Underwater acoustic navigation method, system, medium, equipment and computer program

Abstract

The invention relates to the technical field of underwater acoustic navigation, and provides an underwater acoustic navigation method and system, a medium, equipment and a computer program. The underwater acoustic navigation method comprises the following steps: calculating a sound ray total displacement value by adopting a sound ray tracking algorithm based on underwater carrier position information, transponder position information, and one-way propagation time and a sound velocity profile of a signal between an underwater carrier and a transponder; constructing an acoustic navigation observation model based on the underwater carrier position information, the transponder position information, the total displacement value of the sound rays, and depth and elevation anomalies at the underwater carrier; defining a weighting function according to the one-way propagation time and the dynamic value of the signal between the underwater carrier and the transponder; and solving the acoustic navigation observation model and the weighting function to obtain position information and speed information of the underwater carrier for acoustic navigation. According to the method, the navigation algorithm can be optimized from the two aspects of the acoustic navigation observation model and the weighting function, and the accuracy of acoustic navigation is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of underwater acoustic navigation technology, and in particular to an underwater acoustic navigation method, system, medium, equipment and computer program. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The long baseline navigation system consists of a transducer mounted on a carrier and a transponder array fixed on the seabed, with a range of up to tens of kilometers. The system determines the carrier's position and distance information by receiving acoustic signals from the seabed transponder array. However, the propagation trajectory of the sound line will bend due to the influence of sound velocity stratification, and long-distance navigation is more significantly affected by the bending of the sound line. In the existing underwater acoustic navigation algorithm, the propagation trajectory of the sound ray is still regarded as a straight line, which will inevitably cause a large navigation error.

[0004] The common symmetrical formation design of seabed transponders can effectively improve the navigation accuracy in the horizontal direction, but it cannot effectively suppress errors in the vertical direction, thus resulting in large three-dimensional navigation errors.

[0005] Common methods usually only optimize the underwater positioning and navigation algorithms from the perspective of function models or random models, and are unable to combine the function model perspective and the random model perspective to optimize the underwater positioning and navigation algorithms. The difficulty of the combination lies in the weight allocation problem of multi-source sensor observation information. Summary of the invention

[0006] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides an underwater acoustic navigation method, system, medium, equipment and computer program. The present invention can optimize the navigation algorithm from two aspects of acoustic navigation observation model and weight function, thereby greatly improving the accuracy of acoustic navigation.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A first aspect of the present invention provides an underwater acoustic navigation method.

[0009] An underwater acoustic navigation method, comprising:

[0010] Obtain the underwater carrier position information, transponder position information, one-way propagation time of the signal between the underwater carrier and the transponder, sound velocity profile, depth and elevation anomalies at the underwater carrier;

[0011] Based on the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound velocity profile, the total displacement value of the sound line is calculated using the sound line tracking algorithm; based on the underwater carrier position information, the transponder position information, the total displacement value of the sound line, the depth and elevation anomalies at the underwater carrier, an acoustic navigation observation model is constructed;

[0012] A weight function is defined according to the one-way propagation time and dynamic value of the signal between the underwater carrier and the transponder;

[0013] The acoustic navigation observation model and weight function are solved to obtain the underwater carrier position and velocity information for acoustic navigation.

[0014] Furthermore, the acoustic navigation observation model is expressed by the following formula:

[0015]

[0016] Among them, X S =(X i ,Y i ,Z i ) represents the underwater carrier position information, X R =(x k ,y k ,z k ) represents the transponder location information, τ i represents the one-way propagation time of the signal between the underwater carrier and the transponder, svp is the sound velocity profile, h i is the depth value of the underwater carrier at the i-th epoch position, and δh is the elevation anomaly.

[0017] Furthermore, the weight function is expressed by the following formula:

[0018]

[0019] Among them, τ i represents the one-way propagation time of the signal between the underwater carrier and the transponder, m is the weight parameter, Represents a dynamic value, is the weighted average sound speed, dis cv Indicates the slope range threshold.

[0020] Furthermore, the slant distance threshold is the slant distance at an incident angle of 82°.

[0021] Furthermore, the method for calculating the total displacement value of the sound line includes: dividing the sound line trajectory, and obtaining the incident angle of the sound line in each water layer according to Snell's law; calculating the total displacement value of the sound line according to the incident angle of the sound line in each water layer, the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound speed profile.

[0022] Furthermore, the Kalman filter algorithm is used to solve the acoustic navigation observation model and weight function.

[0023] A second aspect of the present invention provides an underwater acoustic navigation system.

[0024] An underwater acoustic navigation system, comprising:

[0025] A data acquisition module is configured to: acquire underwater carrier position information, transponder position information, one-way propagation time of a signal between the underwater carrier and the transponder, a sound velocity profile, and depth and elevation anomalies at the underwater carrier;

[0026] The model building module is configured to: calculate the total displacement value of the sound line by using the sound line tracking algorithm based on the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound velocity profile; build an acoustic navigation observation model based on the underwater carrier position information, the transponder position information, the total displacement value of the sound line, and the depth and elevation anomalies at the underwater carrier;

[0027] A weight function module is configured to: define a weight function according to a one-way propagation time and a dynamic value of a signal between an underwater carrier and a transponder;

[0028] The solution module is configured to solve the acoustic navigation observation model and the weight function to obtain the underwater carrier position information and speed information for acoustic navigation.

[0029] A third aspect of the present invention provides a computer-readable storage medium.

[0030] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the underwater acoustic navigation method as described in the first aspect above.

[0031] A fourth aspect of the present invention provides a computer device.

[0032] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the underwater acoustic navigation method as described in the first aspect above when executing the program.

[0033] A fifth aspect of the present invention provides a computer device.

[0034] The present invention provides a computer program product or a computer program, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in the underwater acoustic navigation method as described in the first aspect above.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention optimizes both the acoustic navigation observation model and the weight function. First, in order to suppress the vertical error of underwater acoustic navigation, an acoustic navigation observation model with additional depth constraints is proposed on the basis of the acoustic ray tracing algorithm. Secondly, considering that the accuracy of the acoustic ray tracing algorithm will decrease with the increase of the time delay observation between the transducer and the seabed repeater, the weight function is determined according to the observation time delay. Finally, the proposed depth constraint model and weight function are substituted into the filtering algorithm for optimization. This method can optimize the navigation algorithm from two aspects: the acoustic navigation observation model and the weight function, which greatly improves the accuracy of acoustic navigation.

[0037] The technology that is relatively close to the present invention is the underwater reference point calibration and navigation algorithm based on sound ray tracking; the underwater positioning and navigation algorithm with additional depth constraints; the above methods can improve the accuracy of underwater acoustic navigation to a certain extent, but the algorithm is only optimized from the perspective of the acoustic navigation observation model. The weight function based on the piecewise exponential function of the incident angle, the weight function based on the ranging error and the sound ray bending error, and the weight function based on the sound ray altitude angle all optimize the underwater acoustic positioning algorithm from the perspective of the weight function, while there are fewer weight functions used in the navigation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0039] Figure 1 is a flow chart of a sound ray tracking algorithm shown in the present invention;

[0040] Figure 2 is a schematic diagram of the i-th layer of sound rays shown in the present invention;

[0041] Figure 3 : is a horizontal component variation diagram when the incident angle deviation is 0.01° shown in the present invention (h represents the vertical component of the slant distance);

[0042] Figure 4The figure is a flow chart of the underwater acoustic navigation method shown in the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code may include one or more executable instructions for implementing the logical functions specified in each embodiment. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based system that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0047] Embodiment 1

[0048] like Figure 4As shown, this embodiment provides an underwater acoustic navigation method. This embodiment uses the method applied to a server as an example for illustration. It is understandable that the method can also be applied to a terminal, and can also be applied to a terminal, a server, and a system, and is implemented through the interaction between the terminal and the server. The server can be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network servers, cloud communications, middleware services, domain name services, security services CDN, and big data and artificial intelligence platforms. The terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited to this. The terminal and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in this application. In this embodiment, the method includes the following steps:

[0049] Obtain the underwater carrier position information, transponder position information, one-way propagation time of the signal between the underwater carrier and the transponder, sound velocity profile, depth and elevation anomalies at the underwater carrier;

[0050] Based on the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound velocity profile, the total displacement value of the sound line is calculated using the sound line tracking algorithm; based on the underwater carrier position information, the transponder position information, the total displacement value of the sound line, the depth and elevation anomalies at the underwater carrier, an acoustic navigation observation model is constructed;

[0051] A weight function is defined according to the one-way propagation time and dynamic value of the signal between the underwater carrier and the transponder;

[0052] The acoustic navigation observation model and weight function are solved to obtain the underwater carrier position and velocity information for acoustic navigation.

[0053] The present embodiment is described in detail below. The underwater acoustic navigation method comprises the following steps:

[0054] Step (1): Ray tracing algorithm

[0055] Due to the influence of sound velocity stratification, the propagation trajectory of the sound ray will bend. If the propagation trajectory of the sound ray is still regarded as a straight line, it will inevitably cause a large error. Therefore, an acoustic ray tracing algorithm is used to describe the observation vector. Sound ray tracing refers to approximating a complex sound velocity profile into multiple sound velocity layers with simple structures based on the adjacent sampling depths of the sound velocity profile, assuming that the sound velocity of each layer is a constant sound velocity, calculating the total displacement and propagation time of the sound ray in each layer, and obtaining the position information by adding layers. Among them, the calculation of the incident angle of the sound ray becomes the key to the realization of sound ray tracking. The sound ray tracking algorithm process is as follows: Figure 1shown.

[0056] Specifically, the ray tracing algorithm steps are:

[0057] 1) An initial threshold is set for the initial incident angle of the sound ray so that the product of the Snell constant and the speed of sound is always less than 1.

[0058] 2) Taking the sound ray propagation time, sound ray depth or sound ray trajectory length as the judgment criteria, the optimal incident angle of the sound ray can be obtained by performing multiple iterations between the incident angle thresholds angle1 and angle2 through the root-finding algorithm, and then the optimal value of the Snell constant can be obtained;

[0059] 3) The length of the sound line trajectory s can be obtained from the optimal value of the Snell constant.

[0060] After dividing the sound ray trajectory into N layers, according to Snell's law, the incident angle of the sound ray in each water layer can be obtained as follows:

[0061] θ i =arcsin(p·c i ) (1)

[0062] The schematic diagram of the sound line of a water layer is as follows Figure 2 As shown, the total propagation time t and total displacement s of the sound line in N water layers are:

[0063]

[0064] Where r represents the total horizontal displacement of the sound line in N water layers, p is the Snell constant, and c i represents the sound velocity value at the i-th layer of sound line, Δz i represents the thickness of the i-th layer.

[0065] The present invention applies the ray tracking algorithm in the underwater navigation solution process to obtain more accurate position information by layer-by-layer tracking.

[0066] Step (2): Acoustic navigation algorithm with additional depth constraints

[0067] The long baseline system mainly obtains the relative position information of the carrier through the seabed transponder array. It is based on the principle of acoustic ranging. It calculates the time for the sound wave to go back and forth to the transponder array to obtain the distance between the transducer and the transponder, and establishes multiple distance equations to solve the position coordinates of the carrier. The local navigation coordinate system is established with the projection of the reference center on the sea level as the origin, where the X-axis and Y-axis are on the sea level, the X-axis points to the north, the Y-axis points to the east, and the Z-axis points downward. The underwater carrier position X S =(X i ,Y i ,Z i ), transponder coordinate X R =(xk ,y k ,z k ). Then, the acoustic time delay observation data is converted into the total displacement value s(X) of the acoustic ray through acoustic ray tracking. S ,X R ,τ i ,svp), the observation equation with additional depth constraints can be constructed:

[0068]

[0069] Among them, τ i is the one-way propagation time of the signal between the transducer installed on the underwater carrier and the seabed transponder array, svp is the sound velocity profile, which is determined by the depth z of the jth water layer. j and the speed of sound c j Composition. i is the depth value of the pressure sensor on the carrier at the i-th epoch position, and δh is the elevation anomaly.

[0070] The present invention proposes an acoustic navigation model with additional pressure gauge constraints to limit the vertical direction error within a very small range.

[0071] Step (3): Acoustic navigation algorithm based on observation delay weighting

[0072] Long baseline systems are usually equipped with multiple acoustic reference points on the seabed to achieve accurate navigation of underwater vehicles. When the vertical component between the transducer and the seabed transponder is constant, the change in the horizontal component will increase sharply with the increase of the incident angle. In this way, the slant distance estimated by acoustic ray tracing will be greatly affected, thereby affecting the accuracy of the navigation solution. In general, the weight function of acoustic observations is equal-weighted, that is, the acoustic observations are considered to be independent and have the same accuracy. The navigation accuracy is related to the distance between the transducer and the seabed transponder, so the weight function can be defined based on the acoustic ray displacement solved by acoustic ray tracing. The observation delay is almost proportional to the acoustic ray displacement, so the weight function is defined based on the time-delay observation.

[0073] In order to make the acoustic observations contribute appropriately to the state parameter estimation, weights are assigned according to the time-delay observations. The weight function (weight function) is constructed as:

[0074]

[0075] Among them, m is the weight parameter, is the weighted average speed of sound. Figure 3 As shown in Figure 1, since the incident angle is greater than 82°, when the incident angle error is 0.01°, the horizontal distance has an error of more than 10m. Therefore, the threshold is set to the incident angle θ cv = Slope distance dis at 82° cv, given as:

[0076]

[0077] Where dz = |z S -z R |Indicates the vertical distance between the transducer and the seabed transponder.

[0078] Step (4): Kalman filter algorithm

[0079] Kalman filtering uses a recursive algorithm to estimate the dynamic state space, and updates the state parameters by prior parameter estimates and new observations, which has high computational efficiency.

[0080] The kinematic model is generally described by differential equations, namely:

[0081] X i =Φ i,i-1 X i-1 +W i (7)

[0082] Among them, X i-1 represents the state vector of the carrier at time i-1, Φ i,i-1 is the state transfer matrix, W i is the process noise, let W i Obey Gaussian distribution, that is, W i ~N(0,Σ Wi ),in, is the system process noise covariance, and its statistical characteristics are E[W i ]=0,

[0083] The measurement equation of the carrier is:

[0084] L i =H i X i +V i (8)

[0085] Among them, H i is the observation vector, V i is the observation noise. Let V i Obey Gaussian distribution, that is, V i ~N(0,Σ i ), where Σ i is the observation noise covariance, and its statistical characteristics are E[V i ]=0,E[V i V i T ]=R.

[0086] The steps of Kalman filter solution are as follows:

[0087] (1) Status prediction:

[0088]

[0089] (2) Covariance of state prediction value:

[0090]

[0091] (3) Kalman gain:

[0092]

[0093] (4) Update the state value according to the observed value:

[0094]

[0095] The prediction residual is defined as:

[0096]

[0097] in, is the predicted observation vector.

[0098] (5) Covariance after state value update:

[0099]

[0100] The depth observation matrix is ​​as follows:

[0101] H D =[0 0 1] (15)

[0102] The sonar / pressure sensor combined observation matrix is:

[0103]

[0104] The combined observation noise covariance matrix is ​​expressed as:

[0105] Σ k =[P i P D ] -1 (17)

[0106] Among them, X i represents the horizontal coordinate of the underwater carrier, H A represents the acoustic measurement matrix, P i is the weight of sonar observation data, P D is the weight of the pressure gauge data, which can be given based on experience.

[0107] The three-dimensional position and velocity information of the underwater carrier can be obtained through the above solution.

[0108] The observation model in the present invention is obtained by the slant distance value estimated by sound ray tracking. At this time, the accuracy of sound ray tracking is affected by the distance between the transducer and the transponder. For this reason, the present invention proposes an acoustic navigation observation model optimization method and a weight function optimization method, which can significantly improve the accuracy of the underwater acoustic navigation system.

[0109] Embodiment 2

[0110] This embodiment provides an underwater acoustic navigation system.

[0111] An underwater acoustic navigation system, comprising:

[0112] A data acquisition module is configured to: acquire underwater carrier position information, transponder position information, one-way propagation time of a signal between the underwater carrier and the transponder, a sound velocity profile, and depth and elevation anomalies at the underwater carrier;

[0113] The model building module is configured to: calculate the total displacement value of the sound line by using the sound line tracking algorithm based on the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound velocity profile; build an acoustic navigation observation model based on the underwater carrier position information, the transponder position information, the total displacement value of the sound line, and the depth and elevation anomalies at the underwater carrier;

[0114] A weight function module is configured to: define a weight function according to a one-way propagation time and a dynamic value of a signal between an underwater carrier and a transponder;

[0115] The solution module is configured to solve the acoustic navigation observation model and the weight function to obtain the underwater carrier position information and speed information for acoustic navigation.

[0116] In some embodiments, the acoustic navigation observation model is expressed by the following formula:

[0117]

[0118] Among them, X S =(X i ,Y i ,Z i ) represents the underwater carrier position information, X R =(x k ,y k ,z k ) represents the transponder location information, τ i represents the one-way propagation time of the signal between the underwater carrier and the transponder, svp is the sound velocity profile, h i is the depth value of the underwater carrier at the i-th epoch position, and δh is the elevation anomaly.

[0119] In some embodiments, the weight function is expressed by the following formula:

[0120]

[0121] Among them, τ i represents the one-way propagation time of the signal between the underwater carrier and the transponder, m is the weight parameter, Represents a dynamic value, is the weighted average sound speed, dis cv Indicates the slope range threshold.

[0122] In some embodiments, the slant distance threshold is a slant distance at an incident angle of 82°.

[0123] In some embodiments, the method for calculating the total displacement value of the sound line includes: dividing the sound line trajectory, and obtaining the incident angle of the sound line in each water layer according to Snell's law; calculating the total displacement value of the sound line according to the incident angle of the sound line in each water layer, the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound speed profile.

[0124] In some embodiments, a Kalman filter algorithm is used to solve the acoustic navigation observation model and weight function.

[0125] Embodiment 3

[0126] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the underwater acoustic navigation method described in the above-mentioned embodiment 1 are implemented.

[0127] Embodiment 4

[0128] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the underwater acoustic navigation method described in the first embodiment are implemented.

[0129] Embodiment 5

[0130] This embodiment provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned underwater acoustic navigation method.

[0131] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0132] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0133] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0135] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0136] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An underwater acoustic navigation method, characterized in that: include: Obtain the underwater carrier position information, transponder position information, one-way propagation time of the signal between the underwater carrier and the transponder, sound velocity profile, depth and elevation anomalies at the underwater carrier; Based on the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound velocity profile, the total displacement value of the sound line is calculated using the sound line tracking algorithm; based on the underwater carrier position information, the transponder position information, the total displacement value of the sound line, the depth and elevation anomalies at the underwater carrier, an acoustic navigation observation model is constructed; A weight function is defined according to the one-way propagation time and dynamic value of the signal between the underwater carrier and the transponder; The acoustic navigation observation model and weight function are solved to obtain the underwater carrier position and velocity information for acoustic navigation.

2. The underwater acoustic navigation method according to claim 1, characterized in that: The acoustic navigation observation model is expressed by the following formula: Among them, X S =(X i ,Y i ,Z i ) represents the underwater carrier position information, X R =(x k ,y k ,z k ) represents the transponder location information, τ i represents the one-way propagation time of the signal between the underwater carrier and the transponder, svp is the sound velocity profile, h i is the depth value of the underwater carrier at the i-th epoch position, and δh is the elevation anomaly.

3. The underwater acoustic navigation method according to claim 1, characterized in that: The weight function is expressed by the following formula: Among them, τ i represents the one-way propagation time of the signal between the underwater carrier and the transponder, m is the weight parameter, Represents a dynamic value, is the weighted average sound speed, dis cv Indicates the slope range threshold.

4. The underwater acoustic navigation method according to claim 3, characterized in that: The slant range threshold is the slant range at an incident angle of 82°.

5. The underwater acoustic navigation method according to claim 1, characterized in that: The method for calculating the total displacement value of the sound line includes: dividing the sound line trajectory, and obtaining the incident angle of the sound line in each water layer according to Snell's law; calculating the total displacement value of the sound line according to the incident angle of the sound line in each water layer, the position information of the underwater carrier, the position information of the transponder, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound speed profile.

6. The underwater acoustic navigation method according to claim 1, characterized in that: The Kalman filter algorithm is used to solve the acoustic navigation observation model and weight function.

7. An underwater acoustic navigation system, characterized in that: include: A data acquisition module is configured to: acquire underwater carrier position information, transponder position information, one-way propagation time of a signal between the underwater carrier and the transponder, a sound velocity profile, and depth and elevation anomalies at the underwater carrier; The model building module is configured to: calculate the total displacement value of the sound line by using the sound line tracking algorithm based on the underwater carrier position information, the transponder position information, the one-way propagation time of the signal between the underwater carrier and the transponder, and the sound velocity profile; build an acoustic navigation observation model based on the underwater carrier position information, the transponder position information, the total displacement value of the sound line, and the depth and elevation anomalies at the underwater carrier; A weight function module is configured to: define a weight function according to a one-way propagation time and a dynamic value of a signal between an underwater carrier and a transponder; The solution module is configured to solve the acoustic navigation observation model and the weight function to obtain the underwater carrier position information and speed information for acoustic navigation.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the underwater acoustic navigation method as described in any one of claims 1 to 6 are implemented.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the underwater acoustic navigation method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps in the underwater acoustic navigation method according to any one of claims 1 to 6 are implemented.

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