Method and system for predicting navigation reachable range of underwater detector

Abstract

The invention relates to an underwater detector navigation reachable range prediction method and system, and the method comprises the steps: setting the navigation parameters of an underwater detector through an underwater detector navigation capability setting module, and extracting the time resolution information of standardized ocean current grid data and the ocean current data of a current position point through an ocean current data extraction module; the initial navigation speed of the underwater detector is decomposed through the reachable distance circle evaluation module and synthesized with the ocean current speed, the reachable distance and the arrival position point information in each time resolution are calculated, and the topographic data along the reachable path is inquired through the topographic data extraction module after the calculation of each reachable distance is completed. Judging whether the reachable path touches the ground or not, if yes, adjusting the end point of the reachable path, stopping calculation, and outputting a prediction result. According to the method, ocean current data and topographic data are combined with the navigation capability of the underwater detector, the reachable distance circle in the set time is calculated, and data support is provided for studying and judging the navigation reachability of the underwater detector.

Description

Technical Field

[0001] The present invention relates to the field of underwater detectors, and in particular to a method and system for predicting the navigation reachable range of an underwater detector. Background Art

[0002] Underwater detectors are generally used for underwater data exploration and collection. Due to the presence of many uncertain factors in underwater navigation, the navigation range of underwater detectors cannot be determined. The existing technologies are mostly for water navigation status analysis and evaluation, which evaluates the water navigation status and routes by combining factors such as fuel consumption, sea waves, and water resistance of water vessels. The existing technology, such as a real-time navigation status analysis and energy consumption control method for ships disclosed in the patent document with publication number CN117742346A, evaluates and calculates the navigation status of water vessels.

[0003] Compared with surface navigation equipment, the navigation of underwater detectors is also affected by the underwater terrain. The existing technology for predicting the navigation range of underwater detectors has a large error problem and cannot provide relatively accurate data support for the navigation accessibility of underwater detectors. Summary of the invention

[0004] In order to provide relatively accurate data support for the accessibility of underwater detectors during underwater navigation, the present invention provides a method and system for predicting the reachable range of underwater detectors. By combining ocean current data and terrain data, the reachable range of underwater detectors under set navigation conditions can be relatively accurately calculated, providing support for determining the navigation accessibility of underwater detectors.

[0005] The technical objectives of the present invention are achieved through the following technical solutions:

[0006] A method for predicting the navigation reachable range of an underwater detector, the method comprising:

[0007] Step 1, setting the navigation parameters of the underwater detector, the navigation parameters include the starting spatial position, navigation depth, navigation start time, navigation total time, navigation initial speed, and navigation direction;

[0008] Step 2: extracting the time resolution information of the standardized ocean current grid data and the ocean current data of the current point according to the set navigation parameters, wherein the ocean current data includes the ocean current speed;

[0009] Step 3, decomposing the initial navigation speed of the underwater probe into a meridional flow speed and a latitudinal flow speed, and synthesizing the decomposed meridional flow speed and latitudinal flow speed with the ocean current speed to obtain the synthesized speed magnitude and direction;

[0010] Step 4: Calculate the reachable distance and arrival location information within each time resolution according to the relationship between the set navigation direction, total navigation time and time resolution information. After each reachable distance calculation is completed, query the terrain data along the reachable path according to the corresponding arrival location information.

[0011] Determine whether the achievable path has reached the bottom based on the terrain data. If it has reached the bottom, adjust the end point of the achievable path and stop the calculation;

[0012] Step 5: Output the reachable paths within all time resolutions in each navigation direction and the reachable path circles under the total navigation time.

[0013] Further, when the ocean current data of the standardized ocean current grid data is extracted in step 2, the ocean current data is the ocean current data corresponding to the position and time information of the current position point in the standardized ocean current grid data as the ocean current data of the current position point.

[0014] Furthermore, when extracting the ocean current data from the standardized ocean current grid data in step 2, the maximum ocean current velocity in the standardized ocean current grid data is extracted, the maximum water area is calculated in combination with the time resolution information, and all ocean current velocity data within the maximum water area are extracted and merged to obtain the ocean current data at the current location.

[0015] Furthermore, when calculating the maximum water area:

[0016] Area max =2×(max{VC umax ,VC vmax}×△T) 2 ;

[0017] Where Area max is the maximum water area, VC umax is the maximum latitudinal velocity in the standardized ocean current grid data, VC vmax is the maximum meridional velocity in the standardized ocean current grid data, and △T is the time resolution information.

[0018] Furthermore, when all the current velocity data within the maximum water area are extracted and merged to obtain the current data at the current location:

[0019]

[0020] Where, VC ui is the zonal velocity at the current location, VC vi is the meridional velocity at the current location, and o is the number of standardized current grids within the maximum water area.

[0021] Furthermore, when calculating the achievable distance and arrival location information within each time resolution in step 4:

[0022] S i =V i ×△T; i=1,2,3,...,n;

[0023] In the formula, S i V is the achievable distance of the underwater detector within the i-th time resolution; i is the composite speed;

[0024]

[0025] Rlon i =Rlon i-1 +atan2(sinθ i ×sinΔθ×cos(Rlat i-1 ),cosθ i -sin(Rlat i-1 )×

[0026] sin(lat i ));

[0027] Rlat i =arcsin(sin(Rlat i-1 ))×cos(Δθ)+cos(Rlat i-1 )×sinΔθ×cosθ i ;

[0028]

[0029] V ui =V su +VC ui ;

[0030] V vi =V sv +VC vi ;

[0031] In the formula, lon i is the longitude of the arrival point, lat i is the latitude of the arrival point; θ i is the speed direction synthesized in step 3;

[0032] V su is the latitudinal velocity obtained by decomposing the initial navigation velocity of the underwater probe, V sv VC is the meridional velocity obtained by decomposing the initial navigation velocity of the underwater detector; ui To extract the latitudinal velocity of the current point in the standardized ocean current grid data, VC viTo extract the meridional velocity of the current point in the standardized ocean current grid data.

[0033] Further, in step 4, the terrain data is the deep sea information H of each position point along the route. i Collection, deep sea information including location point longitude Hlon ij 、 Location point latitude Hlat ij 、Terrain depth H of location point ij , where i = 1, 2, 3, ..., n, j = 1, 2, 3, ..., m;

[0034] Deep Sea Information i Collected terrain data and navigation depth H s Compare, if H ij >H s , then the reachable path has not reached the bottom;

[0035] If H ij <H s , then the reachable path touches the bottom, and the longitude of the location point Hlon ij 、 Location point latitude Hlat ij 、Terrain depth H of location point ij It is the end point of the navigable path for the underwater detector.

[0036] The present invention also provides a system for predicting the navigation range of an underwater detector, comprising:

[0037] An underwater detector navigation capability setting module is used to set the navigation parameters of the underwater detector;

[0038] The ocean current data extraction module is used to extract the time resolution information of the standardized ocean current grid data and the ocean current data of the current position point according to the set navigation parameters;

[0039] A terrain data extraction module to query terrain data along a reachable path;

[0040] The reachable range evaluation module is used to calculate the reachable range of underwater detectors in combination with terrain data.

[0041] Further, the ocean current data extraction module includes a fine ocean current data extraction module and a fast ocean current data extraction module, and the fine ocean current data extraction module and the fast ocean current data extraction module are selectively operated;

[0042] The fine ocean current data extraction module is used to extract the corresponding ocean current data from the standardized ocean current grid data as the ocean current data of the current position point according to the position and time information of the current position point;

[0043] The fast ocean current data extraction module is used to extract the maximum ocean current velocity in the standardized ocean current grid data, calculate the maximum water area range in combination with the time resolution information, extract all ocean current velocity data within the maximum water area and merge them to obtain the ocean current data at the current location.

[0044] Furthermore, the reachable distance circle evaluation module includes a speed synthesis and decomposition submodule, a reachable path calculation submodule, a terrain obstacle analysis submodule and a reachable distance range calculation submodule;

[0045] The speed synthesis and decomposition submodule is used to decompose the initial navigation speed of the underwater detector into the meridional flow speed and the zonal flow speed, and synthesize the decomposed meridional flow speed and the zonal flow speed with the ocean current speed;

[0046] The reachable distance range calculation submodule is used to calculate the reachable distance and arrival location point information within each time resolution in the standardized ocean current grid data;

[0047] The terrain obstacle analysis submodule is used to determine whether the accessible path calculated by the accessible distance range calculation submodule has reached the bottom according to the terrain data extracted by the terrain data extraction module. If it has reached the bottom, the end point of the accessible path is adjusted and the calculation is stopped.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The method and system for predicting the reachable range of an underwater detector of the present invention combines ocean current data and terrain data with the navigation capability of the underwater detector to quantitatively calculate the reachable path of the underwater detector within a set time range, and then calculate the reachable distance circle within the set time, thereby providing data support for determining the reachability of the underwater detector's navigation; in addition, the introduction of terrain data improves the accuracy of the reachable range prediction calculation results. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the process of a method for predicting the navigation reachable range of an underwater detector in the present invention.

[0051] Figure 2 This is a schematic diagram of the decomposition of the underwater detector's navigation speed and its synthesis with the ocean current speed.

[0052] Figure 3 Schematic diagram of a reachable path and a reachable path circle in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The technical solution of the present invention is further described below in conjunction with specific embodiments:

[0054] This embodiment provides a method for predicting the reachable range of an underwater detector, and also provides a system for predicting the reachable range of an underwater detector. In this embodiment, the system and the method are combined for explanation.

[0055] A system for predicting the reachable range of underwater detectors, such as Figure 1 As shown, including:

[0056] The underwater detector navigation capability setting module s1 is used to set the navigation parameters of the underwater detector;

[0057] The ocean current data extraction module s2 is used to extract the time resolution information of the standardized ocean current grid data and the ocean current data of the current position point according to the set navigation parameters;

[0058] A terrain data extraction module s3 is used to query terrain data along a reachable path;

[0059] The reachable range evaluation module s4 is used to calculate the reachable range of the underwater detector in combination with the terrain data.

[0060] More specifically, the underwater detector navigation capability setting module s1 includes a spatial position setting submodule s1a, a time information setting submodule s1b, a navigation speed configuration submodule s1c and an evaluation mode selection submodule s1d.

[0061] The ocean current data extraction module s2 includes a fast ocean current data extraction module s2a and a fine ocean current data extraction module s2b, and the fine ocean current data extraction module s2b and the fast ocean current data extraction module s2a are operated selectively.

[0062] The reachable distance circle evaluation module s4 includes a speed synthesis and decomposition submodule s4a, a reachable path calculation submodule s4b, a terrain obstacle analysis submodule s4c and a reachable distance range calculation submodule s4d.

[0063] A method for predicting the navigation reachable range of an underwater detector, the method comprising:

[0064] Step 1: Set the navigation parameters of the underwater detector through the underwater detector navigation capability setting module s1. The navigation parameters include the starting spatial position (i.e., longitude lon s , latitude lat s )、Navigation Depth(H s ), voyage start time (T s ), total voyage time (T t )、initial navigation speed (V sm ), navigation direction (θ sd );

[0065] Specifically, the spatial position setting submodule s1a is used to set the spatial position and navigation depth H of the underwater detector at the beginning of navigation. s .

[0066] The time information setting submodule s1b sets the world time T of the underwater detector when it starts sailing. s and the total voyage time T t .

[0067] The navigation speed configuration submodule s1c configures the initial speed V of the underwater detector at the beginning of navigation. sm and the navigation direction θ sd ,θ sd The range is 0°-360°, and in this embodiment, all angles are considered to be the angles between the two-dimensional plane and the true north direction.

[0068] It should be noted that configuring one navigation direction can give a predicted reachable path, and configuring multiple directions can simultaneously evaluate all reachable paths along the navigation direction, thereby giving a reachable circle and predicting the reachable range. In this embodiment, four directions (east, west, south, and north) are configured to evaluate the reachable paths in the four navigation directions.

[0069] Step 2. According to the set navigation parameters, the time resolution information (ΔT) of the standardized current grid data and the current data of the current point are extracted through the current data extraction module s2, and the current data includes the current speed; the time resolution information ΔT is used as the basis for the segmented calculation of the reachable distance of the underwater detector, that is, the reachable distance is calculated once every ΔT time, and the set of reachable distances calculated based on all ΔT is the reachable path.

[0070] When extracting the ocean current data of the current point in the standardized ocean current grid data, the ocean current data is extracted by selecting one of the fast ocean current data extraction module s2a and the fine ocean current data extraction module s2b. That is, two different ocean current data extraction modes are set, and the selection and setting are performed according to the needs.

[0071] When selecting the fine current data extraction module s2b for extraction, the extracted data is more accurate, and the current data is the current data corresponding to the current position and time information in the standardized current grid data as the current data of the current point. That is, the current velocity in the standardized current grid data is extracted according to the longitude, depth and time information of each position point, including the meridional velocity VC vi and latitudinal velocity VC ui , i=0,1,2,...,n-1.

[0072] Compared with the extraction of fine current data extraction module s2b, the extraction of fast current data extraction module s2a is faster, and the maximum current velocity (including the maximum latitudinal velocity VC umax and the maximum meridional velocity VC vmax ), combined with the time resolution information △T, the maximum water area (Area max ),

[0073] Area max =2×(max{VC umax ,VC vmax}×△T) 2 Formula (1);

[0074] Extract all current velocity data within the largest water area and merge them to get the current data at the current location:

[0075]

[0076] In formula (2), o is the number of standardized current grids within the maximum water area, k = 1, 2, ..., o; i = 0, 1, 2, ..., n-1.

[0077] Step 3: Decompose the initial navigation speed of the underwater detector into the meridional velocity (V sv ) and zonal velocity (V su ):

[0078] V su =V sm ×sinθ sd Formula (3)

[0079] V sv =V sm ×cosθ sd Formula (4);

[0080] The decomposed meridional velocity V is converted into sv and the zonal velocity V su Synthesize with the ocean current velocity, such as Figure 2 As shown, the resulting speed V i and direction θ i (i=0,1,2,3,...,n-1):

[0081]

[0082] V ui =V su +VC ui Formula (6)

[0083]

[0084] V vi =V sv +VC vi Formula (8).

[0085] Step 4: The reachable range calculation submodule s4d traverses the set navigation direction θ sd , total flight time T t The relationship between the time resolution information ΔT and the reachable path calculation submodule s4b is used to calculate the reachable distance S within each time resolution ΔT. i (i=1,2,3,...,n) and arrival location information (longitude: lon i , latitude: lat i , i=1,2,3,...,n):

[0086] S i =V i ×ΔT Formula (9);

[0087] When calculating the arrival point information, the spatial position (longitude lon i-1 , latitude lat i-1 ), direction θ i and the reachable distance S i Calculate the longitude and latitude of the arrival point (longitude: lon i , latitude: lat i , i=1,2,3,...,n), when i=1, lon i-1 =lon s ,lat i-1 =lat s , the calculation formula is as follows:

[0088]

[0089] Rlon i =Rlon i-1 +atan2(sinθ i ×sinΔθ×cos(Rlat i-1 ),cosθ i -sin(Rlat i-1 )×

[0090] sin(lat i )); Formula (11)

[0091] Rlat i =arcsin(sin(Rlat i-1 ))×cos(Δθ)+cos(Rlati-1 )×sinΔθ×cosθ i ; (Formula 12)

[0092]

[0093] Where Rlon i , Rlon i-1 , Rlat i and Rlat i-1 All are intermediate parameters and have no special meaning.

[0094] When i=1, Substituting into equation (11) and equation (12) to calculate Rlon 1 and Rlat 1 , and then Rlon 1 and Rlat 1 Substitute into formula (10) to calculate lon 1 and lat 1 ;

[0095] When i=2, Substituting into equation (11) and equation (12) to calculate Rlon 2 and Rlat 2 , and then Rlon 2 and Rlat 2 Substitute into formula (10) to calculate lon 2 and lat 2 ;

[0096] According to the above process, the longitude and latitude of the arrival point when i=3,...,n are calculated in sequence.

[0097] After each reachable path calculation submodule s4b completes the calculation, the terrain data extraction module s3 queries the terrain data along the reachable path according to the corresponding arrival location information, specifically according to the longitude lon i ,lon i-1 and latitude lat i ,lat i-1 Query the terrain data set along the reachable path (H i {Longitude: Hlon ij , Latitude: Hlat ij , terrain depth: H ij , i=1,2,...,n,j=1,2,3,...,m}), the terrain obstacle analysis submodule s4c determines whether the reachable path calculated by the reachable path calculation submodule s4b has bottomed out based on the terrain data extracted by the terrain data extraction module s3, and if so, adjusts the end point of the reachable path and stops the calculation.

[0098] Specifically, when judging whether the bottom has been reached:

[0099] Deep Sea Information i Collected terrain data and navigation depth H s Compare, if H ij >H s , then the reachable path has not reached the bottom;

[0100] If H ij <H s , then the reachable path touches the bottom, and the longitude of the location point Hlon ij 、 Location point latitude Hlat ij 、Terrain depth H of location point ij It is the end point of the navigable path for the underwater detector.

[0101] Step 5: The reachable distance calculation submodule s4d outputs the reachable distance and total navigation time T within all time resolutions ΔT in each navigation direction. t The reachable path circle below is Figure 3 As shown, Figure 3 The figure shows five reachable paths and four reachable paths within four ΔT times in four directions.

[0102] This embodiment is only a further explanation of the present invention, not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present invention, it will be protected by the patent law.

Claims

1. A method for predicting the reachable range of an underwater detector, characterized in that: The method includes: Step 1, setting the navigation parameters of the underwater detector, the navigation parameters include the starting spatial position, navigation depth, navigation start time, navigation total time, navigation initial speed, and navigation direction; Step 2: extracting the time resolution information of the standardized ocean current grid data and the ocean current data of the current point according to the set navigation parameters, wherein the ocean current data includes the ocean current speed; Step 3, decomposing the initial navigation speed of the underwater probe into a meridional flow speed and a latitudinal flow speed, and synthesizing the decomposed meridional flow speed and latitudinal flow speed with the ocean current speed to obtain the synthesized speed magnitude and direction; Step 4: Calculate the reachable distance and arrival location information within each time resolution according to the relationship between the set navigation direction, total navigation time and time resolution information. After each reachable distance calculation is completed, query the terrain data along the reachable path according to the corresponding arrival location information. Determine whether the achievable path has reached the bottom based on the terrain data. If it has reached the bottom, adjust the end point of the achievable path and stop the calculation; Step 5: Output the reachable paths within all time resolutions in each navigation direction and the reachable path circles under the total navigation time.

2. The method for predicting the reachable range of an underwater detector according to claim 1, characterized in that: When the ocean current data of the standardized ocean current grid data is extracted in step 2, the ocean current data is the ocean current data corresponding to the position and time information of the current position point in the standardized ocean current grid data as the ocean current data of the current position point.

3. The method for predicting the navigation range of an underwater detector according to claim 1, characterized in that: When extracting the ocean current data of the standardized ocean current grid data in step 2, the maximum ocean current velocity in the standardized ocean current grid data is extracted, the maximum water area is calculated in combination with the time resolution information, and all ocean current velocity data within the maximum water area are extracted and merged to obtain the ocean current data of the current location point.

4. A method for predicting the navigation range of an underwater detector according to claim 3, characterized in that: When calculating the maximum water area: Area max =2×(max{VC umax ,VC vmax }×△T) 2 ; Where Area max is the maximum water area, VC umax is the maximum latitudinal velocity in the standardized ocean current grid data, VC vmax is the maximum meridional velocity in the standardized ocean current grid data, and △T is the time resolution information.

5. The method for predicting the reachable range of an underwater detector according to claim 4, characterized in that: When extracting all current velocity data within the maximum water area and merging them to obtain the current data at the current location: Where, VC ui is the zonal velocity at the current location, VC vi is the meridional velocity at the current location, and o is the number of standardized current grids within the maximum water area.

6. The method for predicting the navigation range of an underwater detector according to claim 1, characterized in that: When calculating the achievable distance and arrival location information within each time resolution in step 4: S i =V i ×△T;i=1,2,3,...,n; In the formula, S i V is the achievable distance of the underwater detector within the i-th time resolution; i is the composite speed; Rlon i =Rlon i-1 +atan2(sinθ i ×sinΔθ×cos(Rlat i-1 ),cosθ i -sin(Rlat i-1 )× son(years) i )); Rlat i =arcsin(sin(Rlat i-1 ))×cos(Δθ)+cos(Rlat i-1 )×sinΔθ×cosθ i ; V ui =V su +VC ui ; V vi =V sv +VC vi ; In the formula, lon i is the longitude of the arrival point, lat i is the latitude of the arrival point; θ i is the speed direction synthesized in step 3; V su is the latitudinal velocity obtained by decomposing the initial navigation velocity of the underwater probe, V sv VC is the meridional velocity obtained by decomposing the initial navigation velocity of the underwater detector; ui To extract the latitudinal velocity of the current point in the standardized ocean current grid data, VC vi To extract the meridional velocity of the current point in the standardized ocean current grid data.

7. The method for predicting the navigation reachable range of an underwater detector according to claim 6, characterized in that: In step 4, the terrain data is the deep sea information H of each position point along the route. i The deep sea information includes the location point longitude Hlon ij 、 Location point latitude Hlat ij 、Terrain depth H of location point ij , where i = 1, 2, 3, ..., n, j = 1, 2, 3, ..., m; Deep Sea Information i Collected terrain data and navigation depth H s Compare, if H ij >H s , then the reachable path has not reached the bottom; If H ij <H s , then the reachable path touches the bottom, and the longitude of the location point Hlon ij 、 Location point latitude Hlat ij 、Terrain depth H of location point ij It is the end point of the navigable path for the underwater detector.

8. A system for predicting the navigation range of an underwater detector, characterized in that: include: An underwater detector navigation capability setting module is used to set the navigation parameters of the underwater detector; The ocean current data extraction module is used to extract the time resolution information of the standardized ocean current grid data and the ocean current data of the current position point according to the set navigation parameters; A terrain data extraction module to query terrain data along a reachable path; The reachable range evaluation module is used to calculate the reachable range of underwater detectors in combination with terrain data.

9. The underwater detector navigation reachable range prediction system according to claim 8, characterized in that: The ocean current data extraction module includes a fine ocean current data extraction module and a fast ocean current data extraction module, and the fine ocean current data extraction module and the fast ocean current data extraction module are selectively operated; The fine ocean current data extraction module is used to extract corresponding ocean current data from the standardized ocean current grid data as the ocean current data of the current location point according to the location and time information of the current location point; The fast ocean current data extraction module is used to extract the maximum ocean current velocity in the standardized ocean current grid data, calculate the maximum water area range in combination with the time resolution information, extract all ocean current velocity data within the maximum water area and merge them to obtain the ocean current data of the current location point.

10. The underwater detector navigation reachable range prediction system according to claim 9, characterized in that: The reachable distance circle evaluation module includes a speed synthesis and decomposition submodule, a reachable path calculation submodule, a terrain obstacle analysis submodule and a reachable distance range calculation submodule; The speed synthesis and decomposition submodule is used to decompose the initial navigation speed of the underwater probe into the meridional flow speed and the latitudinal flow speed, and synthesize the decomposed meridional flow speed and the latitudinal flow speed with the ocean current speed; The reachable distance range calculation submodule is used to calculate the reachable distance and arrival location point information within each time resolution in the standardized ocean current grid data; The terrain obstacle analysis submodule is used to determine whether the accessible path calculated by the accessible distance range calculation submodule has bottomed out according to the terrain data extracted by the terrain data extraction module, and if so, adjust the end point of the accessible path and stop the calculation.

Images