0] returns to the initial point P0 of the first rigid rod 1, which is a square of a closed path, and also verifies the correctness of this positioning method.

[0116] Many other changes and modifications may be made without departing from the spirit and scope of the invention.It should be understood that the invention is not limited to the specific embodiments, and the scope of the invention is defined by the appended claims.

Claims

1. A positioning structure based on a data cable, characterized in that: include: A plurality of rigid rods (1) are sleeved on the outside of the data cable, and adjacent rigid rods (1) are connected end to end via a universal joint (2), and a conducting port (201) is provided on the universal joint (2) for the data cable to pass through; The universal joint (2) is composed of a first rotating shaft (202) and a second rotating shaft (203) arranged longitudinally and transversely to form a cross-shaped structure, and both rotating shafts are connected to the output ends of the angle sensors. A pair of angle sensors built into a single universal joint (2) are used to detect ∠Φ and ∠Θ respectively, and the angle sensors built into each universal joint (2) are electrically connected to a remote processor.

2. A data cable-based positioning structure according to claim 1, characterized in that: The rigid rod (1) is a split structure, with hinged joints at both ends, a rod body inserted between the two hinged joints, and the covering length of the data cable can be adjusted by selecting rod bodies of different lengths.

3. A positioning method based on a positioning structure of a data cable, which uses the positioning data cable described in any one of claims 1 to 2, characterized in that: The following steps are involved: S100, scanning the seabed topography, establishing a global coordinate system of x, y, and z axes, and confirming the universal joint (2) at the initial end as the origin P0 of the global coordinate system, that is, its coordinates are (0, 0, 0); S200, establishing a local coordinate system of the x', y', and z' axes on each of the rigid rods (1) with the universal joint (2) as the origin; S300, setting the length of the rigid rod (1) to L, the rotation angle of the rigid rod (1) around the y-axis in the global coordinate system to ∠θ, and the rotation angle of the rigid rod (1) around the x-axis in the global coordinate system to ∠Φ; S400, for the universal joint (2) of the i-th segment, a matrix for rotation around the y-axis is established according to ∠Θ: S500, for the universal joint (2) of the i-th section, a matrix for rotation around the x-axis is established according to ∠Φ: S600, according to steps S400 and S500, calculate the local rotation matrix: R loral =R X (F i )·R Y (I i ); S700, for the universal joint (2) of the i-th segment, calculate the global rotation matrix: R global，i =R global，i-1 ·R local，i ; Among them, R global，0 is the identity matrix, indicating that the starting position of the first universal joint (2) is the origin of the global coordinate system); S800, calculating the total position of the end of the Nth rigid rod (1) as: S900, statistically recording the relative positions between the end points of each rigid rod (1), and the processor displays a posture diagram of the entire data cable on the host computer based on these data.

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