Underwater vehicle positioning method, device and equipment and storage medium

Abstract

The invention discloses an underwater vehicle positioning method, device and equipment and a storage medium, and relates to the technical field of underwater vehicles, and the method comprises the steps that the method is applied to a buoy of the underwater vehicle, the underwater vehicle is provided with a sound signal transmitting array element, the buoy is provided with a sound signal receiving array, the buoy receives a floating instruction of the underwater vehicle, and the floating instruction is sent to the underwater vehicle; floating to the water surface according to the floating instruction; when the buoy is on the water surface, the buoy receives a sound signal transmitted by the sound signal transmitting array element through the sound signal receiving array; the buoy obtains receiving time delays of at least three array elements in the sound signal receiving array for receiving the sound signals; the buoy determines the relative position relation between the underwater vehicle and the buoy according to the receiving time delay; the buoy determines second position information of the underwater vehicle according to the first position information and the relative position relation of the buoy; the buoy transmits the second position information to the underwater vehicle. According to the method, the risk of information leakage can be reduced on the premise of accurately positioning the underwater vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of underwater vehicles, and in particular to a positioning method, device, equipment and storage medium for underwater vehicles. Background Art

[0002] Autonomous Underwater Vehicle (AUV) generally uses inertial navigation system for positioning, and its main principle is to use double integration to solve the position information. However, the error of the solved position information will increase exponentially with time, making it difficult to perform long-term underwater missions.

[0003] Currently, satellite navigation and other methods can be used to correct the inertial navigation data of AUV. This method requires AUV to float to the surface, which not only increases the energy consumption of AUV, but also increases the risk of AUV exposure. To solve the above problems, a method is proposed in which AUV releases three buoys and uses the three buoys to locate AUV.

[0004] However, the method of positioning using three buoys releases a large number of buoys. If the released buoys are captured maliciously, information leakage may occur, that is, the risk of information leakage is high. Summary of the invention

[0005] The present application provides a method, device, equipment and storage medium for positioning an underwater vehicle, which can reduce the risk of information leakage under the premise of accurately positioning the underwater vehicle.

[0006] In order to achieve the above purpose, this application adopts the following technical solutions: In a first aspect, the present application provides a method for positioning an underwater vehicle, comprising: The method is applied to a buoy of an underwater vehicle, the underwater vehicle is equipped with an acoustic signal transmitting array element, and the buoy is equipped with an acoustic signal receiving array. The method comprises: The buoy receives a floating instruction from the underwater vehicle and floats to the water surface according to the floating instruction; When the buoy is on the water surface, the buoy receives the sound signal sent by the sound signal transmitting array element through the sound signal receiving array; The buoy obtains the receiving delay of the sound signal received by at least three array elements in the sound signal receiving array; The buoy determines the relative position relationship between the underwater vehicle and the buoy based on the receiving delay; The buoy determines the second position information of the underwater vehicle based on the first position information and the relative position relationship of the buoy; The buoy transmits the second position information to the underwater vehicle.

[0007] In some possible implementations, the buoy determines the relative position relationship between the underwater vehicle and the buoy according to the reception delay, including: Establishing a three-dimensional coordinate system with a target array element among at least four array elements in the acoustic signal receiving array as the origin; Determine multiple sets of relative distances, multiple sets of relative azimuth angles, and multiple sets of relative elevation angles of the acoustic signal transmitting array element relative to the target array element according to the receiving time delay; The relative position relationship between the underwater vehicle and the buoy is determined based on multiple sets of relative distances, multiple sets of relative azimuths and multiple sets of relative pitch angles.

[0008] In some possible implementations, determining the relative position relationship between the underwater vehicle and the buoy according to multiple sets of relative distances, multiple sets of relative azimuths, and multiple sets of relative pitch angles includes: Determining multiple sets of relative coordinates of the underwater vehicle based on multiple sets of relative distances, multiple sets of relative azimuths, and multiple sets of relative pitch angles; Calculate the sum of the distances between each sub-coordinate and other coordinates in the multiple sets of relative coordinates to obtain the distance sum values ​​corresponding to the multiple sub-coordinates, where the other coordinates are the coordinates other than the sub-coordinates in the multiple relative coordinates; Determine the coordinate corresponding to the minimum value of the distances and values ​​corresponding to the multiple sub-coordinates as the target sub-coordinate; According to the target sub-coordinates, the relative position relationship between the underwater vehicle and the buoy is determined.

[0009] In some possible implementations, determining the relative position relationship between the underwater vehicle and the buoy according to the target sub-coordinates includes: Calculate the average distance between the target sub-coordinate and other coordinates; Determine a distance threshold according to the average distance and a preset distance coefficient; Determine the weight of each sub-coordinate in the multiple sets of relative coordinates according to the distance threshold and the distance relationship between each sub-coordinate in the multiple sets of relative coordinates and the target sub-coordinate; Relative position coordinates for representing the relative position relationship between the underwater vehicle and the buoy are determined according to the weight of each sub-coordinate in the plurality of sets of relative coordinates and each sub-coordinate.

[0010] In some possible implementations, the underwater vehicle is deployed with a depth sensor; the method further includes: Obtaining depth information collected by a depth sensor transmitted by an underwater vehicle; Correcting the second position information according to the depth information to obtain corrected second position information; The buoy transmits second position information to the underwater vehicle, including: The buoy transmits the corrected second position information to the underwater vehicle.

[0011] In some possible implementations, the surfacing instruction is issued by the underwater vehicle every preset time period or after traveling a preset distance.

[0012] In some possible implementations, the method further includes: the buoy receiving a recovery instruction from the underwater vehicle, and diving to a recovery position of the underwater vehicle according to the recovery instruction.

[0013] In a second aspect, the present application provides a positioning device for an underwater vehicle, comprising: The first receiving module is used to receive a floating instruction of an underwater vehicle, where the underwater vehicle is equipped with an acoustic signal transmitting array element; A floating module, used to float to the water surface according to the floating instruction; A second receiving module is used to receive the sound signal sent by the sound signal transmitting array element through the sound signal receiving array when the buoy is on the water surface. The buoy is equipped with a sound signal receiving array; An acquisition module, used to acquire a reception delay of at least three array elements in a sound signal receiving array receiving a sound signal; A positioning module, used to determine the relative position relationship between the underwater vehicle and the buoy according to the receiving delay; and determine the second position information of the underwater vehicle according to the first position information and the relative position relationship of the buoy; The sending module is used to transmit the second position information to the underwater vehicle.

[0014] In a third aspect, the present application provides a computing device, including a memory and a processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as described in any one of the first aspects.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method as described in any one of the first aspects.

[0016] It can be seen from the above technical solution that the present application has at least the following beneficial effects: The present application provides a method for positioning an underwater vehicle. The method is applied to a buoy of the underwater vehicle. The underwater vehicle is equipped with an acoustic signal transmitting array element, and the buoy is equipped with an acoustic signal receiving array. In the method, since the acoustic signal receiving array includes multiple receiving array elements, the underwater vehicle only needs to send a floating instruction to one buoy, and the buoy that receives the floating instruction floats to the surface based on the floating instruction. The underwater vehicle in the present application only needs to release one buoy. Compared with the solution of releasing three buoys for positioning in the traditional solution, the number of buoys that need to be released is reduced, thereby indirectly reducing the risk of the buoy being maliciously captured and the risk of information leakage. Since the number of buoys on the water surface is small, only one, the exposure risk of the underwater vehicle is also reduced. When the buoy is on the water surface, the buoy receives the sound signal sent by the acoustic signal transmitting array element through the acoustic signal receiving array, and then the buoy obtains the receiving delay of at least three array elements in the acoustic signal receiving array receiving the sound signal, and determines the relative position relationship between the underwater vehicle and the buoy according to the receiving delay of at least three array elements. After the buoy obtains the relative position relationship, the second position information of the underwater vehicle is determined according to the first position information of the buoy and the relative position relationship; the buoy transmits the second position information to the underwater vehicle, that is, the underwater vehicle is positioned. Therefore, the underwater vehicle positioning method provided by the present application can reduce the risk of information leakage under the premise of accurately positioning the underwater vehicle.

[0017] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it is understood that the description of features or beneficial effects means that specific technical features, technical solutions or beneficial effects are included in at least one embodiment. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in the present embodiment can also be combined in any appropriate manner. Those skilled in the art will understand that the embodiment can be realized without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in a specific embodiment that does not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of an application scenario in which an underwater vehicle is positioned using a buoy is provided for an embodiment of the present application; Figure 2 A flowchart of a method for positioning an underwater vehicle provided in an embodiment of the present application; Figure 3 A schematic diagram of a three-dimensional coordinate system provided in an embodiment of the present application; Figure 4A schematic diagram of a positioning device for an underwater vehicle provided in an embodiment of the present application; Figure 5 A schematic diagram of a computing device provided in an embodiment of the present application.

[0019] Figure numerals: 1 - underwater vehicle; 2 - buoy; 3 - acoustic signal transmitting array element; 4 - acoustic signal receiving array; 5 - satellite communication device; 6 - water surface. DETAILED DESCRIPTION

[0020] The terms "first", "second", "third", etc. in the specification of this application and the accompanying drawings are used to distinguish different objects rather than to limit a specific order.

[0021] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0022] In order to make the description of the following embodiments clear and concise, a brief introduction to the related technology is first given: An underwater vehicle is a navigation object that sails underwater and can be used for deep-sea exploration, scientific research, etc. During underwater navigation, an underwater vehicle needs to obtain its own underwater position information.

[0023] In order to obtain the position information of the underwater vehicle, the inertial navigation data can be obtained through the inertial navigation system, and the inertial navigation data can be corrected using navigation methods such as satellite navigation and radio navigation. However, when using satellite navigation or radio navigation calibration methods, the electromagnetic wave signal will be severely attenuated in the seawater, so that the underwater vehicle can only obtain the position information of the satellite navigation or radio navigation system when it floats to the surface or close to the surface. For this reason, in the prior art, the underwater vehicle releases three buoys to the water surface and uses the three buoys for positioning. However, the number of buoys released by the positioning method with three buoys is relatively large. If the released buoy is maliciously captured, it will cause information leakage, that is, the risk of information leakage is relatively high.

[0024] In view of this, an embodiment of the present application provides a method for positioning an underwater vehicle 1. The method for positioning an underwater vehicle 1 can accurately position the underwater vehicle 1 by releasing a buoy 2, thereby reducing the risk of information leakage. In order to make the technical solution of the present application clearer and easier to understand, the following describes a method for positioning an underwater vehicle 1 provided by an embodiment of the present application in conjunction with the accompanying drawings.

[0025] like Figure 1As shown, this figure is a schematic diagram of an application scenario provided by an embodiment of the present application. In this application scenario, an underwater vehicle 1 is provided with a buoy 2, the underwater vehicle 1 is equipped with an acoustic signal transmitting array element 3, and the buoy 2 is equipped with an acoustic signal receiving array 4, wherein the acoustic signal receiving array 4 includes a plurality of acoustic signal receiving array elements. When the underwater vehicle 1 needs to locate itself, it can release a buoy 2 to the water surface 6, so as to locate itself through the buoy 2.

[0026] Combine the following Figure 1 The application scenario shown here introduces a positioning method for an underwater vehicle 1 provided in an embodiment of the present application. The positioning method for an underwater vehicle 1 provided in an embodiment of the present application is as follows: Figure 2 As shown, the following steps are included: S1. The buoy 2 receives a floating instruction from the underwater vehicle 1 and floats to the water surface 6 according to the floating instruction.

[0027] The floating instruction refers to an instruction sent by the underwater vehicle 1 to the buoy 2. For example, when the underwater vehicle 1 needs to locate its own position, it can send the floating instruction to the buoy 2. The buoy 2 receives the floating instruction and floats to the water surface 6. The buoy 2 and the underwater vehicle 1 can communicate in a wired or wireless manner.

[0028] Specifically, the floating instruction can be issued by the underwater vehicle 1 every preset time or every preset distance. For example, when the underwater vehicle 1 obtains that the travel distance of the underwater vehicle 1 is equal to the preset distance, the underwater vehicle 1 sends the floating instruction to the buoy 2, and the buoy 2 receives the floating instruction and floats to the water surface 6.

[0029] S2. When the buoy 2 is on the water surface 6, the buoy 2 receives the sound signal sent by the sound signal transmitting array element 3 through the sound signal receiving array 4.

[0030] Among them, a sensor may be provided on the buoy 2, and the buoy 2 detects whether it is in a stable floating state on the water surface 6 through the sensor. The buoy 2 sends the state information detected by the sensor to the underwater vehicle 1, and the underwater vehicle 1 obtains the state information of the buoy 2. For example, the underwater vehicle 1 determines the floating speed of the buoy 2 based on the state information of the buoy 2, and when the floating speed of the buoy 2 is lower than the speed threshold, it is determined that the buoy 2 is stably floating on the water surface 6. In other examples, the buoy 2 may also determine its own floating speed based on the state detected by the sensor, and when the floating speed of the buoy 2 is lower than the speed threshold, it is determined that the buoy 2 is stably floating on the water surface 6, and then send a notification instruction to the underwater vehicle 1 that the buoy 2 is on the water surface 6.

[0031] Optionally, the sending, receiving, and processing of the sound signal can be implemented using an ultra short baseline positioning system (Ultra Short Baseline, USBL). The ultra short baseline positioning system has the characteristics of high precision and strong anti-noise ability, which is conducive to ensuring the accuracy of sending and receiving the sound signal in the embodiment of the present application, thereby improving the positioning accuracy. The ultra short baseline positioning system includes a transmitting transducer and a receiving transducer, the transmitting transducer is arranged on the underwater vehicle 1, and the receiving transducer is arranged on the buoy 2. When the underwater vehicle 1 confirms that the buoy 2 is in a stable floating state on the water surface 6, the sound signal transmitting array element 3 on the underwater vehicle 1 sends a sound signal to the buoy 2 through the transmitting transducer, and the sound signal receiving array 4 on the buoy 2 receives the sound signal through the receiving transducer.

[0032] S3. The buoy 2 obtains the receiving delay of at least three array elements in the sound signal receiving array 4 for receiving the sound signal.

[0033] The receiving delay refers to the time from when the acoustic signal transmitting array element 3 transmits the acoustic signal to when the receiving array element in the acoustic signal receiving array 4 receives the acoustic signal. In some examples, the underwater vehicle 1 sends a first message to the buoy 2, and the first message carries the characteristics of the transmitted acoustic signal and the sending time, so that the buoy 2 can obtain the sending time of the acoustic signal when receiving the first message, and determine the receiving time of the acoustic signal based on the characteristics of the acoustic signal, and subtract the receiving time of the acoustic signal from the sending time to obtain the receiving delay. The above is only an example of obtaining the receiving delay, and the present application is not limited to this.

[0034] S4. The buoy 2 determines the relative position relationship between the underwater vehicle 1 and the buoy 2 according to the receiving delay.

[0035] Among them, since the acoustic signal receiving array 4 includes multiple acoustic signal receiving array elements, the underwater vehicle 1 only needs to release one buoy 2 to determine the position information of the underwater vehicle 1 relative to the buoy 2. Compared with the traditional solution of releasing three buoys for positioning, the number of buoys that need to be released is reduced, thereby indirectly reducing the risk of the buoy being maliciously captured and reducing the risk of information leakage. Since the number of buoys 2 on the water surface 6 is small, only one, the exposure risk of the underwater vehicle 1 is also reduced.

[0036] Optionally, the buoy 2 has an acoustic signal processing unit, which processes the sound signal received by the sound signal receiving array to determine the relative position relationship between the underwater vehicle 1 and the buoy 2.

[0037] In some embodiments, the acoustic signal receiving array includes at least 3 array elements, and the buoy 2 can establish a three-dimensional coordinate system with a target array element among the at least 3 array elements as the origin; and determine the relative position relationship between the underwater vehicle 1 and the buoy 2 based on the receiving delay.

[0038] For ease of understanding, the following is an example of an acoustic signal receiving array including 9 array elements. Figure 3 As shown, the acoustic signal receiving array 4 is a 3×3 regular quadrilateral array S, the side length of the regular quadrilateral is 2D, and the receiving array element located at the center of the regular quadrilateral array is Set as the target array element, with the target array element As the origin, a three-dimensional rectangular coordinate system is established, and the coordinates of the 9 receiving array elements are (0, 0, 0), (-D, -D, 0), (-D, 0, 0), (-D, D, 0), (0, -D, 0), (0, D, 0), (D,-D,0), (D, 0, 0), (D, D, 0).

[0039] In such Figure 3 There may be multiple three-element arrays in the 3×3 array shown, and the relative coordinates of the underwater vehicle 1 in the three-dimensional rectangular coordinate system determined according to any three-element array are named as first relative coordinates.

[0040] As Figure 3 Taking the 16 ternary arrays in the 3×3 array shown as an example, the ternary array can be , etc., for example, according to The three-element array is composed of the first relative coordinate of the acoustic signal transmitting element 3 in the three-dimensional rectangular coordinate system. ( , , ) is:

[0041] in, To pass the ternary array Determine the X-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system, To pass the ternary array Determine the Y-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system, To pass the ternary array The Z-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system is determined.

[0042] The acoustic signal transmitting array element 3 sends an acoustic signal to multiple receiving array elements in the acoustic signal receiving array 4, and the receiving delay of one of the receiving array elements receiving the acoustic signal is set to , the receiving delay of the other receiving array element receiving the sound signal is , = is the receiving delay difference between two receiving array elements. Target array element The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array The reception delay of the received sound signal. Target array element and receiving array The receiving delay difference between Target array element and receiving array element The receiving delay difference between them.

[0043] The acoustic signal transmitting array element 3 and the target array element The distance between ,in is the speed of sound.

[0044] Receiving array element With the target array The distance between the receiving elements With the target array The distance between .

[0045] The acoustic signal transmitting array element 3 calculates the second first relative coordinate to the sixteenth first relative coordinate according to the remaining 15 three-element arrays: , , …, , , the second first relative coordinate to the sixteenth first relative coordinate , , …, , The calculation method is the same as the first relative coordinate The calculation method is similar and will not be repeated here. The first relative coordinate To the sixteenth first relative coordinate Form the first set of relative coordinates.

[0046] In other embodiments, the acoustic signal receiving array 4 includes at least 4 array elements, and the buoy 2 can establish a three-dimensional coordinate system with a target array element among the at least 4 array elements as the origin; based on the receiving delay, multiple groups of relative distances, multiple groups of relative azimuths and multiple groups of relative pitch angles of the acoustic signal transmitting array element relative to the target array element are determined; based on the multiple groups of relative distances, multiple groups of relative azimuths and multiple groups of relative pitch angles, the relative position relationship between the underwater vehicle 1 and the buoy 2 is determined.

[0047] In such Figure 3 In the 3×3 matrix S shown in , , , Taking the four quaternion arrays composed of as an example, according to The four-element array is composed of the following: the acoustic signal transmitting element 3 is calculated relative to the target element The relative azimuth of and relative pitch angle The formula is:

[0048] in, is the speed of sound.

[0049] Target array element The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array and receiving array element The receiving delay difference between Target array element and receiving array element The receiving delay difference between For receiving array and receiving array element The receiving delay difference between them.

[0050] Receiving array element With the target array The distance between the receiving elements With the target array The distance between the receiving elements With receiving array The distance between the receiving elements With receiving array The distance between .

[0051] The relative coordinates of the underwater vehicle 1 in the three-dimensional rectangular coordinate system determined according to any four-element array are named as the second relative coordinates. The relative azimuth of and relative pitch angle , calculate the first and second relative coordinates of the underwater vehicle 1 in the three-dimensional rectangular coordinate system ( , , ) is:

[0052] in, To pass the quaternion Determine the X-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system, To pass the quaternion Determine the Y-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system, To pass the quaternion The Z-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system is determined. The acoustic signal transmitting array element 3 and the target array element The distance between ,in is the speed of sound.

[0053] The acoustic signal transmitting array element 3 calculates the second relative coordinates according to the remaining three four-element arrays , the third second relative coordinate and the fourth second relative coordinate The calculation method is the same as the first and second relative coordinates The calculation method is similar and will not be repeated here. The first second relative coordinate , the second relative coordinate , the third second relative coordinate and the fourth second relative coordinate Form the second set of relative coordinates.

[0054] In such Figure 3 In the 3×3 matrix S shown in the figure, Can form a five-element array, according to The five-element array is composed of the following calculations: The relative azimuth of and relative pitch angle The formula is:

[0055] in, is the speed of sound.

[0056] Target array element The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array The receiving delay of the sound signal, For receiving array and target array element The receiving delay difference between For receiving array and target array element The receiving delay difference between For receiving array and receiving array element The receiving delay difference between them.

[0057] Receiving array element With the target array The distance between the receiving elements With the target array The distance between the receiving elements With the target array The distance between the receiving elements With receiving array The distance between .

[0058] The relative coordinates of the underwater vehicle 1 in the three-dimensional rectangular coordinate system determined by any five-element array are named as the third relative coordinates. The relative azimuth of and relative pitch angle , determine the first third relative coordinate of the underwater vehicle 1 in the three-dimensional rectangular coordinate system ( , , ) is:

[0059] in, To pass the five-element array Determine the X-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system, To pass the five-element array Determine the Y-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system, To pass the five-element array The Z-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system is determined. The acoustic signal transmitting array element 3 and the target array element The distance between ,in is the speed of sound.

[0060] also, Figure 3 In the 3×3 matrix, except There may be other five-element arrays. According to the above formula, for example, the second and third relative coordinates can be calculated. , the third relative coordinate etc. The first third relative coordinate , the second and third relative coordinates Multiple third relative coordinates constitute a third group of relative coordinates.

[0061] Specifically, based on multiple sets of relative coordinates of the underwater vehicle, the relative position relationship between the underwater vehicle 1 and the buoy 2 can be determined in the following way: calculate the sum of the distances between each sub-coordinate and other coordinates in the multiple sets of relative coordinates to obtain the distances and values ​​corresponding to the multiple sub-coordinates, and the other coordinates are the coordinates other than the sub-coordinates in the multiple relative coordinates; determine the coordinate corresponding to the minimum value of the distances and values ​​corresponding to the multiple sub-coordinates as the target sub-coordinate; and determine the relative position relationship between the underwater vehicle 1 and the buoy 2 based on the target sub-coordinate.

[0062] For example, Figure 3 In the 3×3 array shown, only a ternary array can be used to determine the relative position relationship between the underwater vehicle 1 and the buoy 2, wherein the process of using the first set of relative coordinates to determine the target sub-coordinates is to use each first relative coordinate in the first set of relative coordinates as a sub-coordinate and calculate the sum of the distances between each first relative coordinate and other first relative coordinates. As sub-coordinates, the other coordinates are , , …, , , respectively calculate and The distance between and The distance between, ..., and The distance between and The distance between the two is 15, and these 15 distance values ​​are added together to get the distance and value, that is, calculate The corresponding distance and value. By analogy, we can calculate , , …, , The first relative coordinate corresponding to the minimum value among the 16 distance sums is selected as the target sub-coordinate.

[0063] Figure 3 In the 3×3 array shown, only a quaternion array can be used to determine the relative position relationship between the underwater vehicle 1 and the buoy 2, wherein the process of using the second set of relative coordinates to determine the target sub-coordinates is to use each second relative coordinate in the second set of relative coordinates as a sub-coordinate and calculate the sum of the distances between each second relative coordinate and other second relative coordinates. As sub-coordinates, the other coordinates are , , , respectively calculate and The distance between and The distance between and The distance between them is 3, and these 3 distance values ​​are added together to get the distance and value, that is, calculate The corresponding distance and value. By analogy, we can calculate , , The corresponding distance and value of each. Select the second relative coordinate corresponding to the minimum value of the four distance and values ​​as the target sub-coordinate.

[0064] Figure 3 In the 3×3 array shown, only the five-element array can be used to determine the relative position relationship between the underwater vehicle 1 and the buoy 2, wherein the process of using the third set of relative coordinates to determine the target sub-coordinates is similar to the process of using the first set of relative coordinates to determine the target sub-coordinates and the process of using the second set of relative coordinates to determine the target sub-coordinates, and will not be repeated here.

[0065] In addition, a ternary array, a four-element array and a five-element array can also be used simultaneously to determine the relative position relationship between the underwater vehicle 1 and the buoy 2. It is necessary to use the first set of relative coordinates, the second set of relative coordinates and the third set of relative coordinates at the same time, wherein each first relative coordinate is used as a sub-coordinate, and the sum of the distances between each first relative coordinate and other first relative coordinates, all second relative coordinates and all third relative coordinates is calculated, and so on, to obtain the distance sum corresponding to each first relative coordinate, the distance sum corresponding to each second relative coordinate and the distance sum corresponding to each third relative coordinate, and select the coordinate corresponding to the minimum value of the distance sum as the target sub-coordinate.

[0066] Specifically, the relative position relationship between the underwater vehicle 1 and the buoy 2 can be determined based on the target sub-coordinates in the following manner: calculate the average distance between the target sub-coordinates and other coordinates; determine the distance threshold based on the average distance and a preset distance coefficient; determine the weight of each sub-coordinate in the multiple groups of relative coordinates based on the distance threshold and the distance relationship between each sub-coordinate in the multiple groups of relative coordinates and the target sub-coordinate; determine the relative position coordinates used to represent the relative position relationship between the underwater vehicle 1 and the buoy 2 based on the weight of each sub-coordinate in the multiple groups of relative coordinates and each sub-coordinate.

[0067] exist Figure 3 In the 3×3 array shown, illustratively, 16 first relative coordinates are obtained according to 16 three-element arrays, 4 second relative coordinates are obtained according to 4 four-element arrays, and 1 third relative coordinate is obtained according to 1 five-element array. Assuming that one of the first relative coordinates is determined as the target sub-coordinate according to the above embodiment, the distance between the target sub-coordinate and each of the remaining 15 first relative coordinates is calculated to obtain 15 first distance values; the distance between the target sub-coordinate and each of the 4 second relative coordinates is calculated to obtain 4 second distance values; the distance between the target sub-coordinate and 1 third relative coordinate is calculated to obtain 1 third distance value. The average of the 15 first distance values, the 4 second distance values, and the 1 third distance value is obtained. .

[0068] by Represents the preset distance coefficient, and the distance threshold is expressed as When the distance between one of the sub-coordinates and the target sub-coordinate is greater than the distance threshold , the sub-coordinate is determined to be an unavailable sub-coordinate, and the sub-coordinate is not used in the subsequent determination of the relative position relationship between the underwater vehicle 1 and the buoy 2. When the distance between one of the sub-coordinates and the target sub-coordinate is less than the distance threshold , the sub-coordinate is determined to be an available sub-coordinate, and the available sub-coordinate participates in the subsequent calculation process of determining the relative position relationship between the underwater vehicle 1 and the buoy 2.

[0069] In some embodiments, the weight of the target sub-coordinate can be set to a first value, which can be 0.7, and the sum of the weights of the remaining available sub-coordinates is a second value, which is 0.3. In addition, the weight of the available sub-coordinate is related to the distance from the target sub-coordinate. The smaller the distance between the available sub-coordinate and the target sub-coordinate, the greater the weight of the available sub-coordinate.

[0070] Exemplarily, the weight configuration rule is determined based on the number of available sub-coordinates, and a mapping relationship between the number and the weight configuration rule may be pre-configured, as shown in Table 1 below.

[0071] Table 1:

[0072] Based on this, after the buoy 2 determines the number of available sub-coordinates, it can determine the corresponding weight configuration rule based on Table 1, and then configure the weights of the available sub-coordinates according to the weight configuration rule.

[0073] For example, if the number of available sub-coordinates is 2, is the target sub-coordinate, and For available sub-coordinates, and The distance between and The distance between The corresponding weight is 0.7, The weight of is 0.2, The weight of is 0.1 (based on the above Table 1). The relative position coordinates of the relative position relationship between the underwater vehicle 1 and the buoy 2 are obtained by weighted average ( , , ) is calculated as follows:

[0074] in, According to the first relative coordinate , the first and second relative coordinates and the first third relative coordinates The X-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system is determined by the corresponding X-axis coordinates and the weights of the X-axis coordinates, According to the first relative coordinate , the first and second relative coordinates and the first third relative coordinates The Y-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system is determined by the Y-axis coordinates corresponding to each other and the weights of the Y-axis coordinates, According to the first relative coordinate , the first and second relative coordinates and the first third relative coordinates The Z-axis coordinate of the acoustic signal transmitting array element 3 in the three-dimensional rectangular coordinate system is determined by the corresponding Z-axis coordinates and the weights of the Z-axis coordinates.

[0075] According to some embodiments of the present application, after determining multiple sets of relative coordinates of the underwater vehicle 1 based on at least three array elements, more accurate relative position coordinates of the underwater vehicle 1 relative to the buoy 2 can be obtained through a data fusion algorithm.

[0076] S5. The buoy 2 determines the second position information of the underwater vehicle 1 according to the first position information and the relative position relationship of the buoy 2.

[0077] like Figure 1 As shown, the buoy 2 has a satellite communication device 5 capable of acquiring satellite navigation data. The first position information of the buoy 2 can be acquired through the satellite communication device 5 when the buoy 2 is on the water surface 6.

[0078] S6. The buoy 2 transmits the second position information to the underwater vehicle 1.

[0079] The underwater vehicle 1 receives the second position information, and calibrates the positioning information obtained by the underwater vehicle 1 through the inertial navigation device according to the second position information, thereby realizing accurate positioning of the underwater vehicle 1.

[0080] In a specific embodiment, after the underwater vehicle 1 receives the second position information and calibrates the positioning information according to the second position information, the positioning method of the underwater vehicle 1 also includes: the buoy 2 receives the recovery instruction of the underwater vehicle 1, and dives to the recovery position of the underwater vehicle 1 according to the recovery instruction.

[0081] After the underwater vehicle 1 realizes positioning by using a released buoy 2, the buoy 2 is recovered, which can reduce the risk of the released buoy 2 being captured maliciously.

[0082] In order to improve the positioning accuracy of the underwater vehicle 1, the underwater vehicle 1 can be deployed with a depth sensor. The positioning method of the underwater vehicle 1 also includes: obtaining depth information collected by the depth sensor and transmitted by the underwater vehicle 1; correcting the second position information according to the depth information to obtain the corrected second position information; the buoy 2 transmits the second position information to the underwater vehicle 1, including: the buoy 2 transmits the corrected second position information to the underwater vehicle 1.

[0083] The depth sensor can obtain the underwater depth of the underwater vehicle 1 as , the relative position coordinates of the underwater vehicle 1 relative to the buoy 2 ( , , ),For example The weight is set to 0.2. The weight is set to 0.8, and the relative position coordinates are obtained by weighted average. Corresponding correction value The calculation equation is as follows:

[0084] Among them, different weights are set according to the accuracy of the depth sensor. The higher the accuracy, the greater the set weight.

[0085] In this embodiment, the corrected relative position coordinates ( , , ) is more accurate, so that the corrected second position information calculated according to the first position information and the relative position coordinates is more accurate, thereby improving the positioning accuracy of the underwater vehicle 1.

[0086] Based on the above description, an embodiment of the present application provides a positioning method for an underwater vehicle 1, and the method is applied to a buoy 2 of the underwater vehicle 1. The underwater vehicle 1 is equipped with an acoustic signal transmitting array element 3, and the buoy 2 is equipped with an acoustic signal receiving array 4. In this method, since the acoustic signal receiving array 4 includes multiple receiving array elements, the underwater vehicle 1 only needs to send a floating instruction to one buoy 2, and the buoy 2 that receives the floating instruction floats to the water surface 6 based on the floating instruction. The underwater vehicle 1 in the embodiment of the present application only needs to release one buoy 2. Compared with the traditional solution of releasing three buoys for positioning, the number of buoys that need to be released is reduced, thereby indirectly reducing the risk of the buoy being maliciously captured and reducing the risk of information leakage. Since the number of buoys 2 on the water surface 6 is small, only one, the exposure risk of the underwater vehicle 1 is also reduced.

[0087] When the buoy 2 is on the water surface, the buoy 2 receives the sound signal sent by the sound signal transmitting array element 3 through the sound signal receiving array 4, and then the buoy 2 obtains the receiving delay of at least 3 array elements in the sound signal receiving array 4 to receive the sound signal, and determines the relative position relationship between the underwater vehicle 1 and the buoy 2 according to the receiving delay of at least 3 array elements. After the buoy 2 obtains the relative position relationship, the second position information of the underwater vehicle 1 is determined according to the first position information of the buoy 2 and the relative position relationship; the buoy 2 transmits the second position information to the underwater vehicle 1, that is, the positioning of the underwater vehicle 1 is realized. Therefore, the positioning method of the underwater vehicle 1 provided in the embodiment of the present application can reduce the risk of information leakage under the premise of accurately positioning the underwater vehicle 1.

[0088] Combination of the above Figures 1 to 3The positioning method of the underwater vehicle provided in the embodiment of the present application is described in detail. Figure 4 The positioning device of the underwater vehicle provided in the embodiment of the present application is introduced.

[0089] like Figure 4 As shown, the figure is a schematic diagram of a positioning device for an underwater vehicle 1 provided in an embodiment of the present application, the device includes a first receiving module 101, a floating module 102, a second receiving module 103, an acquisition module 104, a positioning 105 and a sending module 106, wherein: The first receiving module 101 is used to receive a floating instruction from the underwater vehicle 1, and the underwater vehicle 1 is equipped with an acoustic signal transmitting array element 3; The floating module 102 is used to float to the water surface 6 according to the floating instruction; The second receiving module 103 is used to receive the sound signal sent by the sound signal transmitting array element 3 through the sound signal receiving array 4 when the buoy 2 is on the water surface 6. The buoy 2 is equipped with the sound signal receiving array 4; An acquisition module 104 is used to acquire a reception delay of at least three array elements in the sound signal receiving array 4 for receiving the sound signal; The positioning module 105 is used to determine the relative position relationship between the underwater vehicle 1 and the buoy 2 according to the receiving delay; and determine the second position information of the underwater vehicle 1 according to the first position information and the relative position relationship of the buoy 2; The sending module 106 is used to transmit the second position information to the underwater vehicle 1 .

[0090] Optionally, the positioning module 105 is specifically used to: establish a three-dimensional coordinate system with a target array element among at least four array elements in the acoustic signal receiving array 4 as the origin; determine multiple groups of relative distances, multiple groups of relative azimuths and multiple groups of relative pitch angles of the acoustic signal transmitting array element 3 relative to the target array element based on the receiving delay; determine the relative position relationship between the underwater vehicle 1 and the buoy 2 based on the multiple groups of relative distances, multiple groups of relative azimuths and multiple groups of relative pitch angles.

[0091] Optionally, the positioning module 105 is further used to: determine multiple sets of relative coordinates of the underwater vehicle 1 based on multiple sets of relative distances, multiple sets of relative azimuths and multiple sets of relative pitch angles; calculate the sum of the distances between each sub-coordinate and other coordinates in the multiple sets of relative coordinates to obtain the distances and values ​​corresponding to the multiple sub-coordinates, and the other coordinates are the coordinates other than the sub-coordinates in the multiple relative coordinates; determine the coordinate corresponding to the minimum value of the distances and values ​​corresponding to the multiple sub-coordinates as the target sub-coordinate; and determine the relative position relationship between the underwater vehicle 1 and the buoy 2 based on the target sub-coordinates.

[0092] Optionally, the positioning module 105 is further used to: calculate the average distance between the target sub-coordinate and other coordinates; determine a distance threshold based on the average distance and a preset distance coefficient; determine the weight of each sub-coordinate in the multiple groups of relative coordinates based on the distance threshold and the distance relationship between each sub-coordinate in the multiple groups of relative coordinates and the target sub-coordinate; determine the relative position coordinates used to represent the relative position relationship between the underwater vehicle 1 and the buoy 2 based on the weight of each sub-coordinate in the multiple groups of relative coordinates and each sub-coordinate.

[0093] Optionally, the positioning device of the underwater vehicle 1 also includes a correction module; the acquisition module 104 is also used to obtain the depth information collected by the depth sensor transmitted by the underwater vehicle 1; the correction module is used to correct the second position information according to the depth information to obtain the corrected second position information; the sending module 106 is specifically used to transmit the corrected second position information to the underwater vehicle 1.

[0094] Optionally, the positioning device of the underwater vehicle 1 further includes a third receiving module and a diving module, the third receiving module is used to receive a recovery instruction of the underwater vehicle 1, and the diving module is used to dive to the recovery position of the underwater vehicle 1 according to the recovery instruction.

[0095] The positioning device of the underwater vehicle 1 according to the embodiment of the present application may correspond to the method described in the embodiment of the present application, and the above-mentioned other operations and / or functions of each module / unit of the positioning device of the underwater vehicle 1 are respectively to realize Figure 2 For the sake of brevity, the corresponding processes of each method in the illustrated embodiment are not described in detail here.

[0096] The present application also provides a computing device. Figure 5 As shown, this figure is a schematic diagram of a computing device provided by an embodiment of the present application, and the computing device 200 includes a bus 201, a processor 202, a communication interface 203 and a memory 204. The processor 202, the memory 204 and the communication interface 203 communicate through the bus 201.

[0097] The bus 201 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0098] The processor 202 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0099] The communication interface 203 is used for communicating with the outside. For example, the communication interface 203 can be used for communicating with the underwater vehicle 1. The communication interface 203 is used for receiving instructions sent by the underwater vehicle 1.

[0100] The memory 204 may include a volatile memory, such as a random access memory (RAM). The memory 204 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0101] The memory 204 stores executable codes, and the processor 202 executes the executable codes to perform the aforementioned virtual object allocation method.

[0102] Specifically, in implementing Figure 4 In the case of the embodiment shown, and Figure 4 When each module or unit of the underwater vehicle positioning device described in the embodiment is implemented by software, the execution Figure 4 The software or program code required for the functions of each module / unit in the system may be partially or completely stored in the memory 204. The processor 202 executes the program code corresponding to each unit stored in the memory 204 to perform the aforementioned virtual object allocation method.

[0103] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored by a computing device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state hard disk). The computer-readable storage medium includes instructions that instruct the computing device to execute the above-mentioned underwater vehicle positioning method.

[0104] The embodiment of the present application further provides a computer program product, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part.

[0105] The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer or data center to another website, computer or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0106] When the computer program product is executed by a computer, the computer executes any of the aforementioned virtual object allocation methods. The computer program product may be a software installation package, and when any of the aforementioned virtual object allocation methods is needed, the computer program product may be downloaded and executed on a computer.

[0107] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0108] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for positioning an underwater vehicle, characterized in that: The method is applied to a buoy of an underwater vehicle, the underwater vehicle is equipped with an acoustic signal transmitting array element, and the buoy is equipped with an acoustic signal receiving array, and the method comprises: The buoy receives a floating instruction from the underwater vehicle and floats to the water surface according to the floating instruction; When the buoy is on the water surface, the buoy receives the sound signal sent by the sound signal transmitting array element through the sound signal receiving array; The buoy obtains the reception delay of at least three array elements in the sound signal receiving array receiving the sound signal; The buoy determines the relative position relationship between the underwater vehicle and the buoy according to the receiving time delay; The buoy determines the second position information of the underwater vehicle based on the first position information of the buoy and the relative position relationship; The buoy transmits the second position information to the underwater vehicle.

2. The method according to claim 1, characterized in that The buoy determines the relative position relationship between the underwater vehicle and the buoy according to the receiving time delay, including: Establishing a three-dimensional coordinate system with a target array element among at least four array elements in the acoustic signal receiving array as an origin; Determining, according to the receiving time delay, a plurality of groups of relative distances, a plurality of groups of relative azimuth angles, and a plurality of groups of relative elevation angles of the acoustic signal transmitting array element relative to the target array element; The relative position relationship between the underwater vehicle and the buoy is determined based on the multiple sets of relative distances, the multiple sets of relative azimuths and the multiple sets of relative pitch angles.

3. The method according to claim 2, characterized in that Determining the relative position relationship between the underwater vehicle and the buoy according to the multiple sets of relative distances, the multiple sets of relative azimuths and the multiple sets of relative pitch angles comprises: Determining multiple sets of relative coordinates of the underwater vehicle according to the multiple sets of relative distances, the multiple sets of relative azimuths and the multiple sets of relative pitch angles; Calculate the sum of the distances between each sub-coordinate and other coordinates in the multiple sets of relative coordinates to obtain the sum of the distances corresponding to the multiple sub-coordinates, where the other coordinates are coordinates other than the sub-coordinates in the multiple relative coordinates; Determine the coordinate corresponding to the minimum value of the distances and values ​​corresponding to the multiple sub-coordinates as the target sub-coordinate; The relative position relationship between the underwater vehicle and the buoy is determined according to the target sub-coordinates.

4. The method according to claim 3, characterized in that Determining the relative position relationship between the underwater vehicle and the buoy according to the target sub-coordinates includes: Calculating the average distance between the target sub-coordinate and the other coordinates; Determining a distance threshold according to the average distance and a preset distance coefficient; Determining a weight of each sub-coordinate in the multiple sets of relative coordinates according to the distance threshold and a distance relationship between each sub-coordinate in the multiple sets of relative coordinates and the target sub-coordinate; Relative position coordinates for representing the relative position relationship between the underwater vehicle and the buoy are determined according to the weight of each sub-coordinate in the plurality of sets of relative coordinates and each sub-coordinate.

5. The method according to claim 1, characterized in that The underwater vehicle is deployed with a depth sensor; the method further comprises: Acquiring depth information collected by the depth sensor and transmitted by the underwater vehicle; Correcting the second position information according to the depth information to obtain corrected second position information; The buoy transmits the second position information to the underwater vehicle, including: The buoy transmits the corrected second position information to the underwater vehicle.

6. The method according to claim 1, characterized in that The surfacing instruction is issued by the underwater vehicle after every preset time period or after every preset distance traveled.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: The buoy receives a recovery instruction from the underwater vehicle and dives to a recovery position of the underwater vehicle according to the recovery instruction.

8. A positioning device for an underwater vehicle, characterized in that: include: A first receiving module is used to receive a floating instruction of an underwater vehicle, wherein the underwater vehicle is equipped with an acoustic signal transmitting array element; A floating module, used for floating to the water surface according to the floating instruction; A second receiving module is used to receive the sound signal sent by the sound signal transmitting array element through the sound signal receiving array when the buoy is on the water surface, and the buoy is equipped with a sound signal receiving array; An acquisition module, used to acquire a reception delay of at least three array elements in the sound signal receiving array receiving the sound signal; A positioning module, used to determine the relative position relationship between the underwater vehicle and the buoy according to the receiving delay; determining second position information of the underwater vehicle according to the first position information of the buoy and the relative position relationship; A sending module is used to transmit the second position information to the underwater vehicle.

9. A computing device, characterized in that including memory and processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

Images