Method and equipment for determining pose parameters of underwater vehicle

Abstract

The invention provides a method and equipment for determining pose parameters of an underwater vehicle, and relates to the technical field of underwater vehicle control. Acquiring position coordinates of each target receiving plane array in a carrier coordinate system and depth difference between the underwater vehicle and a carrier of the underwater vehicle; for any target receiving planar array, acquiring a first direction angle of the underwater vehicle relative to the target receiving planar array; performing coordinate conversion on the first direction angle to obtain a second direction angle of the underwater vehicle under various carrier coordinate systems; and determining a target pose parameter of the underwater vehicle under the carrier coordinate system based on the second direction angle and the depth difference of the underwater vehicle under various carrier coordinate systems and the position coordinate of each target receiving plane array under the carrier coordinate system. According to the invention, stable, low-cost and multi-scene position and azimuth angle measurement of the underwater vehicle relative to the carrier can be realized.

Description

Technical Field

[0001] The present application relates to the field of underwater vehicle control technology, and in particular, to a method and device for determining position and attitude parameters of an underwater vehicle. Background Art

[0002] Autonomous underwater vehicle is referred to as AUV (Autonomous Underwater Vehicle). Navigation and positioning is one of the key technologies of AUV. Only when the navigation body is reliably and accurately positioned, the measurement data obtained is meaningful.

[0003] At present, the main method used to measure the distance and azimuth of the underwater autonomous vehicle relative to the carrier (carrying mother ship) is cooperative. However, this method requires the installation of acoustic cooperative beacons on the underwater autonomous vehicle, which will not only affect the dynamic characteristics and endurance of the vehicle, but also be greatly disturbed by noise such as ocean background noise, high cost, unstable measurement, and easily affected by the external environment, and has strong restrictions on application scenarios. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method and device for determining the posture parameters of an underwater vehicle, so as to solve the above-mentioned problems existing in the prior art and realize stable, low-cost, multi-scenario position and azimuth measurement of the underwater vehicle relative to the carrier.

[0005] In a first aspect, a method for determining a posture parameter of an underwater vehicle is provided, which is applied to a display and control machine of a system for determining a posture parameter of the underwater vehicle, wherein the system further comprises: a plurality of receiving plane arrays arranged on a carrier of the underwater vehicle; the method may comprise: Acquire the position coordinates of each target receiving plane array in the carrier coordinate system, and the depth difference between the underwater vehicle and the carrier of the underwater vehicle; For any target receiving plane array, obtaining a first direction angle of the underwater vehicle relative to the target receiving plane array; Performing coordinate transformation on the first direction angle to obtain a second direction angle of the underwater vehicle in various types of carrier coordinate systems; wherein any type of carrier coordinate system is constructed with any target receiving plane array as the origin; Based on the second direction angle and depth difference of the underwater vehicle in various carrier coordinate systems and the position coordinates of each target receiving plane array in the carrier coordinate system, the target posture parameters of the underwater vehicle in the carrier coordinate system are determined.

[0006] In an optional implementation, the system further includes: a multi-channel signal conditioner, a signal processor and a display control machine; Multiple receiving plane arrays are connected to the multi-channel signal conditioner through watertight cables; the multi-channel signal conditioner and the signal processor are connected through cabin penetration cables; the signal processor and the display and control machine are connected in communication; Each target receiving plane array is used to receive the sound signal radiated by the underwater vehicle, perform acoustic-electric conversion on the sound signal to obtain a differential electrical signal; and send the differential electrical signal to the multi-channel signal conditioner; The multi-channel signal conditioner is used to filter, amplify and convert the differential electrical signals received from each target receiving plane array to obtain a digital signal corresponding to each target receiving plane array; and send the digital signal corresponding to each target receiving plane array to the signal processor; The signal processor is used to perform beamforming processing on the received digital signals corresponding to each target receiving plane array to obtain a first direction angle of the underwater vehicle relative to each target receiving plane array; and send the first direction angle to the display control machine; The display and control machine is used to perform coordinate conversion on the first direction angle to obtain the second direction angle of the underwater vehicle in various carrier coordinate systems; based on each second direction angle, the depth difference between the underwater vehicle and the carrier of the underwater vehicle, and the position coordinates of each target receiving plane array in the carrier coordinate system, determine the target posture parameters of the underwater vehicle in the carrier coordinate system.

[0007] In an optional implementation, at least two receiving plane arrays are disposed on both sides of the carrier.

[0008] In an optional implementation, before obtaining the position coordinates of each target receiving plane array in the carrier coordinate system, the method further includes: Acquiring a relative position relationship between the underwater vehicle and the carrier; According to the relative position relationship, the carrier side where the underwater vehicle is located is taken as the target side; The receiving plane array located at the target side is used as the target receiving plane array.

[0009] In an optional implementation, the target posture parameters include: target position coordinates, target distance and target azimuth; The position coordinates of each target receiving plane array in the carrier coordinate system include: the ordinate of each target receiving plane array in the carrier coordinate system; Before determining the target posture parameters of the underwater vehicle in the carrier coordinate system, the method further includes: According to the target side where the underwater vehicle is located, the positive and negative directions of the ordinates of each target receiving plane array in the carrier coordinate system are determined.

[0010] In an optional implementation, determining the target posture parameters of the underwater vehicle in the carrier coordinate system based on the second direction angle, the depth difference, and the position coordinates of each target receiving plane array in the carrier coordinate system includes: Determine the slant range from the underwater vehicle to each target receiving plane array based on the second direction angle of the underwater vehicle in each carrier coordinate system, the position coordinates of each target receiving plane array in the carrier coordinate system and the depth difference; Calculate the target position coordinates of the underwater vehicle in the carrier coordinate system according to the second direction angle of the underwater vehicle in various carrier coordinate systems, the slant range, the depth difference, the position coordinates of each target receiving plane array in the carrier coordinate system, and the positive and negative directions of the corresponding ordinates; According to the target position coordinates, the target distance between the underwater vehicle and the carrier and the target azimuth angles of the underwater vehicle and the carrier are calculated.

[0011] In an optional implementation, after determining the target pose parameters of the underwater vehicle in the carrier coordinate system, the method further includes: Obtaining real-time position and posture parameters of the carrier in the earth coordinate system; Based on the target position coordinates and the real-time posture parameters of the carrier, the position coordinates of the underwater vehicle in the earth coordinate system are determined.

[0012] In an optional implementation, the real-time posture parameters of the carrier include: speed and carrier position coordinates; After determining the position coordinates of the underwater vehicle in the geodetic coordinate system, the method further includes: Obtaining the historical position coordinates of the underwater vehicle in the geodetic coordinate system and the historical carrier position coordinates of the carrier in the geodetic coordinate system at the previous moment before the current moment; Determine the carrier trajectory of the carrier in the geodetic coordinate system at the current moment according to the real-time posture parameters of the carrier, the navigation speed and the historical carrier position coordinates; Determine the target trajectory of the underwater vehicle in the geodetic coordinate system at the current moment according to the historical position coordinates of the underwater vehicle in the geodetic coordinate system and the position coordinates at the current moment; The target trajectory and the carrier trajectory are fitted to obtain an angle between the target trajectory and the carrier trajectory.

[0013] In a second aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement any method step described in the first aspect when executing the program stored in the memory.

[0014] In a third aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0015] This application adopts a passive non-cooperative method to measure the distance and azimuth of an underwater autonomous vehicle relative to a carrier, using the navigation noise data of the underwater vehicle. There is no need to install an acoustic cooperative beacon. It has a wide range of applications, strong applicability, and strong stability. It can achieve accurate measurement of position and azimuth in short-range measurement scenarios and is suitable for applications such as recovering underwater autonomous vehicles by carriers.

[0016] The present application utilizes a receiving plane array, a multi-channel signal conditioner, a signal processor and a signal processing technology to reduce the impact of ocean noise; the present application is not easily affected by the external environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 An architecture diagram of a system for determining the posture parameters of an underwater vehicle provided in an embodiment of the present application; Figure 2 A schematic diagram of a receiving plane array structure provided in an embodiment of the present application; Figure 3 A schematic diagram of the dimensions of a receiving plane array provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of an electronic compartment of a multi-channel signal conditioner provided in an embodiment of the present application; Figure 5 A block diagram of a multi-channel signal conditioner provided in an embodiment of the present application; Figure 6 A flowchart of a method for determining the posture parameters of an underwater vehicle provided in an embodiment of the present application; Figure 7 A schematic diagram of a method for determining the posture parameters of an underwater vehicle provided in an embodiment of the present application; Figure 8 A schematic diagram of a target distance measurement principle provided in an embodiment of the present application; Fig. 9 A schematic diagram of the distance measurement principle under an ideal condition without installation deviation provided in an embodiment of the present application; Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application; In the figure: 1. Receiving plane array; 2. Multi-channel signal conditioner; 3. Signal processor; 4. Display and control machine; 5. Cabin cable. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] The method for determining the posture parameters of an underwater vehicle provided in the embodiment of the present application can be applied in the following aspects: Figure 1 In the system architecture shown, the system for determining the posture parameters of the underwater vehicle is arranged on the carrier of the underwater vehicle, and the system includes: a receiving plane array 1, a multi-channel signal conditioner 2, a signal processor 3 and a display and control machine 4; multiple receiving plane arrays are connected to the multi-channel signal conditioner through a watertight cable; the multi-channel signal conditioner and the signal processor are connected through a cabin cable 5; the signal processor and the display and control machine are communicatively connected; at least two receiving plane arrays are arranged on the left and right sides of the carrier.

[0021] The receiving plane array 1 is used to receive the sound signal (including active sound or passive navigation noise) radiated by the underwater vehicle, and to convert the sound signal into electric sound to obtain a differential electric signal; and to send the differential electric signal to the multi-channel signal conditioner; The multi-channel signal conditioner 2 is composed of a conditioning and acquisition circuit, a stainless steel sealed housing, and a watertight socket, and is used to filter and amplify the differential electrical signals received from each target receiving plane array, and obtain the digital signals of each target receiving plane array after AD conversion, and then transmit them to the signal processor through optical fiber; The signal processor 3 is composed of an optical fiber board, an FPGA processing board, a gigabit network sub-board, a chassis power supply, etc.; it is used to perform beamforming processing on the signals corresponding to each target receiving plane array to obtain a first direction angle; and send the first direction angle to the display control machine; The display and control machine 4 is composed of a display and control computer and display and control software, and is used to determine the target posture parameters of the underwater vehicle in the carrier coordinate system based on the received first direction angle combined with the depth difference between the underwater vehicle and the carrier, and the position coordinates of each target receiving plane array in the carrier coordinate system; specifically, the display and control machine completes operations such as target trajectory display, distance and azimuth calculation, comprehensive display and system working mode control, measurement result storage and base array position calibration solution.

[0022] In the embodiment of the present application, any receiving plane array is composed of 24 cylindrical hydrophone elements and 1 single-element broadband hydrophone, and the 24 elements are arranged in parallel in the horizontal direction; according to the basic principle of array arrangement, in order to form good spatial directivity, the spacing between the elements is arranged in an equidistant manner, and the element spacing is set to 70 mm (corresponding to half the wavelength of a 10.7 kHz signal). The schematic diagram of the specific arrangement of the plane array is shown in FIG. Figure 2 shown.

[0023] In the embodiment of the present application, the 25 elements of any receiving plane array will be installed in a polycarbonate plate with a length of 180cm and a width of 10cm. The polycarbonate plate is integrally installed on the titanium alloy frame through the anti-sound baffle plate. After any receiving plane array is cast with polyurethane, the front surface as the radiation surface will form a complete plane, and the back has 12 M10 mounting holes and two connector ports with a diameter of 80mm. The output signal of the plane array is led out through two shielded multi-core (32-core) watertight cables with an outer diameter of about 20mm and a length of 1m. Figure 3 shown.

[0024] In the embodiments of the present application, Figure 4 As shown in the figure, the electronic cabin adopts a watertight pressure-resistant interface and can be installed outside the carrier and connected to each receiving plane array through a watertight cable; the conditioning and acquisition circuit in the electronic cabin is mainly composed of a signal conditioning circuit, a multi-channel acquisition circuit, a main control and transmission circuit, and a power management circuit, as shown in the figure. Figure 5 shown.

[0025] In the embodiment of the present application, the fiber optic board communicates with the multi-channel signal conditioner to convert the optical signal into an electrical signal; the FPGA processing board completes real-time data processing and uploads it to the display control machine through the gigabit network board in real time; the chassis power supply completes the power conversion and output required by various components inside the signal processor; the signal processor is installed inside the carrier, and the chassis of the signal processor does not need to be watertight.

[0026] The display and control machine can be in a server or in a terminal with strong computing power. The server can be a physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), as well as basic cloud computing services such as big data and artificial intelligence platforms. The terminal can be a user equipment (User Equipment, UE) such as a mobile phone, smart phone, laptop computer, digital broadcast receiver, personal digital assistant (PDA), tablet computer (PAD), handheld device, vehicle-mounted device, wearable device, computing device or other processing equipment connected to a wireless modem, mobile station (MobileStation, MS), mobile terminal (Mobile Terminal), etc. The terminal and the server can be directly or indirectly connected through wired or wireless communication methods, which is not limited in this application.

[0027] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0028] Figure 6 The present invention provides a flow chart of a method for determining the posture parameters of an underwater vehicle. Figure 6 As shown, the method may include: Step S610, obtaining the position coordinates of each target receiving plane array in the carrier coordinate system, and the depth difference between the underwater vehicle and the carrier of the underwater vehicle; for any target receiving plane array, obtaining the first direction angle of the underwater vehicle relative to the target receiving plane array.

[0029] In an embodiment of the present application, before obtaining the position coordinates of each target receiving plane array in the carrier coordinate system, the method also includes: obtaining the relative position relationship between the underwater vehicle and the carrier; based on the relative position relationship, selecting the side where the underwater vehicle exists from the two sides of the carrier as the target side; and using the receiving plane array located on the target side as the target receiving plane array.

[0030] In the embodiment of the present application, the relative position relationship between the underwater vehicle and the carrier can be determined according to the amplitude of the sound signal received by each receiving plane array, and can also be obtained by other methods.

[0031] In the embodiment of the present application, the position coordinates of each target receiving plane array in the carrier coordinate system include: the transverse and longitudinal waves, the longitudinal coordinates and the depth coordinates of each target receiving plane array in the carrier coordinate system.

[0032] In practical applications, multiple receiving plane arrays are set on both sides of the carrier, but not all of them work at the same time, or not all of them can receive the signal returned from the underwater vehicle, that is, the posture parameters of the underwater vehicle relative to the receiving plane array cannot be obtained. Therefore, the target receiving plane array is first determined according to the side of the carrier where the underwater vehicle is located; for example, if the underwater vehicle is on the left side of the carrier, the left side is the target side, and the receiving plane array on the left side is the target receiving plane array.

[0033] In the embodiment of the present application, the first direction angle is obtained by adaptive beamforming processing based on the signals received by each target receiving plane array.

[0034] In practical applications, since each receiving plane array is installed separately, installation angle deviation and installation position deviation are inevitable. The installation angle deviation is controllable, so its impact on the final result is small. Here, it is temporarily set not to consider the installation angle deviation and only consider the installation position deviation.

[0035] Step S620: performing coordinate transformation on the first direction angle to obtain a second direction angle of the underwater vehicle in various carrier coordinate systems.

[0036] In the embodiment of the present application, a coordinate system is constructed with each target receiving plane array as the origin to obtain multiple carrier-like coordinate systems.

[0037] In an embodiment of the present application, a coordinate rotation is performed on a first direction angle of the underwater vehicle relative to each target receiving plane array to obtain a second direction angle of the underwater vehicle in a carrier-like coordinate system centered on each target receiving plane array.

[0038] Step S630: Determine the target posture parameters of the underwater vehicle in the carrier coordinate system based on the second direction angle and depth difference of the underwater vehicle in various carrier coordinate systems and the position coordinates of each target receiving plane array in the carrier coordinate system.

[0039] In an embodiment of the present application, before determining the target posture parameters of the underwater vehicle in the carrier coordinate system, the method also includes: determining the positive and negative directions of the longitudinal coordinates of each target receiving plane array in the carrier coordinate system according to the target side where the underwater vehicle is located.

[0040] In an embodiment of the present application, if the underwater vehicle is on the left side of the carrier, the sign of the ordinate is negative, and if the underwater vehicle is on the right side of the carrier, the sign of the ordinate is positive; when the underwater vehicle passes through the carrier, the sign change of the ordinate is determined according to the real-time position of the underwater vehicle.

[0041] In the embodiment of the present application, the target posture parameters include: target position coordinates, target distance and target azimuth.

[0042] In the embodiment of the present application, the determination of the target posture parameters includes: Based on the second direction angle of the underwater vehicle in various carrier coordinate systems, the position coordinates of each target receiving plane array in the carrier coordinate system and the depth difference, the slant distance from the underwater vehicle to each target receiving plane array is determined; based on the second direction angle, slant distance, depth difference of the underwater vehicle in various carrier coordinate systems, the position coordinates of each target receiving plane array in the carrier coordinate system and the positive and negative directions of the corresponding longitudinal coordinates, the target position coordinates of the underwater vehicle in the carrier coordinate system are calculated; based on the target position coordinates and the positive and negative directions of the longitudinal coordinates, the target distance between the underwater vehicle and the carrier and the target azimuth of the underwater vehicle and the carrier are calculated.

[0043] In the embodiment of the present application, after obtaining the target azimuth angle, it is necessary to smooth and average the target azimuth angle to obtain the final target azimuth angle.

[0044] In an embodiment of the present application, after determining the target posture parameters of the underwater vehicle in the carrier coordinate system, the method further includes: The real-time position and posture parameters of the carrier in the geodetic coordinate system are obtained; and the position coordinates of the underwater vehicle in the geodetic coordinate system are determined based on the target position coordinates and the real-time position and posture parameters of the carrier.

[0045] In an embodiment of the present application, the real-time posture parameters of the carrier include: the real-time position coordinates of the carrier of the origin of the carrier coordinate system in the geodetic coordinate system and the pitch angle, roll angle, heading and speed of the carrier; the pitch angle and roll angle of the carrier are measured by an inertial navigation device carried on the carrier; the pitch angle is defined as positive from the horizontal plane with the bow pointing downward, and the roll angle is defined as positive from the horizontal plane with the starboard side pointing upward; the heading direction is defined as: the bow is positive to the east.

[0046] In the embodiment of the present application, after determining the position coordinates of the underwater vehicle in the geodetic coordinate system, the method further includes: Obtain the historical position coordinates of the underwater vehicle in the geodetic coordinate system at the previous moment and the historical carrier position coordinates of the carrier in the geodetic coordinate system; determine the carrier trajectory of the carrier in the geodetic coordinate system at the current moment according to the real-time posture parameters, speed and historical carrier position coordinates of the carrier; determine the target trajectory of the underwater vehicle in the geodetic coordinate system at the current moment according to the historical position coordinates of the underwater vehicle in the geodetic coordinate system and the position coordinates at the current moment; fit the target trajectory and the carrier trajectory to obtain the angle between the target trajectory and the carrier trajectory.

[0047] In an embodiment of the present application, the duration of the current moment and the moment before the current moment are the same as the duration of the configured measurement period, the current moment is the current measurement period, and the moment before the current moment is the measurement period before the current measurement period; for example, if the measurement period is every hour, the current moment is the current hour, and the moment before the current moment is the previous hour, that is, the hour that has just passed.

[0048] During the underwater measurement process, since the underwater vehicle and the carrier are both moving, and the target position obtained in each measurement cycle is based on the target position in the current carrier coordinate system, in order to obtain the angle between the trajectory of the underwater vehicle and the motion trajectory of the carrier so as to clarify the relative motion status of the two, the target positioning result and the carrier position can be rotated and translated according to the carrier's speed, heading and attitude data to obtain the target trajectory and carrier trajectory based on the fixed geodetic coordinate system, and then the angle between the target trajectory and the carrier trajectory is calculated based on the trajectory fitting data.

[0049] like Figure 7 As shown, taking two target receiving plane arrays as an example, the method for determining the posture parameters of an underwater vehicle provided in an embodiment of the present application includes the following steps: Firstly, the first target receiving plane array measures a first direction angle of the underwater vehicle in the first target receiving plane array coordinate system, and the second target receiving plane array measures a first direction angle of the underwater vehicle in the second target receiving plane array coordinate system; Secondly, the second direction angle in the carrier-like coordinate system centered on the first target receiving plane array and the second direction angle in the carrier-like coordinate system centered on the second target receiving plane array are obtained through coordinate rotation respectively; Then, the slant distances from the target to the first target receiving plane array and the second target receiving plane array are calculated according to the geometric relationship equations using the second direction angles, the position coordinates of the first target receiving plane array and the second target receiving plane array in the carrier coordinate system, and the depth difference data between the carrier and the underwater vehicle target, and the target position coordinates in the carrier coordinate system are calculated at the same time; Finally, the position of the origin of the carrier coordinate system in the geodetic coordinate system and the orientation and posture of the carrier are obtained, and the target position in the geodetic coordinate system can also be obtained. Finally, the target trajectory and the carrier trajectory in the geodetic coordinate system are fitted and calculated to obtain the angle between the underwater vehicle and the carrier.

[0050] In the embodiment of the present application, the position coordinates of the center of the first target receiving plane array in the underwater carrier coordinate system are set to , the position coordinates of the center of the second target receiving plane array in the underwater carrier coordinate system are , assuming that the center of the first target receiving plane array is on the X-axis of the underwater carrier coordinate system, that is, , this assumption does not affect the generality of the measurement results. and If it is not equal to 0, the calculation difference can be eliminated by simple translation. , then the geometric relationship diagram between the underwater vehicle and the target receiving plane array in the underwater carrier coordinate system is as follows Figure 8 As shown, it is assumed that the center of the second target receiving plane array is not on the X-axis of the underwater carrier coordinate system.

[0051] Figure 8 In the figure, the center of the first target receiving plane array is represented by "A", the center of the second target receiving plane array is represented by "B", the underwater vehicle is represented by "S", and the projection of the underwater vehicle on the horizontal plane is represented by " "express, The projection on the X-axis of the underwater carrier coordinate system is represented by "C". are the distances from the underwater vehicle to the first target receiving plane array, the second target receiving plane array and the origin of the underwater carrier coordinate system, respectively. is the depth difference between the underwater vehicle and the underwater carrier (or the Z coordinate of the underwater vehicle in a quasi-underwater carrier coordinate system with the first target receiving plane array as the origin), which is assumed to be a known quantity.

[0052] according to Figure 8 The geometric relationship in can be obtained: , , the position coordinates of the underwater vehicle in the quasi-underwater carrier coordinate system with the first target receiving plane array as the origin are: ; The position coordinates of the underwater vehicle in the quasi-underwater carrier coordinate system with the second target receiving plane array as the origin are: ; in, and They respectively represent the second direction angles of the underwater vehicle in various carrier coordinate systems; .

[0053] In addition, the position of the underwater vehicle in the underwater carrier coordinate system after coordinate translation is uniquely obtainable: ; Thus, the quadratic equation system can be obtained as follows: ; The unknowns of the above quadratic equations are and , and the rest are known quantities. Therefore, we can solve the above quadratic equations to get and , find and After that, the coordinates of the underwater vehicle in the underwater carrier coordinate system can be calculated, and finally the target distance can be obtained. .

[0054] In the present embodiment, find and After that, the position coordinates of the underwater vehicle in the underwater carrier coordinate system can be obtained as: ; The target distance is therefore: ; It should be noted that if the sign of the Y coordinate (i.e., the longitudinal coordinate) is unknown, it may cause errors in the measurement results. Therefore, before solving the problem, it is necessary to determine the sign of the Y coordinate through prior knowledge. Under normal circumstances, if the underwater vehicle is on the port side of the underwater carrier, the sign of the Y coordinate is negative. If the underwater vehicle is on the starboard side of the underwater carrier, the sign of the Y coordinate is positive. Special attention should be paid to the change in the sign of the Y coordinate when the underwater vehicle passes through the underwater carrier.

[0055] In addition, when solving the above equations, it is necessary to set and When selecting the initial value, it can be assumed that the first target receiving plane array and the second target receiving plane array are both located on the X-axis of the underwater carrier coordinate system, such as Fig. 9 shown.

[0056] At this time, the reference value of the distance is calculated as the initial value according to the following formula: ; ; ; Wherein, D represents the distance between the first target receiving plane array and the second target receiving plane array.

[0057] Although the formulas in the above embodiments of the present application take two target receiving plane arrays as an example, the above formulas can also be used when the number of target receiving plane arrays is 3, 4 or more; for example, when the number of target receiving plane arrays is 4, two target receiving plane arrays can be used as a group to perform the above calculations, and the final result can be corrected or averaged to obtain the target distance.

[0058] In the embodiment of the present application, the determination of the angle between the underwater vehicle and the carrier includes: During underwater measurement, since the underwater vehicle and the underwater carrier are both moving, and the target position obtained in each measurement cycle is based on the target position in the current carrier coordinate system, in order to obtain the angle between the target trajectory and the underwater carrier motion trajectory so as to clarify the relative motion status of the two, the target positioning result and the carrier position can be rotated and translated according to the carrier's speed, heading and attitude data to obtain the target trajectory and carrier trajectory based on the fixed geodetic coordinate system, and then the azimuth is calculated based on the trajectory fitting data. Specifically, the fixed reference coordinate system is set to the north-east geodetic coordinate system (left-handed coordinate system) with the initial position of the carrier as the origin.

[0059] Assuming that the navigation depth of the underwater carrier remains unchanged, the heading is (Basically remains unchanged during the measurement process), the speed of the carrier measured in the current cycle is The inertial navigation device carried by the carrier measures the pitch angle of the carrier to be , the roll angle is , we can get the rotation matrix between the current period carrier coordinate system and the north east sky coordinate system as: ; in, , the heading direction is defined as: the bow is eastward as positive, the pitch angle is defined as the bow downward from the horizontal plane as positive, and the roll angle is defined as the starboard side upward from the horizontal plane as positive.

[0060] Set the coordinates of the underwater vehicle in the carrier coordinate system obtained by measuring the current period to , at this time, the origin of the carrier coordinate system in the north-east celestial coordinate system is: , then the position coordinates of the target in the north-east celestial geodetic coordinate system are: ; in, It can be measured by the inertial navigation device carried by the underwater carrier, or calculated based on the carrier's initial position and real-time speed and heading. Assume that the synchronization period is , the position coordinates of the origin of the carrier coordinate system in the previous period in the north-east celestial earth coordinate system are: , then the position coordinates of the origin of the current period carrier coordinate system in the north-east celestial earth coordinate system are: ; in, Indicates the speed of the carrier in the current period. After the above attitude correction is completed, the trajectory of the target and the carrier in the same fixed coordinate system can be obtained, and then the azimuth can be calculated through the trajectory fitting result.

[0061] Assuming that the target motion trajectory and the carrier motion trajectory are both straight lines, the linear equation of the target motion trajectory is obtained by fitting in the two-dimensional plane: , then the direction vector of the straight line is The linear equation of the carrier motion trajectory obtained by fitting is: , then its direction vector is , so the azimuth angle can be obtained The calculation formula (here it is assumed to be the angle between the target trajectory and the carrier trajectory) is as follows: ; Among them, the angle The value range is .

[0062] In the embodiment of the present application, although the carrier and the aircraft are not always moving in a straight line, when the measurement period is limited to a short time, both of them are moving in a straight line. Therefore, the above scheme of the present application can be applied in the aircraft recovery scenario and obtain accurate results. For a measurement period of 3 hours, the carrier and the aircraft are not moving in a straight line, but after dividing the 3 hours into multiple small time periods of 3 minutes, for any time period, the carrier and the aircraft are moving in a straight line. The method of the present application can obtain the angle and position data of the carrier trajectory and the aircraft trajectory within a 3-minute time period; then combine the angle and position data of the carrier trajectory and the aircraft trajectory obtained in each time period to obtain the measurement results of the carrier and the aircraft in a complete measurement period, and the measurement results are very accurate.

[0063] Corresponding to the above method, an embodiment of the present application further provides a device for determining the posture parameters of an underwater vehicle, the device for determining the posture parameters of the underwater vehicle comprising: An acquisition unit is used to acquire the position coordinates of each target receiving plane array in the carrier coordinate system, and the depth difference between the underwater vehicle and the carrier of the underwater vehicle; for any target receiving plane array, acquire a first direction angle of the underwater vehicle relative to the target receiving plane array; A conversion unit, used for performing coordinate conversion on the first direction angle to obtain a second direction angle of the underwater vehicle in various types of carrier coordinate systems; wherein any type of carrier coordinate system is constructed with any target receiving plane array as the origin; The determination unit is used to determine the target posture parameters of the underwater vehicle in the carrier coordinate system based on the second direction angle, depth difference and position coordinates of each target receiving plane array in the carrier coordinate system of the underwater vehicle.

[0064] The functions of the various functional units of the device for determining the posture parameters of an underwater vehicle provided in the above-mentioned embodiments of the present application can be achieved through the above-mentioned method steps. Therefore, the specific working process and beneficial effects of each unit in the device for determining the posture parameters of an underwater vehicle provided in the embodiments of the present application will not be repeated here.

[0065] The present application also provides an electronic device, such as Fig.10 As shown, it includes a processor 1010 , a communication interface 1020 , a memory 1030 and a communication bus 1040 , wherein the processor 1010 , the communication interface 1020 , and the memory 1030 communicate with each other via the communication bus 1040 .

[0066] Memory 1030, used for storing computer programs; The processor 1010 is used to implement the following steps when executing the program stored in the memory 1030: Obtaining the position coordinates of each target receiving plane array in the carrier coordinate system, and the depth difference between the underwater vehicle and the carrier of the underwater vehicle; For any target receiving plane array, obtaining a first direction angle of the underwater vehicle relative to the target receiving plane array; The first direction angle is converted into coordinates to obtain a second direction angle of the underwater vehicle in various carrier coordinate systems; wherein any type of carrier coordinate system is constructed with any target receiving plane array as the origin; The target posture parameters of the underwater vehicle in the carrier coordinate system are determined based on the second direction angle and depth difference of the underwater vehicle in various carrier coordinate systems and the position coordinates of each target receiving plane array in the carrier coordinate system.

[0067] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0068] The communication interface is used for communication between the above electronic device and other devices.

[0069] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0070] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0071] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be seen in Figure 6 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0072] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the method for determining the posture parameters of the underwater vehicle in any of the above-mentioned embodiments.

[0073] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the method for determining the posture parameters of the underwater vehicle in any of the above-mentioned embodiments.

[0074] Those skilled in the art will appreciate that the embodiments in the present application can be provided as methods, systems, or computer program products. Therefore, the embodiments in the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments in the present application can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0075] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0076] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0078] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0079] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application fall within the scope of the claims and their equivalents in the embodiments of the present application, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A method for determining the posture parameters of an underwater vehicle, characterized in that: The method is applied to a display and control machine of a system for determining the position and attitude parameters of the underwater vehicle, wherein the system further comprises: a plurality of receiving plane arrays arranged on a carrier of the underwater vehicle; and the method comprises: Acquire the position coordinates of each target receiving plane array in the carrier coordinate system, and the depth difference between the underwater vehicle and the carrier of the underwater vehicle; For any target receiving plane array, obtaining a first direction angle of the underwater vehicle relative to the target receiving plane array; Performing coordinate transformation on the first direction angle to obtain a second direction angle of the underwater vehicle in various types of carrier coordinate systems; wherein any type of carrier coordinate system is constructed with any target receiving plane array as the origin; Based on the second direction angle and depth difference of the underwater vehicle in various carrier coordinate systems and the position coordinates of each target receiving plane array in the carrier coordinate system, the target posture parameters of the underwater vehicle in the carrier coordinate system are determined.

2. The method according to claim 1, characterized in that The system also includes: a multi-channel signal conditioner, a signal processor and a display and control machine; Multiple receiving plane arrays are connected to the multi-channel signal conditioner through watertight cables; the multi-channel signal conditioner and the signal processor are connected through cabin penetration cables; the signal processor and the display and control machine are connected in communication; Each target receiving plane array is used to receive the sound signal radiated by the underwater vehicle, perform acoustic-electric conversion on the sound signal to obtain a differential electrical signal; and send the differential electrical signal to the multi-channel signal conditioner; The multi-channel signal conditioner is used to filter, amplify and convert the differential electrical signals received from each target receiving plane array to obtain a digital signal corresponding to each target receiving plane array; and send the digital signal corresponding to each target receiving plane array to the signal processor; The signal processor is used to perform beamforming processing on the received digital signals corresponding to each target receiving plane array to obtain a first direction angle of the underwater vehicle relative to each target receiving plane array; and send the first direction angle to the display control machine; The display and control machine is used to perform coordinate conversion on the first direction angle to obtain the second direction angle of the underwater vehicle in various carrier coordinate systems; based on each second direction angle, the depth difference between the underwater vehicle and the carrier of the underwater vehicle, and the position coordinates of each target receiving plane array in the carrier coordinate system, determine the target posture parameters of the underwater vehicle in the carrier coordinate system.

3. The method according to claim 1, characterized in that At least two receiving plane arrays are arranged on both sides of the carrier.

4. The method according to claim 3, characterized in that Before obtaining the position coordinates of each target receiving plane array in the carrier coordinate system, the method further includes: Acquiring a relative position relationship between the underwater vehicle and the carrier; According to the relative position relationship, the carrier side where the underwater vehicle is located is taken as the target side; The receiving plane array located at the target side is used as the target receiving plane array.

5. The method according to claim 4, characterized in that The target posture parameters include: target position coordinates, target distance and target azimuth; The position coordinates of each target receiving plane array in the carrier coordinate system include: the ordinate of each target receiving plane array in the carrier coordinate system; Before determining the target posture parameters of the underwater vehicle in the carrier coordinate system, the method further includes: According to the target side where the underwater vehicle is located, the positive and negative directions of the ordinates of each target receiving plane array in the carrier coordinate system are determined.

6. The method according to claim 5, characterized in that Determining target posture parameters of the underwater vehicle in the carrier coordinate system based on the second direction angle, the depth difference, and the position coordinates of each target receiving plane array in the carrier coordinate system includes: Determine the slant range from the underwater vehicle to each target receiving plane array based on the second direction angle of the underwater vehicle in each carrier coordinate system, the position coordinates of each target receiving plane array in the carrier coordinate system and the depth difference; Calculate the target position coordinates of the underwater vehicle in the carrier coordinate system according to the second direction angle of the underwater vehicle in various carrier coordinate systems, the slant range, the depth difference, the position coordinates of each target receiving plane array in the carrier coordinate system, and the positive and negative directions of the corresponding ordinates; According to the target position coordinates, the target distance between the underwater vehicle and the carrier and the target azimuth angles of the underwater vehicle and the carrier are calculated.

7. The method according to claim 6, characterized in that After determining the target posture parameters of the underwater vehicle in the carrier coordinate system, the method further includes: Obtaining real-time position and posture parameters of the carrier in the earth coordinate system; Based on the target position coordinates and the real-time posture parameters of the carrier, the position coordinates of the underwater vehicle in the earth coordinate system are determined.

8. The method according to claim 7, characterized in that The real-time position parameters of the carrier include: speed and carrier position coordinates; After determining the position coordinates of the underwater vehicle in the geodetic coordinate system, the method further includes: Obtaining the historical position coordinates of the underwater vehicle in the geodetic coordinate system and the historical carrier position coordinates of the carrier in the geodetic coordinate system at the previous moment before the current moment; Determine the carrier trajectory of the carrier in the geodetic coordinate system at the current moment according to the real-time posture parameters of the carrier, the navigation speed and the historical carrier position coordinates; Determine the target trajectory of the underwater vehicle in the geodetic coordinate system at the current moment according to the historical position coordinates of the underwater vehicle in the geodetic coordinate system and the position coordinates at the current moment; The target trajectory and the carrier trajectory are fitted to obtain an angle between the target trajectory and the carrier trajectory.

9. An electronic device, characterized in that: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-8 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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