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

Abstract

The present invention provides a control method, device, and apparatus for a high-precision, simple underwater acoustic positioning system, comprising: controlling a first target structure to transmit an original positioning signal according to a preset positioning cycle so that a second target structure receives the target positioning signal; 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 time delay value corresponding to the current positioning cycle; and performing sound velocity 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 a target time delay value; and calculating the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array based on the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with an adjustment improvement based on additional velocity and ranging constraints. The present invention can significantly improve underwater acoustic positioning accuracy.

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] Hydroacoustic positioning technology is widely used in fields such as ocean exploration, underwater navigation, and target tracking. Its basic principle is to calculate the target's position by emitting sound waves and receiving reflected signals. With the increasing demand for marine resource development and marine environmental protection, the requirements for hydroacoustic positioning accuracy are also becoming increasingly higher. Existing hydroacoustic positioning systems typically rely on the propagation characteristics of sound waves in water, determining the target's position by measuring the propagation time and direction of the sound waves. However, the application of existing hydroacoustic positioning technology in complex underwater environments faces the problem of insufficient accuracy, making it difficult to meet the demand for high-precision positioning. Summary of the Invention

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

[0004] In a first aspect, the present invention provides a control method for a high-precision simple underwater acoustic positioning system. The method is applied to a positioning processor in the high-precision simple underwater acoustic positioning system. The high-precision simple underwater acoustic positioning system also includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. The method includes:

[0005] According to a preset positioning period, 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;

[0006] receiving target positioning signals;

[0007] 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 the target delay value;

[0008] 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 velocity and ranging constraints, the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is solved.

[0009] In one embodiment, 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 includes:

[0010] Determine a coarse Doppler estimate based on the relative amplitude of the target positioning signal uploaded by each reference transceiver structure;

[0011] Estimate the phase integer ambiguity based on the coarse Doppler estimate, and estimate the precise Doppler estimate based on the phase integer ambiguity;

[0012] The accurate Doppler estimation value is used to perform motion compensation on the initial delay value corresponding to the current positioning period.

[0013] In one embodiment, based on the relative thickness between the reference transceiver structure array and the beacon transceiver structure array, sound velocity compensation is performed on the initial delay value corresponding to the current positioning period to obtain the target delay value, including:

[0014] Along the water depth direction, the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array is divided into multiple discrete water layers;

[0015] Obtaining the sound velocity measurement data and sound velocity weight corresponding to each discrete water layer;

[0016] 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 the average sound velocity;

[0017] The average value of the sound speed is used to perform sound speed compensation on the initial delay value corresponding to the current positioning cycle.

[0018] In one embodiment, the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is calculated based on 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 the additional velocity and ranging constraints, including:

[0019] Determine the initial positioning result corresponding to the beacon transceiver structure based on the target delay value and the target position information corresponding to each reference transceiver structure obtained by calibration;

[0020] Based on the initial positioning results, 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, the initial positioning results are improved by adjusting the additional velocity and ranging constraints to obtain the target positioning results corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0021] 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, the initial positioning result is improved by adjusting the additional velocity and ranging constraints to obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array, including:

[0022] Based on the initial positioning result corresponding to the beacon transceiver structure and the target position information corresponding to each reference transceiver structure, 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 reference transceiver structure, an inter-beacon speed constraint residual term is constructed;

[0023] Constructing a residual function based on the residual term of ranging between beacons and reference, the residual term of ranging constraint between beacons, and the residual term of speed constraint between beacons;

[0024] The residual function is iteratively solved using a nonlinear least squares fitting algorithm until the preset iteration stop condition is met, and the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is obtained.

[0025] In one embodiment, the method further comprises:

[0026] 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;

[0027] Determining 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 in each calibration cycle;

[0028] According to the relative position information between each reference transceiver structure, the target position information of each reference transceiver structure in a pre-established reference coordinate system is determined.

[0029] In one embodiment, 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.

[0030] In a second aspect, the present invention further provides a control device for a high-precision simple underwater acoustic positioning system, the device being applied to a positioning processor in the high-precision simple underwater acoustic positioning system, the high-precision simple underwater acoustic positioning system also including a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor, the device comprising:

[0031] a signal transmitting and receiving module, configured 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;

[0032] Signal upload module, used to receive target positioning signals;

[0033] A delay compensation module is configured 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 to perform 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;

[0034] The beacon positioning module is used to solve the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array based on 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 velocity and ranging constraints.

[0035] In a third aspect, the present invention further provides an electronic device comprising 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 any one of the methods provided in the first aspect.

[0036] In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement any one of the methods provided in the first aspect.

[0037] The present invention provides a control method, device and equipment for a high-precision simple underwater acoustic positioning system, which is applied to a positioning processor in the high-precision simple underwater acoustic positioning system. The high-precision simple underwater acoustic positioning system also includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. First, 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; then the target positioning signal is received; then Doppler estimation is performed 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, the initial delay value corresponding to the current positioning period is compensated for by sound velocity to obtain the target delay value; finally, based on 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 velocity and ranging constraints, the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is solved. After receiving the target positioning signal uploaded by each reference program, the above method can be used to perform motion compensation on the initial delay value, and at the same time, perform sound velocity compensation on the initial 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 additional velocity and ranging constraints, the target positioning result corresponding to the target virtual table structure is solved. The present invention can significantly improve the accuracy of underwater acoustic positioning.

[0038] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A schematic flow chart of a control method for a high-precision and simple underwater acoustic positioning system provided by an embodiment of the present invention;

[0042] Figure 2 A schematic structural diagram of a high-precision, simple underwater acoustic positioning system provided by an embodiment of the present invention;

[0043] Figure 3 A flowchart of a high-precision control underwater acoustic positioning system provided by an embodiment of the present invention;

[0044] Figure 4 A flow chart of a positioning algorithm provided by an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of an experimental scenario provided by an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# in the XY direction with a spacing of 1m provided in an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# in the XZ direction with a spacing of 1m provided in an embodiment of the present invention;

[0048] Figure 8 A schematic diagram of the movement speed of a beacon transceiver structure 1# with a spacing of 1m provided in an embodiment of the present invention;

[0049] Figure 9 A schematic diagram of the movement speed of a beacon transceiver structure 2# with a spacing of 1m provided in an embodiment of the present invention;

[0050] Figure 10 A schematic diagram of the positioning result of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# with a distance of 1m provided in an embodiment of the present invention;

[0051] Figure 11 A histogram of the positioning results of the beacon transceiver structure 1# and the beacon transceiver structure 2# with a spacing of 1m provided in an embodiment of the present invention;

[0052] Figure 12 The position distribution of a beacon transceiver structure 1# and a beacon transceiver structure 2# and a reference transceiver structure provided in an embodiment of the present invention;

[0053] Figure 13 A schematic diagram of the XY direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# with a spacing of 3m provided in an embodiment of the present invention;

[0054] Figure 14 A schematic diagram of the XZ direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# with a spacing of 3m provided in an embodiment of the present invention;

[0055] Figure 15 A schematic diagram of the movement speed of a beacon transceiver structure 1# with a spacing of 3m provided in an embodiment of the present invention;

[0056] Figure 16 A schematic diagram of the movement speed of a beacon transceiver structure 2# with a spacing of 3m provided in an embodiment of the present invention;

[0057] Figure 17 A schematic diagram of the positioning result of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a distance of 3m provided by an embodiment of the present invention;

[0058] Figure 18 A histogram of the spacing positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# with a spacing of 3m provided in an embodiment of the present invention;

[0059] Figure 19 A schematic diagram of the XY direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# with a spacing of 3.76m provided in an embodiment of the present invention;

[0060] Figure 20 A schematic diagram of the XZ direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# with a spacing of 3.76m provided in an embodiment of the present invention;

[0061] Figure 21 A schematic diagram of the movement speed of beacon transceiver structure 1# under a spacing of 3.76m provided in an embodiment of the present invention;

[0062] Figure 22 A schematic diagram of the movement speed of beacon transceiver structure 2# under a spacing of 3.76m provided in an embodiment of the present invention;

[0063] Figure 23 A schematic diagram of the positioning results of the beacon transceiver structure 1# and the beacon transceiver structure 2# with a spacing of 3.76m provided in an embodiment of the present invention;

[0064] Figure 24 A histogram of the positioning results of the beacon transceiver structure 1# and the beacon transceiver structure 2# with a spacing of 3.76m provided in an embodiment of the present invention;

[0065] Figure 25 This is a schematic diagram of the XY direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# with a spacing of 1.82m provided in an embodiment of the present invention;

[0066] Figure 26 A schematic diagram of the XZ direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# with a spacing of 1.82m provided in an embodiment of the present invention;

[0067] Figure 27 A schematic diagram of the movement speed of a beacon transceiver structure 1# under a spacing of 1.82m provided in an embodiment of the present invention;

[0068] Figure 28 A schematic diagram of the movement speed of beacon transceiver structure 2# under a spacing of 1.82m provided in an embodiment of the present invention;

[0069] Figure 29 A schematic diagram of the positioning result of the beacon transceiver structure 1# and the beacon transceiver structure 2# with a spacing of 1.82m provided in an embodiment of the present invention;

[0070] Figure 30 A histogram of the positioning results of the beacon transceiver structure 1# and the beacon transceiver structure 2# with a spacing of 1.82m provided in an embodiment of the present invention;

[0071] Figure 31 A schematic structural diagram of a control device for a high-precision, simple underwater acoustic positioning system provided by an embodiment of the present invention;

[0072] Figure 32 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0073] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0074] At present, the application of existing underwater acoustic positioning technology in complex underwater environments faces the problem of insufficient accuracy and is difficult to meet the needs of high-precision positioning. Based on this, the implementation of the present invention provides a control method, device and equipment for a high-precision simple underwater acoustic positioning system, which can significantly improve the accuracy of underwater acoustic positioning.

[0075] To facilitate understanding of this embodiment, a control method for a high-precision simple underwater acoustic positioning system disclosed in an embodiment of the present invention is first described in detail. The method is applied to a positioning processor in the high-precision simple underwater acoustic positioning system. The high-precision simple underwater acoustic positioning system also includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. Figure 1 The flowchart of a control method for a high-precision simple underwater acoustic positioning system is shown in FIG. , and the method mainly includes the following steps S102 to S108:

[0076] Step S102: 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.

[0077] Where 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; and where 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. The positioning cycle is also the operating cycle in positioning mode. In one example, in positioning mode, each beacon transceiver structure in the beacon transceiver structure array transmits a raw positioning signal in a polling manner, and each reference transceiver structure in the reference transceiver structure array receives the raw positioning signal transmitted by each beacon transceiver structure, which is recorded as the target positioning signal.

[0078] Step S104: receiving a target positioning signal.

[0079] In step S106, Doppler estimation is performed 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, sound velocity compensation is performed on the initial delay value corresponding to the current positioning period to obtain the target delay value.

[0080] 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, which is recorded 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; motion compensation and sound speed compensation are performed on the initial delay value respectively to obtain the target delay value between any beacon transceiver structure and each reference transceiver structure.

[0081] Step S108 , based on 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 the additional velocity and ranging constraints, the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is solved.

[0082] The two beacon transceiver structures are fixedly connected by a rigid rod of fixed length, so the relative speed and relative position relationship of the two beacon transceiver structures during movement are fixed, that is, additional speed and ranging constraints. The target position information is determined in calibration mode based on the calibration signal transmitted by each reference transceiver structure in the reference transceiver structure array. In one example, the initial positioning result corresponding to the beacon transceiver structure can be determined based on the target delay value and the target positioning mode corresponding to each reference transceiver structure. The initial positioning result is then adjusted and improved based on the additional constraints and ranging constraints to obtain the target positioning result corresponding to the beacon transceiver structure.

[0083] The control method for a high-precision simple underwater acoustic positioning system provided by an embodiment of the present invention can be used to perform motion compensation on an initial time delay value after receiving a target positioning signal uploaded by each reference program. At the same time, sound velocity compensation is performed 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 an improvement in adjustment based on additional velocity and ranging constraints, the target positioning result corresponding to the target virtual table structure is solved. The embodiment of the present invention can significantly improve the accuracy of underwater acoustic positioning.

[0084] For ease of understanding, the present invention first explains the high-precision simple underwater acoustic positioning system. Figure 2 The structural diagram of a high-precision simple underwater acoustic positioning system shown in the figure, the positioning system device includes: 1 PC display and control computer, 1 positioning processor (built-in circuit, battery, watertight connector), 3 reference transceiver structures (including deployment brackets) to form a positioning array, and 2 beacon transceiver structures as positioning targets. The PC display and control computer is responsible for system management, self-test and positioning parameter setting, calibration mode and positioning mode trajectory display and playback; the positioning processing is responsible for connecting the display and control computer with the reference transceiver structure and the beacon transceiver structure to achieve timing control, formation and positioning solution and data communication; the reference transceiver structure supports soft hanging deployment sitting on the bottom of the water or hanging in the water to form a positioning array, and the reference transceiver structures can cyclically poll and transmit and receive calibration signals (that is, the positioning signals sent in the calibration mode), complete mutual ranging and intercommunication ranging with the beacon transceiver structure, and upload the ranging results to the display and control computer. Computer; for the positioning of the beacon transceiver structure, the system supports two transceiver positioning modes: one is the positioning mode, the beacon transceiver structure polls and transmits the positioning signal, the reference transceiver structure receives the positioning signal and obtains the corresponding delay value to complete the beacon positioning solution, and uploads the delay value and the target positioning result to the display and control software; the other is the calibration mode, the reference transceiver structure polls and transmits the acoustic signal, the beacon transceiver structure receives the acoustic signal and obtains the corresponding signal delay value to complete the positioning solution, and at the same time completes the formation solution of the reference transceiver structure, and uploads the delay value and the target positioning result to the display and control computer.

[0085] Based on the above positioning system, the embodiment of the present invention provides a specific implementation method of a control method for a high-precision simple underwater acoustic positioning system, see Figure 3 The workflow diagram of a high-precision controlled underwater acoustic positioning system shown in the figure includes: performing positioning signal detection, positioning signal delay, amplitude and phase parameter estimation on five-channel raw data to obtain the five-channel delay value of the current cycle, where the five channels refer to the beacon transceiver structure 1#, beacon transceiver structure 2#, reference transceiver structure 1#, reference transceiver structure 2# and reference transceiver structure 3#; in calibration mode, performing operations such as removing outliers in channels 1-3, geometric sphere intersection positioning solution, and relative position solution of the reference transceiver structure to obtain the XYZ coordinates of the reference transceiver structure, and using sound velocity profile data to correct the positioning result; in positioning mode, determining the delays t1, t2 and t3 between the beacon transceiver structure and the reference transceiver structure, and obtaining the XYZ coordinates of the beacon transceiver structure after removing outliers in the delay, estimating the motion velocity and compensating for the delay. The sound velocity profile data is used to correct the positioning result and perform additional velocity and ranging constraint positioning error correction and difference.

[0086] The specific implementation process is as follows:

[0087] (I) System equipment installation and deployment: Based on positioning requirements, three reference transceiver structures are suspended in the water or deployed on the bottom using a soft suspension method. The reference transceiver structure formation and deployment range can be flexibly adjusted according to the positioning range to ensure that the three reference transceiver structures are at the same depth. If the reference transceiver structure needs to be deployed on the bottom, a bottom-mounted reference transceiver unit bracket is constructed. To reduce the impact of underwater signal reflection and multipath effects, ensure that the transceiver unit is at least 1.5m to 2m away from the bottom. The system uses a synchronous working mode. During deployment, the positioning system is powered on to set parameters, perform a timing self-test, and start the calibration working mode to calibrate the distance between the three reference transceiver structure units. The deployment status is observed in real time through the display and control software, and the formation and deployment range can be flexibly adjusted. Two beacon transceiver structures are deployed within the range of the three reference transceiver structures.

[0088] After deployment, before formal positioning begins, the calibration mode determines the final reference transceiver structure's target position information and deployment formation and other calibration results. In the subsequent positioning mode, the calibration results are given to the beacon transceiver structure's positioning solution process in real time, and the target positioning result of the beacon transceiver structure is obtained at the same time.

[0089] (2) Calibration mode:

[0090] First, a target reference transceiver structure in the reference transceiver structure array is controlled to poll and transmit an original calibration signal according to a preset calibration cycle, so that other reference transceiver structures in the reference transceiver structure array receive the target calibration signal. Then, based on the original calibration signal transmitted and the received target calibration signal during each calibration cycle, the relative position information between each reference transceiver structure in the reference transceiver structure array is determined. Finally, based on the relative position information between each reference transceiver structure, the target position information of each reference transceiver structure in a pre-established reference coordinate system is determined. The reference transceiver structure array includes a first reference transceiver structure 1#, a second reference transceiver structure 2#, and a third reference transceiver structure 3#.

[0091] In a specific embodiment, in the calibration mode, within each calibration cycle, the three reference transceiver structures poll and transmit calibration signals, the reference transceiver structure that does not transmit the signal receives the signal and performs energy balance on the correlation results by calculating the normalized correlation coefficient, windowed signal energy, etc., to achieve multi-target positioning signal detection, and estimate the time delay, amplitude and phase parameters of each positioning signal, thereby obtaining 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 principle of geometric sphere intersection, the relative position information of the three reference transceiver structures is obtained. In the calibration mode, the position of the first reference transceiver structure 1# 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, and the 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 array delay, formation and coordinate results are uploaded to the display and control computer.

[0092] (III) Positioning mode: The target position information of the reference transceiver structure is synchronously given to the subsequent positioning solution process, and the system starts the positioning working mode. Figure 4The flowchart of a positioning algorithm shown in the figure includes the following processes: acoustic signal acquisition; signal detection and positioning parameter estimation; outlier elimination based on historical acoustic data; delay error correction based on motion compensation based on Doppler estimation and sound velocity compensation based on sound velocity gradient data; positioning solution based on the results of outlier elimination, delay error correction, and data interpolation; error correction based on historical positioning results, additional velocity and ranging adjustment constraints; and result output. The anchor positioning system algorithm 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 velocity compensation correction function; (3) phase correction function; (4) motion compensation correction function; (5) transceiver mode switching function between reference transceiver structure and beacon transceiver structure; and (6) adjustment optimization positioning function with additional velocity and ranging constraints. The two beacon transceiver structures are dynamically positioned and tracked in three dimensions, and the display and control computer displays the positioning results in real time.

[0093] In positioning mode, take the beacon transceiver structure polling and transmitting positioning signals, and the reference transceiver structures 1# to 3# receiving positioning signals as an example. Assume that the polling period is T. Taking double pulses 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 the two time periods (0~T) and (T~2*T):

[0094] (a) Time domain waveform detection and correlation peak detection are used to obtain the initial results of the positioning signal waveform, including the beacon transceiver structure to which the positioning signal belongs and the starting point of the positioning signal.

[0095] (b) Perform dual-pulse real-time Doppler estimation to determine the relative motion speed and precise Doppler estimate of the beacon transceiver structure relative to each reference transceiver structure, and perform motion compensation on the initial delay value using the precise Doppler estimate and the first pulse correlation phase. 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 quad-pulse transmission signals. Taking dual-pulse as an example, the process of determining the precise Doppler estimate is as follows:

[0096] (b1) Determine a coarse Doppler estimate based on the correlation amplitude of the target positioning signal uploaded by each reference transceiver structure. In a specific implementation, the coarse Doppler estimate can be obtained by a block estimation method based on the correlation amplitude of the target positioning signal.

[0097] (b2) Estimate the phase integer ambiguity based on the coarse Doppler estimate, and estimate the precise Doppler estimate based on the phase integer ambiguity. In specific implementation, the coarse Doppler estimate can be used to estimate the integer ambiguity of the relevant phase to achieve the precise Doppler estimate. Fast and accurate solution of phase.

[0098] (b3) Using the precise Doppler estimation value, motion compensation is performed on the initial delay value corresponding to the beacon receiving and transmitting structure in the current positioning cycle. In the specific implementation, the precise Doppler estimation value is used. Compensate for the delay error caused by the movement of the beacon's transceiver structure and correct the delay for .

[0099] In another embodiment, the first pulse correlation phase can also be used Correction delay for , further improving positioning accuracy.

[0100] (c) Perform sound velocity compensation to further correct positioning accuracy:

[0101] First, the relative thickness between the reference transceiver array and the beacon transceiver array is divided into multiple discrete water layers along the water depth direction. Then, the sound velocity weight corresponding to each discrete water layer is used to fuse the sound velocity measurement data corresponding to each discrete water layer to obtain the average sound velocity value. Finally, the average sound velocity value is used to perform sound velocity compensation on the initial delay value corresponding to the beacon transceiver structure in the current positioning cycle.

[0102] In specific implementation, the sound velocity is corrected and compensated. The sound velocity is the most important factor affecting positioning accuracy. It is related to the temperature, salinity and depth of seawater. Therefore, the sound velocity of seawater varies with time and space, and the change in depth is particularly obvious. In the embodiment of the present invention, within a limited positioning area, with a horizontally uniform sound field as the premise, the sound velocity measurement data of discrete water layers is obtained before the formal test. The sound velocity parameter averaging method is used to calculate the average sound velocity with the layer thickness as the weight, thereby further improving the positioning accuracy.

[0103] (d) The delay detection results are uploaded to the display and control computer, and delay outliers are eliminated based on the historical delay results. The delay data t11, t21, and t31 between beacon #1 and the three reference nodes, as well as the delay data t12, t22, and t32 between beacon #2 and the three reference nodes are obtained.

[0104] (e) Determine the initial positioning result corresponding to the beacon transceiver structure based on the target 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 reference transceiver structures 1#~3# , solve the following equation according to the principle of geometric sphere intersection. Taking beacon transceiver structure 1# as an example, the initial positioning result of beacon transceiver structure 1# is obtained according to the following equation: ;

[0105] ;

[0106] ;

[0107] ;

[0108] in, is the average speed of sound, is the motion-compensated delay between beacon transceiver structure 1# and reference transceiver structure 1#, is the motion-compensated delay between beacon transceiver structure 1# and reference transceiver structure 2#, is the motion-compensated delay between beacon transceiver structure 1# and reference transceiver structure 3#.

[0109] (f) Based on the initial positioning results, 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, the initial positioning results are improved based on the additional velocity and ranging constraints to obtain the target positioning results corresponding to the beacon transceiver structure. In specific implementation, the initial positioning results, 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 observations. Combined with the residual function constructed based on the additional velocity and ranging constraints, the nonlinear least squares fitting Levenberg-Marquardt algorithm is used for iterative solution to obtain the target positioning results corresponding to the beacon transceiver structure. The detailed process is as follows:

[0110] (f1) Based on the initial positioning result corresponding to the beacon transceiver structure and the target position information corresponding to each reference transceiver structure, a beacon-reference ranging residual term is constructed; 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; 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, an inter-beacon speed constraint residual term is constructed; based on the beacon-reference ranging residual term, the inter-beacon ranging constraint residual term, and the inter-beacon speed constraint residual term, a residual function is constructed. The specific implementation process is as follows:

[0111] Initial positioning results of a single beacon transceiver structure Through with Solution of ranging equation between reference transceiver structures:

[0112] ;

[0113] Where, For beacon transceiver structure and The distance measurement between the reference transceiver structures, For the The target location information of the reference transceiver structure, is the ranging noise. The positioning problem is transformed into nonlinear least squares optimization:

[0114] ;

[0115] There are M beacon transceiver structures, and the initial positioning results of each beacon transceiver structure are , introducing inter-beacon ranging observations , construct the joint observation equation:

[0116] ;

[0117] in, For the The beacon receiving and sending structure is the same as the The distance measurement between the reference transceiver structures, For the The beacon receiving and sending structure is the same as the The ranging noise between the reference transceiver structures, 、 For the 、 A beacon transceiver structure, is the inter-beacon ranging noise.

[0118] Doppler velocity measurement provides velocity observations , observation noise The velocity constraint can be transformed into a position prediction:

[0119] ;

[0120] in, Predict noise for beacon positions, is the observation time interval.

[0121] Combining multi-source observations with dynamic constraints, a weighted nonlinear least squares problem is constructed, and the residual function is as follows:

[0122] ;

[0123] In the formula , , are the noise variances of each observation respectively, realizing adaptive weighting.

[0124] (f2) Iterate the residual function using a nonlinear least squares fitting algorithm 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. The specific implementation process is as follows:

[0125] Based on the above residual function, a Levenberg-Marquardt nonlinear least squares solution is performed. First, initialization is performed, and the initial parameters are given, including the initial positioning result of the beacon transceiver structure, the relative motion speed between the beacon transceiver structure and the reference transceiver structure, the ranging delay and the speed of sound, and the damping factor and convergence threshold are set. Then, an iterative loop is performed, in which the residual and the constraint Jacobian matrix are calculated, and the residual vector is defined. , where the residual term of ranging between beacon and reference is: , the inter-beacon ranging constraint residual term: , the residual term of the speed constraint between beacons: The Jacobian matrix is:

[0126] ;

[0127] Then, the normal equation is constructed and the incremental and residual changes are solved, the initial parameters and residuals are updated, the residuals are evaluated and the damping factor is adjusted. When the residual is less than the convergence tolerance or the maximum number of iterations is reached, the iteration is terminated and the target positioning result of the beacon transceiver structure is returned.

[0128] (g) The target positioning results are uploaded to the display and control software, which also displays the historical positioning results to form the three-dimensional motion trajectory of the beacon.

[0129] Similarly, it can be set that each cycle reference transceiver structures 1#~3# poll and transmit positioning signals, and beacon transceiver structures 1#~2# receive positioning signals. The polling period is T. Taking double pulses as an example, the positioning processor performs signal detection and delay analysis on the received signals of beacon transceiver structures 1#~2# in the detection intervals set by the three time periods (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 beacon transceiver structure 1# and the three reference transceiver structures, as well as t12, t22, and t32 between beacon transceiver structure 2# and the three reference transceiver structures are obtained, and positioning solution is performed.

[0130] The anchored positioning system of this invention consists of three reference transceiver structures, a positioning processor, and two beacon transceiver structures. It locates targets by measuring the distance and azimuth of cooperative acoustic beacons, supports a variety of 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 array according to the actual application scenario. The reference transceiver array supports soft-lift deployment, bottom-mounted deployment, or suspended deployment. It can display and correct the formation in real time to improve positioning accuracy. The system also features real-time display of positioning results, internal storage, and playback of raw data; data interfaces with external GPS / BD devices and attitude and heading equipment; multi-channel data acquisition and acoustic recording capabilities; sound velocity compensation, motion velocity estimation, and compensation correction functions to improve positioning accuracy; support for status self-test and operating parameter settings; and supports multiple transceiver positioning modes. Lake test results show that this positioning system and method has positioning accuracy better than 10 cm, self-test array accuracy better than 5 cm, supports various combinations of LFM signal forms, and has a maximum operating depth of 100 m and a maximum range of 1000 m.

[0131] The present invention proposes a positioning solution method and system flow that combines four optimization aspects: adjustment improvements based on additional velocity and ranging constraints, sound velocity correction compensation, phase correction, and real-time Doppler and velocity estimation. The anchored positioning system and method of the present invention offers high positioning accuracy, a simple device that eliminates the need for complex deployment, simple operation, and flexible application.

[0132] The embodiment of the present invention provides an application example of a control method for a high-precision simple underwater acoustic positioning system. The underwater acoustic positioning test of the embodiment of the present invention was carried out at the Xin'an River test site in Qiandao Lake. The average water depth of the test water area was about 40m~50m. Figure 5 The following is a schematic diagram of an experimental scenario. First, a bottom-mounted reference transceiver unit bracket is constructed, ensuring the unit is at least 1.5 meters above the bottom. The bottom-mounted reference transceiver unit is retracted and lowered using a cable. During this time, a self-test array mode is performed to continuously monitor the depth and position of the reference array elements, assisting in the deployment of the reference array elements. Next, two beacon transceiver structures are fixed to each end of a 1-4 meter long fiberglass reinforced plastic tube, and the distance between them is measured and recorded. Ropes are tied to both ends of the tube to lower the entire structure. After being deployed to a certain depth using dual ropes, the ropes are slowly moved horizontally and vertically, and the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# are recorded. The positioning results are statistically analyzed during the movement, and the mean and variance of the distance between the two are calculated as the positioning accuracy criterion. The system operates in the 20kHz-30kHz frequency band, with a signal transmission period T of 1s.

[0133] (1) Self-test array mode: bottom-mounted transducer array placement:

[0134] The transducers in the reference transceiver configuration were deployed bottom-mounted. Reference transceiver configuration 1# was deployed on the lakebed in the southwest corner of the pontoon, reference transceiver configuration 2# was deployed on the lakebed in the northwest corner of the pontoon, and reference transceiver configuration 3# was deployed on the lakebed in the middle of the east side of the pontoon. The pontoon's specifications were approximately 45 meters long from north to south and 22 meters wide. During deployment, the self-test array results are shown below. Red points B1 to B3 in the figure represent the bottom-mounted transducer elements. Using the self-test array mode, the distance between bottom-mounted transducers 1# and 2# was 48.165 meters, the distance between 1# and 3# was 31.68 meters, and the distance between 2# and 3# was 35.09 meters, which is consistent with the actual deployment distance and configuration.

[0135] (2) Positioning mode: Test results:

[0136] Two beacon transceiver structures are fixed at both ends of a 1-4m long fiberglass square tube, and the distance between the two transducers is measured. The positioning accuracy is tested by locating the change in the spacing between the two beacon transceiver structures.

[0137] (2.1) The distance between the two beacons is 1m. The positioning results are as follows:

[0138] Table 1. Spacing positioning results of beacon transceiver structure 1# and beacon transceiver structure 2#

[0139]

[0140] The positioning results in the table show that during the movement of beacon transceiver structure 1# and beacon transceiver structure 2#, a total of 954 period positioning results were collected. The calculated mean distance between beacons 1# and 2# was 0.985m, which is consistent with the measured distance. Among them, the standard deviation of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# was 0.051m. At the same time, the movement trajectory of beacon transceiver structure 1# and beacon transceiver structure 2# can be obtained from the positioning results, as shown in the figure. Figure 6 The XY direction diagram of the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# in the case of a 1m spacing is shown. Figure 7 The XZ direction diagram of the positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a spacing of 1m is shown. The movement speed of beacon transceiver structure 1# and beacon transceiver structure 2# can be further obtained, as shown in FIG. Figure 8 The schematic diagram of the movement speed of the beacon transceiver structure 1# in the case of a 1m spacing is shown. Figure 9 The figure shows the movement speed of beacon transceiver structure 2# at a 1m spacing. The results in the figure show that beacon transceiver structure 1# and beacon transceiver structure 2# move at speeds exceeding 0.2m / s in cycles 1-10, 80-90, 280-350, 420-430, 660-670, 800, and 870-954, with a maximum speed exceeding 2m / s.

[0141] At the same time, the distance change and distribution of beacon transceiver structure 1# and beacon transceiver structure 2# during the movement can be obtained, such as Figure 10 The schematic diagram of the positioning result of the beacon transceiver structure 1# and the beacon transceiver structure 2# in the case of a 1m spacing is shown. Figure 11 The following figure shows a histogram of the positioning results for the spacing between beacon transceiver configurations 1# and 2#, for a 1m spacing. The results in the figure show that for periods with motion speeds greater than 0.2m / s, the positioning results for the spacing between beacon transceiver configurations 1# and 2# exhibit positioning errors ranging from 0.15m to 0.2m. This result indicates that when two beacons are positioned sequentially within a positioning cycle, beacon motion causes a half-cycle difference in their positions. Without motion compensation, the positioning error increases for spacing between the two beacons. For periods with motion speeds less than 0.2m / s, the positioning errors are all less than 0.05cm.

[0142] (2.2) The distance between the two beacons is 3m, such as Figure 12 The position distribution of a beacon transceiver structure 1# and a beacon transceiver structure 2# and a reference transceiver structure is shown, and the positioning results are as follows:

[0143] Table 2. Spacing positioning results for beacon transceiver structure 1# and beacon transceiver structure 2#

[0144]

[0145] The positioning results in the table show that during the movement of beacon transceiver structure 1# and beacon transceiver structure 2#, a total of 719 cycles of positioning results were collected. The calculated mean distance between beacon transceiver structure 1# and beacon transceiver structure 2# was 2.997m, which is consistent with the measured distance. The standard deviation of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# was 0.057m.

[0146] After positioning, the motion trajectories of beacon transceiver structure 1# and beacon transceiver structure 2# can be obtained, such as Figure 13 The XY direction diagram of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a spacing of 3m is shown. Figure 14 The diagram shows the XZ direction of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under a 3m spacing condition. Figure 15 The schematic diagram of the beacon transceiver structure 1# movement speed under the condition of a spacing of 3m is shown. Figure 16 The diagram shows the movement speed of beacon transceiver structure 2# in a case where the spacing is 3m.

[0147] At the same time, the distance change and distribution of beacon transceiver structure 1# and beacon transceiver structure 2# during the movement can be obtained, such as Figure 17The diagram shows the positioning results of the beacon transceiver structure 1# and the beacon transceiver structure 2# when the spacing is 3m. Figure 18 The following figure shows a histogram of the positioning results for the spacing between beacon transceiver configurations 1# and 2#, respectively, for a 3m spacing. The results show that for periods with a velocity greater than 0.4m / s, the positioning errors for beacon transceiver configurations 1# and 2# range from 0.1m to 0.3m. For periods with a velocity less than 0.4m / s, the positioning errors are all less than 0.1m.

[0148] (2.3) The distance between the two beacons is 3.76m. The positioning results are as follows:

[0149] Table 3. Spacing positioning results for beacon transceiver structure 1# and beacon transceiver structure 2#

[0150]

[0151] 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 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 The XY direction diagram of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a spacing of 3.76m is shown. Figure 20 The XZ direction schematic diagram of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under a spacing of 3.76m is shown. Figure 21 The schematic diagram of the beacon transceiver structure 1# movement speed under the condition of a spacing of 3.76m is shown. Figure 22 The figure shows the motion speed of beacon transceiver structure 2# at a 3.76m spacing. The results in the figure show that beacon transceiver structure 1# and beacon transceiver structure 2# move at speeds exceeding 0.3m / s during cycles 20-200, 250-400, 800, 950-1100, and 1550-1652, with a maximum speed exceeding 2m / s.

[0152] By observing the positioning results of the corresponding period, we can obtain the distance changes and distribution of beacon transceiver structure 1# and beacon transceiver structure 2# during the movement, such as Figure 23 The schematic diagram of the positioning results of the beacon transceiver structure 1# and the beacon transceiver structure 2# in the case of a spacing of 3.76m is shown. Figure 24The following figure shows a histogram of the positioning results for the spacing between beacon transceiver configurations 1# and 2#, with a spacing of 3.76m. The results in the figure show that for periods with motion speeds greater than 0.3m / s, the positioning results for the spacing between beacon transceiver configurations 1# and 2# exhibit positioning errors ranging from 0.15m to 0.3m. This result indicates that when two beacons are positioned sequentially within a positioning cycle, beacon motion causes a half-cycle difference in their positions. Without motion compensation, the positioning error increases for spacing between the two beacons. For periods with motion speeds less than 0.3m / s, the positioning errors are all less than 0.05cm.

[0153] (2.4) The distance between the two beacons is 1.82m. The positioning results are as follows:

[0154] Table 4. Spacing positioning results for beacon transceiver structure 1# and beacon transceiver structure 2#

[0155]

[0156] 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 mean distance between beacons 1# and 2# was 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# was 0.036m.

[0157] After positioning, the movement trajectories of beacon transceiver structure 1# and beacon transceiver structure 2# can be obtained. Figure 25 The XY direction diagram of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a spacing of 1.82m is shown. Figure 26 The XZ direction schematic diagram of the trajectory positioning results of beacon transceiver structure 1# and beacon transceiver structure 2# under the condition of a spacing of 1.82m is shown. Figure 27 The diagram of the beacon transceiver structure 1# movement speed under the condition of a spacing of 1.82m is shown. Figure 28 The figure shows the motion speed of beacon transceiver structure 2# at a 1.82m spacing. The results in the figure show that beacon transceiver structure 1# and beacon transceiver structure 2# move at speeds exceeding 0.44m / s during cycles 50-200, 250, and 380-420, with a maximum speed exceeding 1.2m / s.

[0158] At the same time, the distance change and distribution between beacon transceiver structure 1# and beacon transceiver structure 2# can be obtained during the movement. Figure 29 The schematic diagram of the positioning result of the beacon transceiver structure 1# and the beacon transceiver structure 2# in the case of a spacing of 1.82m is shown. Figure 30The following figure shows a histogram of the positioning results for beacon transceiver configuration 1# and beacon transceiver configuration 2# at a spacing of 1.82m. The results in the figure show that for periods with a motion speed greater than 0.4m / s, the positioning errors for beacon transceiver configuration 1# and beacon transceiver configuration 2# range from 0.1m to 0.3m. For periods with a motion speed less than 0.4m / s, the positioning errors are all less than 0.05cm.

[0159] In summary, the positioning system and method provided by the embodiments of the present invention have high positioning accuracy, simple equipment, no need for complicated deployment, simple operation, and flexible application. The lake test results show that the mean value of the spacing between beacon transceiver structure 1# and beacon transceiver structure 2# differs from the measured spacing by approximately 0.01m~0.04m, and the standard deviation of the spacing between beacon transceiver structure 1# and beacon transceiver structure 2# is less than 0.05m. The error of all positioning results for the spacing between beacons 1# and 2# is 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 cycles with a positioning error less than 0.05m accounts for 83%, 67.5%, 75%, and 80% of the total test cycles, respectively, and the number of cycles with a positioning error less than 0.1m accounts for 93%, 90%, 95%, and 97% of the total test cycles, respectively. The positioning accuracy of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# is affected by the movement speed of both. When the movement speed is greater than 0.2m / s~0.3m / s, the positioning result of the distance between beacon transceiver structure 1# and beacon transceiver structure 2# will have an error of 0.15m~0.3m, which can still meet the system positioning accuracy requirements.

[0160] Based on the above embodiment, the present invention provides a control device for a high-precision simple underwater acoustic positioning system. The device is applied to a positioning processor in the high-precision simple underwater acoustic positioning system. The high-precision simple underwater acoustic positioning system also includes a reference transceiver structure array and a beacon transceiver structure array connected to the positioning processor. Figure 31 The schematic diagram of the structure of a control device of a high-precision simple underwater acoustic positioning system is shown. The device mainly includes the following parts:

[0161] The signal transmitting and receiving module 3102 is configured 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;

[0162] Signal uploading module 3104, used to receive target positioning signals;

[0163] The delay compensation module 3106 is configured 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 perform 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.

[0164] 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 based on 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 velocity and ranging constraints.

[0165] The control device of the high-precision simple underwater acoustic positioning system provided by the embodiment of the present invention can be used to perform motion compensation on the initial time delay value after receiving the target positioning signal uploaded by each reference program. At the same time, the initial time delay value is compensated for the sound speed based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array. On this basis, combined with the improvement of the adjustment based on the additional velocity and ranging constraints, the target positioning result corresponding to the target virtual table structure is solved. The embodiment of the present invention can significantly improve the accuracy of underwater acoustic positioning.

[0166] In one embodiment, the delay compensation module 3106 is specifically configured to:

[0167] Determine a coarse Doppler estimate based on the relative amplitude of the target positioning signal uploaded by each reference transceiver structure;

[0168] Estimate the phase integer ambiguity based on the coarse Doppler estimate, and estimate the precise Doppler estimate based on the phase integer ambiguity;

[0169] The accurate Doppler estimation value is used to perform motion compensation on the initial delay value corresponding to the current positioning period.

[0170] In one embodiment, the delay compensation module 3106 is specifically configured to:

[0171] Along the water depth direction, the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array is divided into multiple discrete water layers;

[0172] Obtaining the sound velocity measurement data and sound velocity weight corresponding to each discrete water layer;

[0173] 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 the average sound velocity;

[0174] The average value of the sound speed is used to perform sound speed compensation on the initial delay value corresponding to the current positioning cycle.

[0175] In one embodiment, the beacon positioning module 3108 is specifically configured to:

[0176] Determine the initial positioning result corresponding to the beacon transceiver structure based on the target delay value and the target position information corresponding to each reference transceiver structure obtained by calibration;

[0177] Based on the initial positioning results, 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, the initial positioning results are improved by adjusting the additional velocity and ranging constraints to obtain the target positioning results corresponding to each beacon transceiver structure in the beacon transceiver structure array.

[0178] In one embodiment, the beacon positioning module 3108 is specifically configured to:

[0179] Based on the initial positioning result corresponding to the beacon transceiver structure and the target position information corresponding to each reference transceiver structure, 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 reference transceiver structure, an inter-beacon speed constraint residual term is constructed;

[0180] Constructing a residual function based on the residual term of ranging between beacons and reference, the residual term of ranging constraint between beacons, and the residual term of speed constraint between beacons;

[0181] The residual function is iteratively solved using a nonlinear least squares fitting algorithm until the preset iteration stop condition is met, and the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array is obtained.

[0182] In one embodiment, a calibration module is further included, configured to:

[0183] 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;

[0184] Determining 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 in each calibration cycle;

[0185] According to the relative position information between each reference transceiver structure, the target position information of each reference transceiver structure in a pre-established reference coordinate system is determined.

[0186] In one embodiment, 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.

[0187] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0188] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned embodiments.

[0189] Figure 32 This is a 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 via the bus 322; the processor 320 is used to execute an executable module stored in the memory 321, such as a computer program.

[0190] Memory 321 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between the system network element and at least one other network element is achieved through at least one communication interface 323 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0191] The bus 322 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 32 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0192] Among them, the memory 321 is used to store programs, and the processor 320 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 320 or implemented by the processor 320.

[0193] The processor 320 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 320 or by software instructions. The processor 320 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processing unit (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or 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 any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 321, and processor 320 reads the information in memory 321 and, in conjunction with its hardware, completes the steps of the above method.

[0194] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be referred to the previous method embodiment and will not be repeated here.

[0195] If the functions are implemented as 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, or the portion that contributes to the prior art, or a portion of the 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 can be a personal computer, server, or 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 media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0196] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A control method for a high-precision simple underwater acoustic positioning system, characterized in that: The method is applied to a positioning processor in a high-precision simple underwater acoustic positioning system, wherein the high-precision 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: According to a preset positioning period, controlling the first target structure 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 an initial time delay value corresponding to a current positioning period; and performing sound velocity compensation on the initial time delay value corresponding to the current positioning period based on a relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array to obtain a target time delay value; Calculating the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array based on 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 velocity and ranging constraints; Doppler estimation is performed 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 coarse Doppler estimation value based on the correlation amplitude of the target positioning signal uploaded by each reference transceiver structure; estimating a phase integer ambiguity according to the coarse Doppler estimation value, and estimating a precise Doppler estimation value based on the phase integer ambiguity; and using the precise Doppler estimation value to perform motion compensation on the initial delay value corresponding to the current positioning cycle.

2. The control method of the high-precision simple underwater acoustic positioning system according to claim 1, characterized in that: Based on the relative thickness between the reference transceiver structure array and the beacon transceiver structure array, performing sound velocity compensation on the initial delay value corresponding to the current positioning period 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 average sound speed value is used to perform sound speed compensation on the initial time delay value corresponding to the current positioning period.

3. The control method of the high-precision simple underwater acoustic positioning system according to claim 1, characterized in that: Calculating 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, combined with the adjustment improvement based on the additional velocity and ranging constraints, including: Determining an initial positioning result corresponding to the beacon transceiver structure according to the target 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 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 velocity and ranging constraints to obtain the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array.

4. The control method of the high-precision simple underwater acoustic positioning system according to claim 3, 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 adjusting the additional velocity and ranging constraints to obtain a 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 the 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.

5. The control method of the high-precision simple underwater acoustic positioning system according to claim 1, characterized in that: The method further comprises: Controlling a 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; Determining 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 period; 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.

6. The control method of the high-precision simple underwater acoustic positioning system according to claim 5, 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.

7. A control device for a high-precision simple underwater acoustic positioning system, characterized in that: The device is applied to a positioning processor in a high-precision simple underwater acoustic positioning system, which 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 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, configured to receive the target positioning signal; a delay compensation module, configured 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 perform 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; A beacon positioning module is configured to calculate the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array based on the target delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with an adjustment improvement based on additional velocity and ranging constraints; The delay compensation module is specifically used to: determine a coarse Doppler estimation value based on the correlation amplitude of the target positioning signal uploaded by each reference transceiver structure; estimate the phase integer ambiguity according to the coarse Doppler estimation value, and estimate the precise Doppler estimation value based on the phase integer ambiguity; and use the precise Doppler estimation value to perform motion compensation on the initial delay value corresponding to the current positioning cycle.

8. 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 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. 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 6.

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