An underwater acoustic navigation method, system, medium, device and computer program

Abstract

The present invention relates to the field of underwater acoustic navigation technology, and provides an underwater acoustic navigation method, system, medium, device and computer program. The underwater acoustic navigation method includes: based on the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, and the sound speed profile, using the ray tracing algorithm to calculate the total ray displacement value; based on the underwater vehicle position information, transponder position information, total ray displacement value, depth and elevation anomaly at the underwater vehicle, constructing an acoustic navigation observation model; defining a weight function according to the one-way propagation time of the signal between the underwater vehicle and the transponder and the dynamic value; solving the acoustic navigation observation model and the weight function to obtain the underwater vehicle position information and velocity information for acoustic navigation. The present invention can optimize the navigation algorithm from both aspects of the acoustic navigation observation model and the weight function, greatly improving the accuracy of acoustic navigation.

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, device and computer program. Background Art

[0002] The statements in this part merely provide background technical 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 vehicle and a transponder array fixed on the seabed, with an operating range of up to dozens of kilometers. This system determines the azimuth and distance information of the vehicle by receiving acoustic signals from the transponder array on the seabed. However, the propagation trajectory of the acoustic ray is bent by the influence of the sound speed stratification, and the influence of acoustic ray bending on long-distance navigation is more significant. In the existing underwater acoustic navigation algorithms, the propagation trajectory of the acoustic ray is still regarded as a straight line, which will inevitably result in a large navigation error.

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

[0005] Common methods usually only optimize the underwater positioning and navigation algorithms from the perspective of the function model or the random model, and cannot combine the function model perspective and the random model perspective to optimize the underwater positioning and navigation algorithms. The difficulty in 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 background art, the present invention provides an underwater acoustic navigation method, system, medium, device and computer program. The present invention can optimize the navigation algorithm from two aspects of the acoustic navigation observation model and the weight function, greatly improving the accuracy of acoustic navigation.

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

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

[0009] An underwater acoustic navigation method includes:

[0010] Obtaining the position information of the underwater vehicle, the position information of the transponder, the one-way propagation time of the signal between the underwater vehicle and the transponder, the sound speed profile, the depth and elevation anomaly at the underwater vehicle;

[0011] Based on the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, and the sound speed profile, use the ray tracing algorithm to calculate the total ray displacement value; based on the underwater vehicle position information, transponder position information, total ray displacement value, depth and elevation anomaly at the underwater vehicle, construct an acoustic navigation observation model;

[0012] Define a weight function according to the one-way propagation time and dynamic value of the signal between the underwater vehicle and the transponder;

[0013] Solve the acoustic navigation observation model and the weight function to obtain the underwater vehicle position information and velocity information for acoustic navigation.

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

[0015]

[0016] where, X S =(X i , Y i , Z i ) represents the underwater vehicle position information, X R =(x k , y k , z k ) represents the transponder position information, τ i represents the one-way propagation time of the signal between the underwater vehicle and the transponder, svp is the sound speed profile, h i is the depth value of the underwater vehicle 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] where, τ i represents the one-way propagation time of the signal between the underwater vehicle and the transponder, m is the weight parameter, represents the dynamic value, is the weighted average sound speed, dis cv represents the slant range threshold.

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

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

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

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

[0024] An underwater acoustic navigation system includes:

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

[0026] A model construction module configured to: calculate the total displacement value of the acoustic ray by using the acoustic ray tracking algorithm based on the underwater vehicle position information, the transponder position information, the one-way propagation time of the signal between the underwater vehicle and the transponder, and the sound speed profile; construct an acoustic navigation observation model based on the underwater vehicle position information, the transponder position information, the total displacement value of the acoustic ray, the depth and elevation anomaly at the underwater vehicle;

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

[0028] A solution module configured to: solve the acoustic navigation observation model and the weight function to obtain the underwater vehicle position information and velocity information for underwater acoustic navigation.

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

[0030] A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps in the underwater acoustic navigation method described in the first aspect above are implemented.

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

[0032] A computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps in the underwater acoustic navigation method described in the first aspect above are implemented.

[0033] The 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 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 underwater acoustic navigation method described in the first aspect above.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] The present invention optimizes from two aspects: the acoustic navigation observation model and the weight function. First, in order to suppress the vertical error of underwater acoustic navigation, based on the ray tracing algorithm, an acoustic navigation observation model with an additional depth constraint is proposed. Second, 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 transponder, the weight function is determined according to the observed time delay. Finally, the proposed depth constraint model and the weight function are jointly substituted into the filtering algorithm for optimization. This method can optimize the navigation algorithm from two aspects of the acoustic navigation observation model and the weight function, and greatly improve the accuracy of acoustic navigation.

[0037] Technologies relatively close to the present invention are the underwater reference point calibration and navigation algorithm based on ray tracing; the underwater positioning and navigation algorithm with an additional depth constraint; the above methods can improve the accuracy of underwater acoustic navigation to a certain extent, but the algorithms only perform a certain optimization from the aspect of the acoustic navigation observation model. The piecewise exponential function weight function based on the incident angle, the weight function based on the ranging error and the acoustic ray bending error, and the weight function based on the acoustic ray elevation angle all optimize the underwater acoustic positioning algorithm from the aspect of the weight function, while the weight function applied in the navigation process is less. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0039] Figure 1 is a flowchart of the ray tracing algorithm shown in the present invention;

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

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

[0042] Figure 4It is a flowchart of the underwater acoustic navigation method shown by the present invention. Detailed implementation manners

[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 description is exemplary and is intended to provide further illustration of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0045] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the 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 "comprise" and / or "include" are used in this specification, they specify 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 architectures, functions, and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of 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 blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. Similarly, it should be noted that each block in the flowchart and / or block diagram, as well as the combinations of blocks in the flowchart and / or block diagram, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0047] Embodiment 1

[0048] As Figure 4As shown, this embodiment provides an underwater acoustic navigation method. This embodiment takes the application of this method to a server as an example for illustration. It can be understood that this method can also be applied to a terminal, and can also be applied to a system including a terminal and a server, 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 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, web 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 notebook computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication methods, and this application does not make restrictions here. In this embodiment, the method includes the following steps:

[0049] Obtain the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, sound speed profile, depth and elevation anomaly at the underwater vehicle.

[0050] Based on the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, and sound speed profile, use the ray tracing algorithm to calculate the total ray displacement value; based on the underwater vehicle position information, transponder position information, total ray displacement value, depth and elevation anomaly at the underwater vehicle, construct an acoustic navigation observation model.

[0051] Define a weight function according to the one-way propagation time of the signal between the underwater vehicle and the transponder and the dynamic value.

[0052] Solve the acoustic navigation observation model and the weight function to obtain the underwater vehicle position information and speed information for acoustic navigation.

[0053] The following is a detailed description of this embodiment. The underwater acoustic navigation method includes the following steps:

[0054] Step (1): Ray tracing algorithm

[0055] Due to the influence of sound speed 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, a large error will inevitably occur. Therefore, the ray tracing algorithm is used to describe the observation vector. Ray tracing refers to approximating the complex sound speed profile as multiple sound speed layers with simple structures based on the adjacent sampling depths of the sound speed profile, assuming that the sound speed of each layer is a constant sound speed, calculating the total displacement and propagation time of the sound ray in each layer, and the position information can be obtained through the method of layer addition. Among them, the solution of the sound ray incident angle becomes the key to the realization of ray tracing. The ray tracing algorithm process is as Figure 1as shown

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

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

[0058] 2) Using the ray propagation time, ray depth, or ray trajectory length as the judgment criterion, through the root-finding algorithm, multiple iterations are carried out between the incident angle thresholds angle1 and angle2 to obtain the optimal incident angle of the ray, and then the optimal value of the Snell constant can be obtained;

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

[0060] After dividing the ray trajectory into N layers, according to Snell's law, the incident angles of the ray in each water layer are as follows:

[0061] θ i = arcsin(p·c i ) (1)

[0062] A schematic diagram of the ray in a certain water layer is as Figure 2 shown, then the total propagation time t and total displacement s of the ray in N water layers are:

[0063]

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

[0065] The present invention applies the ray tracing algorithm to the underwater navigation solution process, and obtains more accurate position information through the way of layer-by-layer tracking.

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

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

[0068]

[0069] Among them, τ i is the one-way propagation time for signal propagation between the transducer installed on the underwater vehicle and the seabed transponder array, and svp is the sound speed profile, which is composed of the depth z j of the j-th water layer and the sound speed c j . h i is the depth value of the pressure sensor on the vehicle at the i-th epoch position, and δh is the height 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 observed time delay weighting

[0072] Long baseline systems usually equip multiple acoustic reference points on the seabed to achieve precise 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 range estimated by acoustic ray tracing will be greatly affected, thus affecting the navigation solution accuracy. Generally speaking, the weight function of acoustic observations is equal-weighted, that is, it is considered that acoustic observations are independent and have the same accuracy. The navigation accuracy is related to the distance between the transducer and the seabed transponder. Therefore, the weight function can be defined according to the acoustic ray displacement solved by acoustic ray tracing. And the observation delay is almost proportional to the acoustic ray displacement, so the weight function is defined according to the time delay observation.

[0073] To make the acoustic observation quantity contribute appropriately to the state parameter estimation, weights are assigned according to the time delay observation quantity. The constructed weight function (weight function) is:

[0074]

[0075] Among them, m is the weight parameter, is the weighted average sound speed. As Figure 3 shown, 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 10 m. Therefore, the threshold is set to the slant range dis cv at the incident angle θ cv, given as:

[0076]

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

[0078] Step (4): Kalman filtering algorithm

[0079] Kalman filtering uses a recursive algorithm to estimate the dynamic state space, and updates the state parameters from the prior parameter estimation and new observations, with high computational efficiency.

[0080] The kinematic model is generally described by a differential equation, i.e.:

[0081] X i = Φ i,i-1 X i-1 + W i (7)

[0082] where X i-1 represents the state vector of the carrier at time i - 1, Φ i,i-1 is the state transition matrix, W i is the process noise. Assume that W i obeys a Gaussian distribution, i.e., W i ~ N(0, Σ Wi ), where is the system process noise covariance, and its statistical property is E[W i = 0,

[0083] The measurement equation of the carrier is:

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

[0085] where H i is the observation vector, and V i is the observation noise. Assume that V i obeys a Gaussian distribution, i.e., V i ~ N(0, Σ i ), where Σ i is the observation noise covariance, and its statistical properties are E[V i = 0, E[V i V i T = R.

[0086] The Kalman filtering calculation steps are as follows:

[0087] (1) State prediction:

[0088]

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

[0090]

[0091] (3) Kalman gain:

[0092]

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

[0094]

[0095] The prediction residual is defined as:

[0096]

[0097] where, is the predicted observation vector.

[0098] (5) Covariance after the state value is updated:

[0099]

[0100] The depth observation matrix is as follows:

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

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

[0103]

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

[0105] Σ k = [P i P D -1 (17)

[0106] where, X i represents the abscissa of the underwater vehicle, H A represents the acoustic observation matrix, P i is the weight of the sonar observation data, P D is the weight of the pressure gauge data, which can be given based on experience.

[0107] Through the above calculations, the three-dimensional position and velocity information of the underwater vehicle can be obtained. ​

[0108] In the present invention, the observation model is obtained from the slant range value estimated by ray tracing. At this time, the accuracy of ray tracing is affected by the distance between the transducer and the transponder. Therefore, the present invention proposes an optimization method for the acoustic navigation observation model and an optimization method for the weight function, 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 includes:

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

[0113] A model construction module configured to: based on the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, and sound velocity profile, use the ray tracing algorithm to calculate the total ray displacement value; based on the underwater vehicle position information, transponder position information, total ray displacement value, depth and elevation anomaly at the underwater vehicle, construct an acoustic navigation observation model.

[0114] A weight function module configured to: define a weight function according to the one-way propagation time of the signal between the underwater vehicle and the transponder and the dynamic value.

[0115] A solution module configured to: solve the acoustic navigation observation model and the weight function to obtain the underwater vehicle position information and velocity information for acoustic navigation.

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

[0117]

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

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

[0120]

[0121] where τ i represents the one-way propagation time of the signal between the underwater vehicle and the transponder, m is a weight parameter, represents a dynamic value, is the weighted average sound speed, and dis cv represents the slant range threshold.

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

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

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

[0125] Embodiment III

[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 in the underwater acoustic navigation method described in the above Embodiment I are implemented.

[0127] Embodiment IV

[0128] This embodiment provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps in the underwater acoustic navigation method described in the above Embodiment I are implemented.

[0129] Embodiment V

[0130] This embodiment provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the 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 above underwater acoustic navigation method.

[0131] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of an embodiment implemented in hardware, a software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) that contain computer-usable program code.

[0132] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0133] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0135] Those of ordinary skill in the art can understand that all or part of the processes in the above-described embodiment methods can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-described method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0136] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An underwater acoustic navigation method, characterized in that, Including: Obtaining the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, sound velocity profile, depth and elevation anomaly at the underwater vehicle; Based on the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, and sound velocity profile, using the ray tracing algorithm to calculate the total ray displacement value; Based on the underwater vehicle position information, transponder position information, total ray displacement value, depth and elevation anomaly at the underwater vehicle, constructing an acoustic navigation observation model; Defining a weight function according to the one-way propagation time of the signal between the underwater vehicle and the transponder and the dynamic value; Solving the acoustic navigation observation model and the weight function to obtain the underwater vehicle position information and velocity information for acoustic navigation; The acoustic navigation observation model is represented by the following formula: Among them, represents the total displacement value of the sound ray, represents the position information of the underwater vehicle, represents the position information of the transponder, represents the one-way propagation time of the signal between the underwater vehicle and the transponder, is the sound velocity profile, is the depth value at the underwater vehicle at the epoch position, and is the height anomaly; The weight function is represented by the following formula: wherein, is a weight parameter, represents a dynamic value, is the weighted average sound velocity, represents the slant range threshold.

2. The underwater acoustic navigation method according to claim 1, characterized in that, The slant range threshold is the slant range at an incident angle of 82°.

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

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

5. An underwater acoustic navigation system, characterized in that, Including: A data acquisition module configured to: obtain the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, sound velocity profile, depth and elevation anomaly at the underwater vehicle; A model construction module configured to: based on the underwater vehicle position information, transponder position information, one-way propagation time of the signal between the underwater vehicle and the transponder, and sound velocity profile, use the ray tracing algorithm to calculate the total ray displacement value; based on the underwater vehicle position information, transponder position information, total ray displacement value, depth and elevation anomaly at the underwater vehicle, construct an acoustic navigation observation model; A weight function module configured to: define a weight function according to the one-way propagation time of the signal between the underwater vehicle and the transponder and the dynamic value; A solution module configured to: solve the acoustic navigation observation model and the weight function to obtain the underwater vehicle position information and velocity information for acoustic navigation; The acoustic navigation observation model is represented by the following formula: in, Represents the total displacement of the sound line, Indicates the underwater carrier position information, Indicates the transponder location information, It represents the one-way propagation time of the signal between the underwater carrier and the transponder. is the sound velocity profile, For the The depth value of the underwater carrier at the epoch position, It is elevation anomaly; The weight function is represented by the following formula: Among them, is a weight parameter, represents a dynamic value, is the weighted average sound speed, represents the slant range threshold.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps in the underwater acoustic navigation method according to any one of claims 1-4.

7. A computer device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps in the underwater acoustic navigation method according to any one of claims 1-4.

8. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the steps in the underwater acoustic navigation method according to any one of claims 1-4.

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