Control method, device and equipment of high-precision simple underwater acoustic positioning system

Abstract

The invention provides a control method, device and equipment for a high-precision simple underwater acoustic positioning system, and the method comprises the steps: controlling a first target structure to transmit an original positioning signal according to a preset positioning period, so as to enable a second target structure to receive a target positioning signal; receiving a target positioning signal; doppler estimation is carried out based on the target positioning signal uploaded by each reference transmit-receive structure so as to carry out motion compensation on an initial time delay value corresponding to the current positioning period; and based on the relative layer thickness between the reference transmit-receive structure array and the beacon transmit-receive structure array, performing sound velocity compensation on the initial time delay value corresponding to the current positioning period to obtain a target time delay value, and according to the target time delay value and the calibrated target position information corresponding to each reference transmit-receive structure, combining adjustment improvement based on additional speed and ranging constraint, and resolving a target positioning result corresponding to each beacon transmit-receive structure in the beacon transmit-receive structure array. According to the invention, the underwater acoustic positioning precision can be obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic positioning, and in particular to a control method, device and equipment for a high-precision and simple underwater acoustic positioning system. Background Art

[0002] Underwater acoustic positioning technology is widely used in fields such as ocean exploration, underwater navigation, and target tracking. Its basic principle is to calculate the position of a target by transmitting acoustic waves and receiving reflected signals. With the increasing demand for ocean resource development and ocean environmental protection, the requirement for underwater acoustic positioning accuracy is also getting higher and higher. In the prior art, underwater acoustic positioning systems usually rely on the propagation characteristics of acoustic waves in water to determine the target position by measuring the propagation time and direction of acoustic waves. However, the application of existing underwater acoustic positioning technology in complex underwater environments faces the problem of insufficient accuracy and is difficult to meet the requirements of high-precision positioning. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a control method, device and equipment for a high-precision and simple underwater acoustic positioning system, which can significantly improve the underwater acoustic positioning accuracy.

[0004] In a first aspect, the present invention provides a control method for a high-precision and simple underwater acoustic positioning system. The method is applied to a positioning processor in the high-precision and simple underwater acoustic positioning system. The high-precision and simple underwater acoustic positioning system further includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. The method includes: Controlling a first target structure to transmit an original positioning signal according to a preset positioning period, so that a second target structure receives a target positioning signal; when the first target structure is a target beacon transceiver structure in the beacon transceiver structure array, the second target structure is each reference transceiver structure in the reference transceiver structure array; when the first target structure is a target reference transceiver structure in the reference transceiver structure array, the second target structure is each beacon transceiver structure in the beacon transceiver structure array; Receiving the target positioning signal; Performing Doppler estimation based on the target positioning signals uploaded by each reference transceiver structure to perform motion compensation on the initial time delay value corresponding to the current positioning period; and performing sound speed compensation on the initial time delay value corresponding to the current positioning period based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array to obtain a target time delay value; According to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with the adjustment improvement based on additional speed and ranging constraints, calculating the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0005] In one embodiment, Doppler estimation is performed based on the target positioning signals uploaded by each reference transceiver structure to perform motion compensation on the initial time delay value corresponding to the current positioning cycle, including: Determine a rough Doppler estimation value based on the correlation amplitude of the target positioning signals uploaded by each reference transceiver structure; Estimate the phase integer ambiguity based on the rough Doppler estimation value, and estimate the accurate Doppler estimation value based on the phase integer ambiguity; Use the accurate Doppler estimation value to perform motion compensation on the initial time delay value corresponding to the current positioning cycle.

[0006] In one embodiment, based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array, perform sound speed compensation on the initial time delay value corresponding to the current positioning cycle to obtain the target time delay value, including: Along the water depth direction, divide the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array into multiple discrete water layers; Obtain the sound speed measurement data and the sound speed weight corresponding to each discrete water layer; Use the sound speed weight corresponding to each discrete water layer to fuse the sound speed measurement data corresponding to each discrete water layer to obtain the average sound speed; Use the average sound speed to perform sound speed compensation on the initial time delay value corresponding to the current positioning cycle.

[0007] In one embodiment, according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with the adjustment improvement based on the additional speed and ranging constraint, solve the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array, including: Determine the initial positioning result corresponding to the beacon transceiver structure according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration; Based on the initial positioning result, the relative motion speed between the beacon transceiver structure and each reference transceiver structure, and the target position information corresponding to each reference transceiver structure, perform adjustment improvement on the initial positioning result based on the additional speed and ranging constraint to obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0008] In one embodiment, based on the initial positioning result, the relative motion speed between the beacon transceiver structure and each reference transceiver structure, and the target position information corresponding to each reference transceiver structure, perform adjustment improvement on the initial positioning result based on the additional speed and ranging constraint to obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array, including: Construct a ranging residual term between the beacon and the reference based on the initial positioning result corresponding to the beacon transceiver structure and the target position information corresponding to each reference transceiver structure; and construct a ranging constraint residual term between the beacons based on the initial positioning result corresponding to the beacon transceiver structure and the initial positioning results corresponding to other beacon transceiver structures; and construct a velocity constraint residual term between the beacons based on the initial positioning result corresponding to the beacon transceiver structure and the relative motion speed between the beacon transceiver structure and each reference transceiver structure. Construct a residual function according to the ranging residual term between the beacon and the reference, the ranging constraint residual term between the beacons, and the velocity constraint residual term between the beacons. Use the non - linear least - squares fitting algorithm to iteratively solve the residual function until the preset iteration stop condition is met, and obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0009] In one implementation, the method further includes: Control the target reference transceiver structure in the reference transceiver structure array to poll and transmit the original calibration signal according to a preset calibration period, so that other reference transceiver structures in the reference transceiver structure array receive the target calibration signal. Determine the relative position information between each reference transceiver structure in the reference transceiver structure array based on the original calibration signal transmitted and the target calibration signal received within each calibration period. Determine the target position information of each reference transceiver structure in the pre - established reference coordinate system according to the relative position information between each reference transceiver structure.

[0010] In one implementation, the reference transceiver structure array includes a first reference transceiver structure, a second reference transceiver structure, and a third reference transceiver structure. Take the position where the first reference transceiver structure is located as the coordinate origin of the reference coordinate system, take the plane formed by the first reference transceiver structure, the second reference transceiver structure, and the third reference transceiver structure as the reference plane of the reference coordinate system, and take the line connecting the first reference transceiver structure to the second reference transceiver structure as the positive direction of the X - axis of the reference coordinate system.

[0011] In a second aspect, the present invention also provides a control device for a high - precision and simple underwater acoustic positioning system. The device is applied to a positioning processor in the high - precision and simple underwater acoustic positioning system. The high - precision and simple underwater acoustic positioning system further includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. The device includes: A signal transmitting and receiving module, configured to control a first target structure to transmit an original positioning signal according to a preset positioning period, so that a second target structure receives a target positioning signal; when the first target structure is a target beacon transceiver structure in a beacon transceiver structure array, the second target structure is each reference transceiver structure in a reference transceiver structure array; when the first target structure is a target reference transceiver structure in a reference transceiver structure array, the second target structure is each beacon transceiver structure in a beacon transceiver structure array; A signal uploading module, configured to receive the target positioning signal; A time delay compensation module, configured to perform Doppler estimation based on the target positioning signals uploaded by each reference transceiver structure to perform motion compensation on an initial time delay value corresponding to the current positioning period; and perform sound speed compensation on the initial time delay value corresponding to the current positioning period based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array to obtain a target time delay value; A beacon positioning module, configured to solve the target positioning results corresponding to each beacon transceiver structure in the beacon transceiver structure array according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained through calibration, in combination with adjustment improvement based on additional speed and ranging constraints.

[0012] In a third aspect, the present invention further provides an electronic device, including a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the method according to any one of the first aspect.

[0013] In a fourth aspect, the present invention further provides a computer-readable storage medium storing computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method according to any one of the first aspect.

[0014] A control method, device and equipment for a high-precision and simple underwater acoustic positioning system provided by the present invention are applied to a positioning processor in the high-precision and simple underwater acoustic positioning system. The high-precision and simple underwater acoustic positioning system further includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. First, according to a preset positioning period, control a first target structure to transmit an original positioning signal so that a second target structure receives the target positioning signal; when the first target structure is a target beacon transceiver structure in the beacon transceiver structure array, the second target structure is each reference transceiver structure in the reference transceiver structure array; when the first target structure is a target reference transceiver structure in the reference transceiver structure array, the second target structure is each beacon transceiver structure in the beacon transceiver structure array; then receive the target positioning signal; next, perform Doppler estimation based on the target positioning signals uploaded by each reference transceiver structure to perform motion compensation on the initial time delay value corresponding to the current positioning period; and, perform sound speed compensation on the initial time delay value corresponding to the current positioning period based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array to obtain a target time delay value; finally, according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with the adjustment improvement based on the additional speed and ranging constraint, solve the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array. After receiving the target positioning signals uploaded by each reference program, the above method can be used to perform motion compensation on the initial time delay value, and at the same time perform sound speed compensation on the initial time delay value based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array. On this basis, combined with the adjustment improvement based on the additional speed and ranging constraint, solve the target positioning result corresponding to the target virtual table structure. The present invention can significantly improve the accuracy of underwater acoustic positioning.

[0015] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification, claims and drawings.

[0016] To make the above objectives, features and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. Description of the Drawings

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 Schematic flowchart of a control method for a high-precision and simple underwater acoustic positioning system provided by an embodiment of the present invention; Figure 2 Schematic diagram of the structure of a high-precision and simple underwater acoustic positioning system provided by an embodiment of the present invention; Figure 3 Working flowchart of a high-precision control underwater acoustic positioning system provided by an embodiment of the present invention; Figure 4 Flowchart of a positioning algorithm provided by an embodiment of the present invention; Figure 5 Schematic diagram of an experimental scenario provided by an embodiment of the present invention; Figure 6 Schematic diagram of the XY direction of the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a 1m spacing provided by an embodiment of the present invention; Figure 7 Schematic diagram of the XZ direction of the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a 1m spacing provided by an embodiment of the present invention; Figure 8 Schematic diagram of the moving speed of beacon transceiver structure 1# under the condition of a 1m spacing provided by an embodiment of the present invention; Figure 9 Schematic diagram of the moving speed of beacon transceiver structure 2# under the condition of a 1m spacing provided by an embodiment of the present invention; Figure 10 Schematic diagram of the spacing positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a 1m spacing provided by an embodiment of the present invention; Figure 11 Histogram of the spacing positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a 1m spacing provided by an embodiment of the present invention; Figure 12 Position distribution of beacon transceiver structure 1# and beacon transceiver structure 2# and the reference transceiver structure provided by an embodiment of the present invention; Figure 13 Schematic diagram of the XY direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a 3m spacing provided by an embodiment of the present invention; Figure 14 Schematic diagram of the XZ direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a 3m spacing provided by an embodiment of the present invention; Figure 15 Schematic diagram of the moving speed of beacon transceiver structure 1# under the condition of a 3m spacing provided by an embodiment of the present invention; Figure 16Schematic diagram of the movement speed of Beacon Transceiver Structure 2# at a spacing of 3m provided by an embodiment of the present invention; Figure 17 Schematic diagram of the spacing positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 3m provided by an embodiment of the present invention; Figure 18 Histogram of the spacing positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 3m provided by an embodiment of the present invention; Figure 19 Schematic diagram in the XY direction of the trajectory positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 3.76m provided by an embodiment of the present invention; Figure 20 Schematic diagram in the XZ direction of the trajectory positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 3.76m provided by an embodiment of the present invention; Figure 21 Schematic diagram of the movement speed of Beacon Transceiver Structure 1# at a spacing of 3.76m provided by an embodiment of the present invention; Figure 22 Schematic diagram of the movement speed of Beacon Transceiver Structure 2# at a spacing of 3.76m provided by an embodiment of the present invention; Figure 23 Schematic diagram of the spacing positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 3.76m provided by an embodiment of the present invention; Figure 24 Histogram of the spacing positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 3.76m provided by an embodiment of the present invention; Figure 25 Schematic diagram in the XY direction of the trajectory positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 1.82m provided by an embodiment of the present invention; Figure 26 Schematic diagram in the XZ direction of the trajectory positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 1.82m provided by an embodiment of the present invention; Figure 27 Schematic diagram of the movement speed of Beacon Transceiver Structure 1# at a spacing of 1.82m provided by an embodiment of the present invention; Figure 28 Schematic diagram of the movement speed of Beacon Transceiver Structure 2# at a spacing of 1.82m provided by an embodiment of the present invention; Figure 29 Schematic diagram of the spacing positioning result of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 1.82m provided by an embodiment of the present invention; Figure 30Histogram of the ranging results of the beacon transceiver structure 1# and the beacon transceiver structure 2# at a spacing of 1.82 m provided by the embodiments of the present invention; Figure 31 Schematic structural diagram of a control device of a high-precision and simple underwater acoustic positioning system provided by the embodiments of the present invention; Figure 32 Schematic structural diagram of an electronic device provided by the embodiments of the present invention. Detailed implementation manners

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] Currently, the application of existing underwater acoustic positioning technologies in complex underwater environments faces the problem of insufficient accuracy and is difficult to meet the requirements of high-precision positioning. Based on this, the embodiments of the present invention provide a control method, device, and equipment for a high-precision and simple underwater acoustic positioning system, which can significantly improve the accuracy of underwater acoustic positioning.

[0021] For the convenience of understanding this embodiment, first, a control method for a high-precision and simple underwater acoustic positioning system disclosed in the embodiments of the present invention will be introduced in detail. This method is applied to a positioning processor in a high-precision and simple underwater acoustic positioning system. The high-precision and simple underwater acoustic positioning system further includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. Refer to Figure 1 The flowchart of a control method for a high-precision and simple underwater acoustic positioning system shown. This method mainly includes the following steps S102 to step S108: Step S102, control the first target structure to transmit an original positioning signal according to a preset positioning period, so that the second target structure receives the target positioning signal.

[0022] Wherein, when the first target structure is the target beacon transceiver structure in the beacon transceiver structure array, the second target structure is each reference transceiver structure in the reference transceiver structure array; when the first target structure is the target reference transceiver structure in the reference transceiver structure array, the second target structure is each beacon transceiver structure in the beacon transceiver structure array. The positioning period is also the working period in the positioning mode. In one example, in the positioning mode, each beacon transceiver structure in the beacon transceiver structure array polls to transmit the original positioning signal, and each reference transceiver structure in the reference transceiver structure array receives the original positioning signals transmitted by each beacon transceiver structure, which is recorded as the target positioning signal.

[0023] Step S104, receive the target positioning signal.

[0024] Step S106, perform Doppler estimation based on the target positioning signals uploaded by each reference transceiver structure to perform motion compensation on the initial time delay value corresponding to the current positioning cycle; and, perform sound speed compensation on the initial time delay value corresponding to the current positioning cycle based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array to obtain the target time delay value.

[0025] Among them, each reference transceiver structure in the reference transceiver structure array and each beacon transceiver structure in the beacon transceiver structure array will upload its own delay value in the current positioning cycle, denoted as the multi-channel delay value; using this multi-channel delay value, the initial delay value between any beacon transceiver structure and each reference transceiver structure can be determined; perform motion compensation and sound speed compensation on the initial delay value respectively to obtain the target time delay value between any beacon transceiver structure and each reference transceiver structure.

[0026] Step S108, according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with the adjustment improvement based on the additional speed and ranging constraint, solve the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0027] Among them, two beacon transceiver structures are fixedly connected by a rigid rod with a fixed length, so the relative speed and relative position relationship between the two beacon transceiver structures during movement are fixed, that is, the additional speed and ranging constraint. The target position information is determined based on the calibration signals polled and transmitted by each reference transceiver structure in the calibration mode. In one example, the initial positioning result corresponding to the beacon transceiver structure can be determined according to the target time delay value and the target positioning mode corresponding to each reference transceiver structure, and the adjustment improvement based on the additional constraint and ranging constraint is performed on the initial positioning result to obtain the target positioning result corresponding to the beacon transceiver structure.

[0028] The control method of the high-precision and simple underwater acoustic positioning system provided by the embodiments of the present invention can be used to perform motion compensation on the initial time delay value after receiving the target positioning signals uploaded by each reference program, and at the same time perform sound speed compensation on the initial time delay value based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array. On this basis, combined with the adjustment improvement based on the additional speed and ranging constraint, the target positioning result corresponding to the target virtual table structure is solved. The embodiments of the present invention can significantly improve the accuracy of underwater acoustic positioning.

[0029] For ease of understanding, the embodiments of the present invention first explain the high-precision and simple underwater acoustic positioning system. Exemplarily, see Figure 2Schematic diagram of the structure of a high-precision and simple underwater acoustic positioning system. The positioning system device includes: 1 set of PC display and control computer, 1 set of positioning processor (with built-in circuit, battery, and watertight connectors), and 3 sets of reference transceiver structures (including deployment brackets) to form a positioning array, and 2 sets of beacon transceiver structures as positioning targets. The PC display and control computer is responsible for system management, self-check, and setting of positioning parameters, display of calibration mode and positioning mode trajectories, and playback; the positioning processing is responsible for connecting the display and control computer with the reference transceiver structure and the beacon transceiver structure, realizing timing control, array and positioning calculation, and data communication; the reference transceiver structure supports soft suspension deployment and sits on the bottom of the water or hangs in the water to form a positioning array. The reference transceiver structures can cyclically poll to transmit and receive calibration signals (i.e., the positioning signals sent in the calibration mode), complete mutual ranging, and ranging with the beacon transceiver structure, and upload the ranging results to the display and control computer; for the positioning of the beacon transceiver structure, the system supports two transceiver positioning modes: one is the positioning mode, where the beacon transceiver structure polls to transmit positioning signals, and the reference transceiver structure receives the positioning signals and obtains the corresponding time delay values to complete the beacon positioning calculation, and uploads the time delay values and the target positioning results to the display control software; the other is the calibration mode, where the reference transceiver structure polls to transmit acoustic signals, and the beacon transceiver structure receives the acoustic signals and obtains the corresponding time delay values of the signals to complete the positioning calculation, and at the same time completes the array calculation of the reference transceiver structure, and uploads the time delay values and the target positioning results to the display and control computer.

[0030] Based on the above positioning system, an embodiment of the present invention provides a specific implementation manner of a control method for a high-precision and simple underwater acoustic positioning system. Refer to Figure 3 The working flowchart of a high-precision control underwater acoustic positioning system shown in the figure includes: for the five-channel raw data, perform positioning signal detection, estimation of positioning signal time delay, amplitude, and phase parameters to obtain the five-channel time delay values in the current cycle. The five channels refer to the five channels of beacon transceiver structure 1#, beacon transceiver structure 2#, reference transceiver structure 1#, reference transceiver structure 2#, and reference transceiver structure 3#; in the calibration mode, perform operations such as rejection of time delay outliers in channels 1-3, geometric spherical intersection positioning calculation, and relative position calculation of the reference transceiver structure to obtain the XYZ coordinates of the reference transceiver structure, and correct the positioning results using the sound velocity profile data; in the positioning mode, determine the time delays t1, t2, and t3 between the beacon transceiver structure and the reference transceiver structure, and obtain the XYZ coordinates of the beacon transceiver structure after operations such as rejection of time delay outliers, estimation and compensation of motion speed to correct the time delay, and correct the positioning results using the sound velocity profile data and perform additional speed and ranging constraint positioning error correction and difference.

[0031] The specific implementation process is as follows: (1) System equipment installation and deployment: According to the positioning requirements, suspend the three reference transceiver structures in the water or place them on the seabed by means of soft suspension. The formation and deployment range of the reference transceiver structures can be flexibly adjusted according to the positioning range to ensure that the depths of the three reference transceiver structures are the same. When the reference transceiver structures need to be placed on the seabed, build a seabed reference transceiver unit support. To reduce the influence of underwater signal reflection and multipath effects, ensure that the transceiver unit is more than 1.5 m to 2 m above the seabed. The system adopts a synchronous working mode. During the deployment process, the positioning system powers on to set parameters, perform time synchronization and self-check, and enable the calibration working mode to calibrate the distances between the three sets of reference transceiver structure units. Observe the deployment situation in real time through the display and control software, and flexibly adjust the formation and deployment range. Deploy two beacon transceiver structures within the range of the three reference transceiver structures.

[0032] After the deployment is completed and before the formal positioning starts, the calibration mode determines the calibration results such as the target position information and deployment formation of the final reference transceiver structures, and in the subsequent positioning mode, the calibration results are granted to the positioning calculation process of the beacon transceiver structures in real time, and at the same time, the target positioning results of the beacon transceiver structures are obtained.

[0033] (2) Calibration mode: First, control the target reference transceiver structure in the reference transceiver structure array to poll and transmit the original calibration signal according to the preset calibration period, so that other reference transceiver structures in the reference transceiver structure array can receive the target calibration signal; then, based on the original calibration signal transmitted and the target calibration signal received within each calibration period, determine the relative position information between each reference transceiver structure in the reference transceiver structure array; finally, according to the relative position information between each reference transceiver structure, determine the target position information of each reference transceiver structure in the pre-established reference coordinate system. Among them, the reference transceiver structure array includes the first reference transceiver structure 1#, the second reference transceiver structure 2#, and the third reference transceiver structure 3#.

[0034] In a specific embodiment, in the calibration mode, within each calibration period, calibration signals are polled and transmitted among the three reference transceiver structures. The reference transceiver structure that does not transmit a signal receives the signal and equalizes the energy of the correlation results by calculating the normalized correlation coefficient, windowed signal energy, etc., to achieve multi-target positioning signal detection, estimate the time delay, amplitude, and phase parameters of each positioning signal, and thus obtain three sets of distance information, including the distance information d12 between the first reference transceiver structure 1# and the second reference transceiver structure 2#, the distance information d13 between the first reference transceiver structure 1# and the third reference transceiver structure 3#, and the distance information d23 between the second reference transceiver structure 2# and the third reference transceiver structure 3#. According to the geometric spherical intersection principle, the relative position information of the three reference transceiver structures is obtained. In the calibration mode, the position where the first reference transceiver structure 1# is located is used as the coordinate origin of the reference coordinate system, the plane formed by the first reference transceiver structure 1#, the second reference transceiver structure 2#, and the third reference transceiver structure 3# is used as the reference plane of the reference coordinate system, the connection line between the first reference transceiver structure 1# and the second reference transceiver structure 2# is used as the positive direction of the X-axis of the reference coordinate system to establish a three-dimensional coordinate system, and the self-test matrix time delay, array shape, and coordinate results are uploaded to the display and control computer.

[0035] (3) Positioning mode: Synchronously grant the target position information of the reference transceiver structure to the subsequent positioning calculation process, and the system starts the positioning working mode. Refer to Figure 4 A flowchart of a positioning algorithm as shown, including: acoustic signal acquisition; signal detection and positioning parameter estimation; outlier rejection in combination with historical acoustic data; time delay error correction implemented by motion compensation based on Doppler estimation and sound speed compensation based on sound speed gradient data; positioning calculation in combination with the results of outlier rejection, the results of time delay error correction, and the results of data interpolation; error correction in combination with historical positioning results, additional velocity, and ranging adjustment constraints; result output, etc. The algorithm of the mooring positioning system proposed in the embodiment of the present invention supports: (1) various types of positioning sample signals (single-pulse, double-pulse, triple-pulse, and quadruple-pulse signals); (2) sound speed compensation and correction function; (3) phase correction function; (4) motion compensation and correction function; (5) transceiver mode switching function of the reference transceiver structure and the beacon transceiver structure; (6) adjustment and optimization positioning function of additional velocity and ranging constraints. Perform three-dimensional dynamic positioning and tracking on two beacon transceiver structures, and the display and control computer displays the positioning results in real time.

[0036] In the positioning mode, taking the example of the beacon transceiver structure polling and transmitting positioning signals and the reference transceiver structures 1# to 3# receiving the positioning signals, assuming the polling period is T, and taking the double-pulse as an example, the positioning processor performs the following operations on the signals received by the reference transceiver structures 1# to 3# in the detection intervals set in two time periods (0~T) and (T~2*T): (a) Detect the time-domain waveform and the correlation peak to obtain the starting result of the positioning signal waveform, including the beacon transceiver structure to which the positioning signal belongs and the starting point of the positioning signal.

[0037] (b) Perform dual-pulse real-time Doppler estimation to determine the relative motion speed of the beacon transceiver structure with respect to each reference transceiver structure, the accurate Doppler estimation value, and perform motion compensation on the initial delay value with the two parameters of the accurate Doppler estimation value and the correlation phase of the first pulse. Among them, the relative motion speed can be determined based on the initial delay value in the current positioning cycle and the target delay value in the historical positioning cycle. In one example, the Doppler can be estimated using dual-pulse, triple-pulse, and quadruple-pulse transmitted signals. Taking the dual-pulse as an example, the determination process of the accurate Doppler estimation value is as follows: (b1) Determine the rough Doppler estimation value based on the correlation amplitude of the target positioning signal uploaded by each reference transceiver structure. Specifically, when implemented, the rough Doppler estimation value can be obtained through a block estimation method based on the correlation amplitude of the target positioning signal.

[0038] (b2) Estimate the phase cycle ambiguity according to the rough Doppler estimation value, and estimate the accurate Doppler estimation value based on the phase cycle ambiguity. Specifically, when implemented, the accurate Doppler estimation value can be estimated by estimating the cycle ambiguity of the correlation phase using the rough Doppler estimation value to achieve the fast and accurate solution of the accurate Doppler estimation value and the accurate solution of the phase. of the fast and accurate solution and the accurate solution of the phase.

[0039] (b3) Use the accurate Doppler estimation value to perform motion compensation on the initial delay value corresponding to the beacon transceiver structure in the current positioning cycle. Specifically, when implemented, use the estimated accurate Doppler estimation value to compensate and correct the delay error caused by the movement of the beacon transceiver structure, and correct the delay as .

[0040] In another implementation manner, the first pulse correlation phase can also be used to correct the delay as to further improve the positioning accuracy.

[0041] (c) Perform sound speed compensation to further correct the positioning accuracy: First, along the water depth direction, divide the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array into multiple discrete water layers; then use the sound speed weight corresponding to each discrete water layer to fuse the sound speed measurement data corresponding to each discrete water layer to obtain the average sound speed; finally, use the average sound speed to perform sound speed compensation on the initial delay value corresponding to the beacon transceiver structure in the current positioning cycle.

[0042] In specific implementation, the sound speed is corrected and compensated. The sound speed is the most important factor affecting the positioning accuracy and is related to the temperature, salinity, and depth of seawater. Therefore, the seawater sound speed changes with time and space, and the change in depth is particularly obvious. In the embodiment of the present invention, within a limited positioning area, on the premise of a horizontally uniform sound field, the sound speed measurement data of discrete water layers are obtained before the formal test, and the sound speed average value is calculated by using the sound speed parameter averaging method with the layer thickness as the weight, further improving the positioning accuracy.

[0043] (d) Upload the time delay detection result to the display and control computer, and eliminate the time delay outliers according to the historical time delay results; obtain the time delay data t11, t21, and t31 between the 1# beacon and the three reference nodes, and the time delay data t12, t22, and t32 between the 2# beacon and the three reference nodes.

[0044] (e) Determine the initial positioning result corresponding to the beacon transceiver structure according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration. In specific implementation, based on the known target position information of the reference transceiver structures 1# - 3# , the following formula is solved according to the geometric spherical intersection principle. Taking the beacon transceiver structure 1# as an example, the initial positioning result of the beacon transceiver structure 1# is obtained by solving the following formula ; ; ; ; Wherein, is the sound speed average value, is the time delay value after motion compensation between the 1# beacon transceiver structure and the 1# reference transceiver structure, is the time delay value after motion compensation between the 1# beacon transceiver structure and the 2# reference transceiver structure, is the time delay value after motion compensation between the 1# beacon transceiver structure and the 3# reference transceiver structure.

[0045] (f) Based on the initial positioning result, the relative motion speed between the beacon transceiver structure and each reference transceiver structure, and the target position information corresponding to each reference transceiver structure, perform adjustment and improvement on the initial positioning result based on the additional speed and ranging constraints to obtain the target positioning result corresponding to the beacon transceiver structure. In specific implementation, the initial positioning result, the relative motion speed between the beacon transceiver structure and each reference transceiver structure, and the target position information corresponding to each reference transceiver structure are used as observation values, combined with constructing a residual function based on the additional speed and ranging constraints, and the nonlinear least squares fitting Levenberg - Marquardt algorithm is used for iterative solution to obtain the target positioning result corresponding to the beacon transceiver structure. The detailed process is as follows: (f1) Based on the initial positioning result corresponding to the beacon transceiver structure and the target position information corresponding to each reference transceiver structure, construct the ranging residual term between the beacon and the reference; and based on the initial positioning result corresponding to the beacon transceiver structure and the initial positioning results corresponding to other beacon transceiver structures, construct the ranging constraint residual term between the beacons; and based on the initial positioning result corresponding to the beacon transceiver structure and the relative motion speed between the beacon transceiver structure and each reference transceiver structure, construct the velocity constraint residual term between the beacons; construct the residual function according to the ranging residual term between the beacon and the reference, the ranging constraint residual term between the beacons, and the velocity constraint residual term between the beacons. The specific implementation process is as follows: Initial positioning result of a single beacon transceiver structure Through the ranging equation solution with reference transceiver structures: ; In the formula, is the ranging between the beacon transceiver structure and the th reference transceiver structure, is the target position information of the th reference transceiver structure, is the ranging noise. The positioning problem is transformed into a non-linear least squares optimization: ; Suppose there are M beacon transceiver structures, and the initial positioning results of each beacon transceiver structure are , introduce the ranging observation value between the beacons , and construct the joint observation equation: ; Among them, is the ranging between the th beacon transceiver structure and the th reference transceiver structure, is the ranging noise between the th beacon transceiver structure and the th reference transceiver structure, , are the , th beacon transceiver structures, is the ranging noise between the beacons.

[0046] Doppler velocity measurement provides the velocity observation value , and the observation noise is . The velocity constraint can be transformed into position prediction: ; Among them, is the beacon position prediction noise, is the observation time interval.

[0047] By integrating multi-source observations and dynamic constraints, a weighted non-linear least squares problem is constructed, and the residual function is as follows: ; In the formula , , are the variances of each observation noise respectively, to achieve adaptive weighting.

[0048] (f2) Use the non-linear least squares fitting algorithm to iteratively solve the residual function until the preset iteration stop condition is met, and obtain the target positioning results corresponding to each beacon transceiver structure in the beacon transceiver structure array. The specific implementation process is as follows: According to the above residual function, perform Levenberg-Marquardt non-linear least squares solution. First, perform initialization, and given initial parameters including the initial positioning results of the beacon transceiver structures, the relative motion speeds between the beacon transceiver structures and the reference transceiver structure, the ranging time delay and the sound speed, set the damping factor and the convergence threshold. Then, perform an iterative loop. In this process, calculate the residual and the constraint Jacobian matrix, and define the residual vector , where the ranging residual term between the beacon and the reference: , the ranging constraint residual term between beacons: , the velocity constraint residual term between beacons: . The Jacobian matrix is: ; Then, construct the normal equation and solve for the increment and the change of the residual, update the initial parameters and the residual, evaluate the residual and adjust the damping factor. When the residual is less than the convergence tolerance or the maximum number of iterations is reached, terminate the iteration and return the target positioning results of the beacon transceiver structure.

[0049] (g) Upload the target positioning results to the display and control software, and the display and control software simultaneously displays the historical positioning results to form the three-dimensional motion trajectory of the beacon.

[0050] Similarly, it is possible to set the reference transceiver structures 1# - 3# to poll and transmit positioning signals in each cycle, and the beacon transceiver structures 1# - 2# to receive positioning signals. The polling period is T. Taking double pulses as an example, the positioning processor performs signal detection and time delay analysis on the received signals of the beacon transceiver structures 1# - 2# respectively in the detection intervals set in three time periods of (0 - T), (T - 2*T), and (2*T - 3*T) s. The process is the same as above, and the time delays t11, t21, and t31 between the beacon transceiver structure 1# and the three reference transceiver structures, as well as t12, t22, and t32 between the beacon transceiver structure 2# and the three reference transceiver structures, are obtained, and positioning calculations are performed.

[0051] The mooring positioning system of the present invention consists of 3 sets of reference transceiver structures, 1 set of positioning processor, and 2 beacon transceiver structures. It performs target positioning by measuring the distance and azimuth information of cooperative acoustic beacons, supports diverse positioning signals and multiple transceiver positioning modes, and can simultaneously perform three-dimensional dynamic positioning and tracking of multiple underwater targets. Users can flexibly deploy the reference transceiver structure array according to the actual application scenario. The reference transceiver structure array supports soft sling deployment for bottom sitting or suspension, can display and correct the formation in real time, and improve the positioning accuracy. At the same time, the system has functions of real-time display of positioning results, internal recording and playback of original data; has data interfaces with external GPS / BD devices and attitude devices; has multi-channel data acquisition and acoustic recording functions; has functions of sound speed compensation, motion speed estimation and compensation correction to improve the positioning accuracy; supports status self-check and working parameter setting; supports multiple transceiver positioning modes. The results of lake test verification show that the positioning accuracy of this positioning system and method is better than 10 cm, the self-test array accuracy is better than 5 cm, it supports diverse combined LFM signal forms, the maximum working depth can reach 100 m, and the maximum operating distance can reach 1000 m.

[0052] The embodiment of the present invention proposes a positioning solution method and system process that combines four aspects of optimization: adjustment improvement based on additional speed and ranging constraints, sound speed correction compensation, phase correction, and real-time Doppler and speed estimation. The mooring positioning system and method of the present invention have high positioning accuracy, simple devices, do not require complicated deployment, are easy to operate, and can be flexibly applied.

[0053] The embodiment of the present invention provides an application example of a control method for a high-precision and simple underwater acoustic positioning system. The underwater acoustic positioning test of the embodiment of the present invention is carried out in the Xin'anjiang test site of Qiandao Lake. The average water depth of the test water area is about 40 m to 50 m. See Figure 5 a schematic diagram of an experimental scenario shown. First, build a bottom-sitting reference transceiver unit support to ensure that the transceiver unit is more than 1.5 m above the bottom. Through the cable winch to release and retrieve the bottom-sitting reference transceiver unit, during this period, monitor the deployment depth and position of the reference array elements at any time in the self-test array mode to assist in completing the deployment of the reference array elements. Then, fix 2 beacon transceiver structures at both ends of a 1-4 m long glass steel pipe respectively, and measure and record the distance between the two. Tie ropes at both ends of the steel pipe for lowering the overall structure. After using the double ropes to control and lower it to a certain depth, slowly move the ropes horizontally / vertically, record the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2#, count the positioning results during the movement process, and calculate the mean and variance of the distance between the two as the criterion for positioning accuracy. The working frequency band of the system is 20 kHz to 30 kHz, and the signal emission period T is 1 s.

[0054] (1) Self-test array mode: Deployment of bottom-sitting transducer array: The reference transceiver structure is placed on the bottom of the lake. The reference transceiver structure No. 1 is placed at the bottom of the lake in the southwestern corner of the floating dock, the reference transceiver structure No. 2 is placed at the bottom of the lake in the northwestern corner of the floating dock, and the reference transceiver structure No. 3 is placed at the bottom of the lake in the middle position on the east side of the floating dock. The specifications of the floating dock are: about 45 m in length from north to south and about 22 m in width. During the placement process, the self-test array results are as follows. The red dots B1 - B3 in the figure are the bottom-mounted transducer array elements. Through self-test array mode positioning, the distance between the bottom-mounted transducer No. 1 and No. 2 is 48.165 m, the distance between No. 1 and No. 3 is 31.68 m, and the distance between No. 2 and No. 3 is 35.09 m, which is consistent with the actual placement distance and placement formation.

[0055] (2) Positioning mode: Test results: Fix two beacon transceiver structures at both ends of a 1 - 4 m long fiberglass square pipe respectively, measure the distance between the two transducers, and test the positioning accuracy by positioning the change in the distance between the two beacon transceiver structures.

[0056] (2.1) The distance between the two beacons is 1 m, and the positioning results are as follows: Table 1. Positioning results of the distance between beacon transceiver structure No. 1 and beacon transceiver structure No. 2

[0057] The positioning results in the table show that during the movement of beacon transceiver structure No. 1 and beacon transceiver structure No. 2, a total of 954 cycle positioning results are collected. It can be calculated that the average value of the distance between beacon No. 1 and No. 2 is 0.985 m, which is consistent with the measured distance. Among them, the standard deviation of the distance between beacon transceiver structure No. 1 and beacon transceiver structure No. 2 is 0.051 m. At the same time, from the positioning results, the movement trajectories of beacon transceiver structure No. 1 and beacon transceiver structure No. 2 can be obtained, such as Figure 6 The XY - direction schematic diagram of the positioning results of beacon transceiver structure No. 1 and beacon transceiver structure No. 2 in the case of a 1 m distance as shown, Figure 7 The XZ - direction schematic diagram of the positioning results of beacon transceiver structure No. 1 and beacon transceiver structure No. 2 in the case of a 1 m distance as shown. Further, the movement speeds of beacon transceiver structure No. 1 and beacon transceiver structure No. 2 can be obtained, such as Figure 8 The movement speed schematic diagram of beacon transceiver structure No. 1 in the case of a 1 m distance as shown, Figure 9 The movement speed schematic diagram of beacon transceiver structure No. 2 in the case of a 1 m distance as shown. From the results in the figure, it can be seen that the movement speeds of beacon transceiver structure No. 1 and beacon transceiver structure No. 2 are greater than 0.2 m / s in the 1st - 10th cycle, 80th - 90th cycle, 280th - 350th cycle, 420th - 430th cycle, 660th - 670th cycle, 800th cycle, and 870th - 954th cycle, and the maximum speed is greater than 2 m / s.

[0058] Meanwhile, the distance change and its distribution between the beacon transceiver structure 1# and the beacon transceiver structure 2# during this movement process can be obtained, as Figure 10 shown in a schematic diagram of the positioning result of the distance between the beacon transceiver structure 1# and the beacon transceiver structure 2# under a distance of 1 m, Figure 11 and a histogram of the positioning result of the distance between the beacon transceiver structure 1# and the beacon transceiver structure 2# under a distance of 1 m. The results in the figure show that for the period with a movement speed greater than 0.2 m / s, the positioning error of the distance between the beacon transceiver structure 1# and the beacon transceiver structure 2# is 0.15 m - 0.2 m. This result indicates that when positioning two beacons successively within a positioning period, the movement of the beacon causes a half-period difference in the positions of the two beacons. Without motion compensation, the positioning error of the distance between the two beacons increases, and the positioning error for the remaining periods with a movement speed less than 0.2 m / s is less than 0.05 cm.

[0059] (2.2) The distance between the two beacons is 3 m. As Figure 12 shown in a position distribution diagram of the beacon transceiver structure 1# and the beacon transceiver structure 2# and the reference transceiver structure, the positioning results are as follows: Table 2. Positioning results of the distance between the beacon transceiver structure 1# and the beacon transceiver structure 2#

[0060] The positioning results in the table show that during the movement of the beacon transceiver structure 1# and the beacon transceiver structure 2#, a total of 719 cycle positioning results are collected. The calculated mean value of the distance between the beacon transceiver structure 1# and the beacon transceiver structure 2# is 2.997 m, which is consistent with the measured distance. The standard deviation of the distance between the beacon transceiver structure 1# and the beacon transceiver structure 2# is 0.057 m.

[0061] After positioning, the movement trajectories of the beacon transceiver structure 1# and the beacon transceiver structure 2# can be obtained. As Figure 13 shown in an XY-direction schematic diagram of the trajectory positioning result of the beacon transceiver structure 1# and the beacon transceiver structure 2# under a distance of 3 m, Figure 14 an XZ-direction schematic diagram of the trajectory positioning result of the beacon transceiver structure 1# and the beacon transceiver structure 2# under a distance of 3 m, Figure 15 a schematic diagram of the movement speed of the beacon transceiver structure 1# under a distance of 3 m, Figure 16 and a schematic diagram of the movement speed of the beacon transceiver structure 2# under a distance of 3 m.

[0062] Meanwhile, the distance change and its distribution between the beacon transceiver structure 1# and the beacon transceiver structure 2# during this movement process can be obtained. As Figure 17 shown in a schematic diagram of the positioning result of the distance between the beacon transceiver structure 1# and the beacon transceiver structure 2# under a distance of 3 m, Figure 18Histogram of the distance positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# at a distance of 3m. The results in the figure show that for the periods with a movement speed greater than 0.4m / s, the positioning error of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# is 0.1m - 0.3m, and the positioning error for the remaining periods with a movement speed less than 0.4m / s is less than 0.1m.

[0063] (2.3) The distance between the two beacons is 3.76m, and the positioning results are as follows: Table 3. Distance positioning results of beacon transceiver structure 1# and beacon transceiver structure 2#

[0064] The positioning results in the table show that during the movement of beacon transceiver structure 1# and beacon transceiver structure 2#, a total of 1652 cycle positioning results were collected. The calculated mean distance between beacon transceiver structure 1# and beacon transceiver structure 2# is 3.736m, which is consistent with the measured distance. The standard deviation of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# is 0.045m. After positioning, the movement trajectories of beacon transceiver structure 1# and beacon transceiver structure 2# can be obtained, such as Figure 19 Schematic diagram of the XY direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# at a distance of 3.76m, as shown Figure 20 Schematic diagram of the XZ direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# at a distance of 3.76m, as shown Figure 21 Schematic diagram of the movement speed of beacon transceiver structure 1# at a distance of 3.76m, as shown Figure 22 Schematic diagram of the movement speed of beacon transceiver structure 2# at a distance of 3.76m, as shown. From the results in the figure, it can be obtained that beacon transceiver structure 1# and beacon transceiver structure 2# have a movement speed greater than 0.3m / s during the 20th - 200th cycle, 250th - 400th cycle, 800th cycle, 950th - 1100th cycle, 1550th - 1652nd cycle, etc., and the maximum speed is greater than 2m / s.

[0065] Observing the positioning results of the corresponding cycles, the distance change and its distribution of beacon transceiver structure 1# and beacon transceiver structure 2# during this movement process can be obtained, such as Figure 23 Schematic diagram of the distance positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# at a distance of 3.76m, as shown Figure 24Histogram of the positioning results of the distance between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a distance of 3.76m. The results in the figure show that for the periods with a movement speed greater than 0.3m / s, the positioning error of the distance between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# is 0.15m - 0.3m. This result indicates that when positioning two beacons successively within a positioning period, the movement of the beacons causes a half-period difference in the positions of the two beacons. Without motion compensation, the positioning error of the distance between the two beacons increases. For the periods with a movement speed less than 0.3m / s, the positioning error is less than 0.05cm.

[0066] (2.4) The distance between the two beacons is 1.82m, and the positioning results are as follows: Table 4. Positioning Results of the Distance between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2#

[0067] The positioning results in the table show that during the movement of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2#, a total of 973 cycle positioning results were collected. The calculated average value of the distance between Beacon 1# and 2# is 1.785m, which is consistent with the measured distance. The standard deviation of the distance between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# is 0.036m.

[0068] After positioning, the movement trajectories of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# can be obtained. Such as Figure 25 Schematic diagram of the XY direction of the trajectory positioning results of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a distance of 1.82m, Figure 26 Schematic diagram of the XZ direction of the trajectory positioning results of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a distance of 1.82m, Figure 27 Schematic diagram of the movement speed of Beacon Transceiver Structure 1# at a distance of 1.82m, Figure 28 Schematic diagram of the movement speed of Beacon Transceiver Structure 2# at a distance of 1.82m. From the results in the figure, it can be obtained that Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# have a movement speed greater than 0.44m / s in the 50 - 200 cycles, 250 cycles, 380 - 420 cycles, etc., and the maximum speed is greater than 1.2m / s.

[0069] At the same time, it can be obtained that during this movement process, the distance change and its distribution between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2#. Such as Figure 29 Schematic diagram of the positioning results of the distance between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a distance of 1.82m, Figure 30The histogram of the ranging results of Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# at a spacing of 1.82m. The results in the figure show that for the periods with a movement speed greater than 0.4m / s, the ranging errors of the spacing between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# are 0.1m to 0.3m, and the ranging errors for the remaining periods with a movement speed less than 0.4m / s are all less than 0.05cm.

[0070] In summary, the positioning system and method provided by the embodiments of the present invention have high positioning accuracy, simple devices, do not require complicated deployment, are easy to operate, and can be flexibly applied. The results of the lake test show that the mean value of the spacing between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# differs from the measured spacing by about 0.01m to 0.04m, and the standard deviation of the spacing between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# is less than 0.05m. All the ranging errors of the spacing between Beacon 1# and 2# are less than 0.2m. Among them, when the measured spacing between the two beacons is 1m, 3m, 3.76m, and 1.82m, the number of periods with a ranging error less than 0.05m accounts for 83%, 67.5%, 75%, and 80% of the total test periods respectively, and the number of periods with a ranging error less than 0.1m accounts for 93%, 90%, 95%, and 97% of the total test periods respectively. The ranging accuracy of the spacing between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# is affected by their movement speeds. When the movement speed is greater than 0.2m / s to 0.3m / s, the ranging results of the spacing between Beacon Transceiver Structure 1# and Beacon Transceiver Structure 2# have an error of 0.15m to 0.3m, which still meets the system positioning accuracy requirements.

[0071] Based on the foregoing embodiments, the embodiments of the present invention provide a control device for a high-precision and simple underwater acoustic positioning system. The device is applied to a positioning processor in the high-precision and simple underwater acoustic positioning system. The high-precision and simple underwater acoustic positioning system further includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. Refer to Figure 31 The schematic structural diagram of a control device for a high-precision and simple underwater acoustic positioning system as shown, and the device mainly includes the following parts: A signal transmitting and receiving module 3102, configured to control a first target structure to transmit an original positioning signal according to a preset positioning period, so that a second target structure receives the target positioning signal; when the first target structure is a target beacon transceiver structure in the beacon transceiver structure array, the second target structure is each reference transceiver structure in the reference transceiver structure array; when the first target structure is a target reference transceiver structure in the reference transceiver structure array, the second target structure is each beacon transceiver structure in the beacon transceiver structure array; A signal uploading module 3104, configured to receive the target positioning signal; The time delay compensation module 3106 is used to perform Doppler estimation based on the target positioning signals uploaded by each reference transceiver structure to perform motion compensation on the initial time delay value corresponding to the current positioning cycle; and, based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array, perform sound speed compensation on the initial time delay value corresponding to the current positioning cycle to obtain the target time delay value; The beacon positioning module 3108 is used to solve the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, in combination with the adjustment improvement based on the additional speed and ranging constraints.

[0072] The control device of the high-precision and simple underwater acoustic positioning system provided by the embodiment of the present invention, after receiving the target positioning signals uploaded by each reference program, can be used to perform motion compensation on the initial time delay value, and at the same time perform sound speed compensation on the initial time delay value based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array. On this basis, in combination with the adjustment improvement based on the additional speed and ranging constraints, solve the target positioning result corresponding to the target virtual table structure. The embodiment of the present invention can significantly improve the accuracy of underwater acoustic positioning.

[0073] In one implementation, the time delay compensation module 3106 is specifically used for: Determine a rough Doppler estimation value based on the correlation amplitude of the target positioning signals uploaded by each reference transceiver structure; Estimate the phase integer ambiguity according to the rough Doppler estimation value, and estimate the accurate Doppler estimation value based on the phase integer ambiguity; Use the accurate Doppler estimation value to perform motion compensation on the initial time delay value corresponding to the current positioning cycle.

[0074] In one implementation, the time delay compensation module 3106 is specifically used for: Along the water depth direction, divide the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array into multiple discrete water layers; Obtain the sound speed measurement data and sound speed weight corresponding to each discrete water layer; Use the sound speed weight corresponding to each discrete water layer to fuse the sound speed measurement data corresponding to each discrete water layer to obtain the sound speed average value; Use the sound speed average value to perform sound speed compensation on the initial time delay value corresponding to the current positioning cycle.

[0075] In one implementation, the beacon positioning module 3108 is specifically used for: Determine the initial positioning result corresponding to the beacon transceiver structure according to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration; Based on the initial positioning result, the relative motion speed between the beacon transceiver structure and each reference transceiver structure, and the target position information corresponding to each reference transceiver structure, an adjustment improvement based on additional speed and ranging constraints is performed on the initial positioning result to obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0076] In one implementation, the beacon positioning module 3108 is specifically configured to: Based on the initial positioning result corresponding to the beacon transceiver structure and the target position information corresponding to each reference transceiver structure, construct a ranging residual term between the beacon and the reference; and based on the initial positioning result corresponding to the beacon transceiver structure and the initial positioning results corresponding to other beacon transceiver structures, construct a ranging constraint residual term between the beacons; and based on the initial positioning result corresponding to the beacon transceiver structure and the relative motion speed between the beacon transceiver structure and each reference transceiver structure, construct a speed constraint residual term between the beacons; According to the ranging residual term between the beacon and the reference, the ranging constraint residual term between the beacons, and the speed constraint residual term between the beacons, construct a residual function; Use the nonlinear least squares fitting algorithm to iteratively solve the residual function until the preset iteration stop condition is satisfied, and obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0077] In one implementation, it further includes a calibration module for: Controlling the target reference transceiver structure in the reference transceiver structure array to poll and transmit the original calibration signal according to a preset calibration period, so that other reference transceiver structures in the reference transceiver structure array receive the target calibration signal; Based on the original calibration signal transmitted and the target calibration signal received in each calibration period, determine the relative position information between each reference transceiver structure in the reference transceiver structure array; According to the relative position information between each reference transceiver structure, determine the target position information of each reference transceiver structure in the pre-established reference coordinate system.

[0078] In one implementation, the reference transceiver structure array includes a first reference transceiver structure, a second reference transceiver structure, and a third reference transceiver structure. The position where the first reference transceiver structure is located is used as the coordinate origin of the reference coordinate system, the plane formed by the first reference transceiver structure, the second reference transceiver structure, and the third reference transceiver structure is used as the reference plane of the reference coordinate system, and the line connecting the first reference transceiver structure to the second reference transceiver structure is used as the positive X-axis direction of the reference coordinate system.

[0079] The device provided in the embodiments of the present invention has the same implementation principle and technical effects as those in the foregoing method embodiments. For a brief description, for the parts not mentioned in the device embodiments, reference may be made to the corresponding content in the foregoing method embodiments.

[0080] The embodiments of the present invention provide an electronic device. Specifically, the electronic device includes a processor and a storage device; a computer program is stored on the storage device, and when the computer program is run by the processor, it executes the method according to any one of the above-mentioned embodiments.

[0081] Figure 32 FIG. is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. The electronic device 100 includes: a processor 320, a memory 321, a bus 322, and a communication interface 323. The processor 320, the communication interface 323, and the memory 321 are connected through the bus 322; the processor 320 is configured to execute an executable module stored in the memory 321, such as a computer program.

[0082] Among them, the memory 321 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 323 (which may be wired or wireless), a communication connection is established between the system network element and at least one other network element, and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0083] The bus 322 may be an ISA bus, a PCI bus, an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 32 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0084] Among them, the memory 321 is used to store a program. After receiving an execution instruction, the processor 320 executes the program. The method executed by the device defined by the flow process disclosed in any one of the foregoing embodiments of the present invention can be applied to the processor 320 or implemented by the processor 320.

[0085] The processor 320 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 320 or the instructions in the form of software. The above-mentioned processor 320 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 321, and the processor 320 reads the information in the memory 321 and combines its hardware to complete the steps of the above method.

[0086] The computer program product of the readable storage medium provided by the embodiments of the present invention includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the methods described in the foregoing method embodiments. For specific implementation, reference can be made to the foregoing method embodiments and will not be elaborated here.

[0087] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0088] Finally, it should be noted that the above-mentioned embodiments are only specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A control method for a high-precision simple hydroacoustic positioning system, characterized in that: The method is applied to a positioning processor in a high-precision simple hydroacoustic positioning system, wherein the high-precision simple hydroacoustic positioning system further comprises a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor, and the method comprises: According to a preset positioning cycle, the first target structure is controlled to transmit an original positioning signal so that the second target structure receives the target positioning signal; when the first target structure is a target beacon transceiver structure in the beacon transceiver structure array, the second target structure is each reference transceiver structure in the reference transceiver structure array; when the first target structure is a target reference transceiver structure in the reference transceiver structure array, the second target structure is each beacon transceiver structure in the beacon transceiver structure array; receiving the target positioning signal; Performing Doppler estimation based on the target positioning signal uploaded by each reference transceiver structure to perform motion compensation on the initial delay value corresponding to the current positioning period; and performing sound velocity compensation on the initial delay value corresponding to the current positioning period based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array to obtain a target delay value; According to the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with the adjustment improvement based on additional speed and ranging constraints, the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is solved.

2. The control method of the high-precision simple hydroacoustic positioning system according to claim 1 is characterized in that: Performing Doppler estimation based on the target positioning signal uploaded by each reference transceiver structure to perform motion compensation on the initial delay value corresponding to the current positioning cycle, including: Determining a rough Doppler estimate based on the relative amplitude of the target positioning signal uploaded by each of the reference transceiver structures; estimating a phase integer ambiguity according to the coarse Doppler estimate, and estimating a fine Doppler estimate based on the phase integer ambiguity; The precise Doppler estimation value is used to perform motion compensation on the initial delay value corresponding to the current positioning period.

3. The control method of the high-precision simple hydroacoustic positioning system according to claim 1 is characterized in that: Based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array, the initial delay value corresponding to the current positioning period is compensated by sound velocity to obtain a target delay value, including: Dividing the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array into a plurality of discrete water layers along the water depth direction; Obtaining sound velocity measurement data and sound velocity weight corresponding to each of the discrete water layers; Using the sound velocity weight corresponding to each discrete water layer, the sound velocity measurement data corresponding to each discrete water layer are fused to obtain a sound velocity average value; The sound speed average value is used to perform sound speed compensation on the initial delay value corresponding to the current positioning cycle.

4. The control method of the high-precision simple hydroacoustic positioning system according to claim 2 is characterized in that: According to the target time delay value and the target position information corresponding to each of the reference transceiver structures obtained by calibration, combined with the adjustment improvement based on the additional velocity and ranging constraints, the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is solved, including: Determine an initial positioning result corresponding to the beacon transceiver structure according to the target delay value and the target position information corresponding to each of the reference transceiver structures obtained by calibration; Based on the initial positioning result, the relative movement speed between the beacon transceiver structure and each of the reference transceiver structures, and the target position information corresponding to each of the reference transceiver structures, the initial positioning result is improved by adjustment based on additional speed and ranging constraints to obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

5. The control method of the high-precision simple hydroacoustic positioning system according to claim 4 is characterized in that: Based on the initial positioning result, the relative motion speed between the beacon transceiver structure and each of the reference transceiver structures, and the target position information corresponding to each of the reference transceiver structures, the initial positioning result is improved by adjustment based on additional speed and ranging constraints to obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array, including: Based on the initial positioning result corresponding to the beacon transceiver structure and the target position information corresponding to each of the reference transceiver structures, a beacon-reference ranging residual term is constructed; and based on the initial positioning result corresponding to the beacon transceiver structure and the initial positioning results corresponding to other beacon transceiver structures, an inter-beacon ranging constraint residual term is constructed; and based on the initial positioning result corresponding to the beacon transceiver structure and the relative motion speed between the beacon transceiver structure and each of the reference transceiver structures, an inter-beacon speed constraint residual term is constructed; Constructing a residual function according to the beacon-reference ranging residual term, the inter-beacon ranging constraint residual term and the inter-beacon speed constraint residual term; The residual function is iteratively solved using a nonlinear least squares fitting algorithm until a preset iteration stop condition is met, thereby obtaining a target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

6. The control method of the high-precision simple hydroacoustic positioning system according to claim 1, characterized in that: The method further comprises: Controlling the target reference transceiver structure in the reference transceiver structure array to poll and transmit an original calibration signal according to a preset calibration period, so that other reference transceiver structures in the reference transceiver structure array receive the target calibration signal; Determine relative position information between each of the reference transceiver structures in the reference transceiver structure array based on the original calibration signal transmitted and the target calibration signal received in each calibration cycle; According to the relative position information between each of the reference transceiver structures, the target position information of each of the reference transceiver structures in a pre-established reference coordinate system is determined.

7. The control method of the high-precision simple hydroacoustic positioning system according to claim 6, characterized in that: The reference transceiver structure array includes a first reference transceiver structure, a second reference transceiver structure and a third reference transceiver structure. The position of the first reference transceiver structure is used as the coordinate origin of the reference coordinate system, the plane formed by the first reference transceiver structure, the second reference transceiver structure and the third reference transceiver structure is used as the reference plane of the reference coordinate system, and the line between the first reference transceiver structure and the second reference transceiver structure is used as the positive direction of the X-axis of the reference coordinate system.

8. A control device for a high-precision simple hydroacoustic positioning system, characterized in that: The device is applied to a positioning processor in a high-precision simple hydroacoustic positioning system, wherein the high-precision simple hydroacoustic positioning system further comprises a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor, and the device comprises: A signal sending and receiving module, used to control the first target structure to transmit an original positioning signal according to a preset positioning period, so that the second target structure receives the target positioning signal; when the first target structure is a target beacon transceiver structure in the beacon transceiver structure array, the second target structure is each reference transceiver structure in the reference transceiver structure array; when the first target structure is a target reference transceiver structure in the reference transceiver structure array, the second target structure is each beacon transceiver structure in the beacon transceiver structure array; A signal uploading module, used for receiving the target positioning signal; A delay compensation module is used to perform Doppler estimation based on the target positioning signal uploaded by each reference transceiver structure to perform motion compensation on the initial delay value corresponding to the current positioning period; and based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array, perform sound velocity compensation on the initial delay value corresponding to the current positioning period to obtain a target delay value; The beacon positioning module is used to solve the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array according to the target delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with the adjustment improvement based on additional speed and ranging constraints.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 7.

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