Deep sea subsurface buoy three-point positioning method

Abstract

The invention provides a deep-sea subsurface buoy three-point positioning method. The deep-sea subsurface buoy three-point positioning method comprises the steps that the longitude and latitude of a subsurface buoy weight entering water, the seawater depth and the distance between a deep-sea releaser and the subsurface buoy weight are obtained when a deep-sea subsurface buoy is laid; within a set distance from the water entry point of the subsurface buoy heavy block, three position points which are not in the same straight line are selected, and latitude and longitude coordinates of the three position points are recorded; actually measuring the distances from the three position points to the deep sea releaser; and obtaining latitude and longitude coordinate positions of the deep sea subsurface buoy based on a three-point positioning method of solid geometry. The method has the advantages that the calculation method is simple, the operability is high, the actual laying position of the deep sea subsurface buoy can be corrected, and the estimation precision of the laying position of the deep sea subsurface buoy is improved. And powerful support is provided for subsequent acoustic experiment data processing and subsurface buoy recovery and salvage.

Description

Technical Field

[0001] This application belongs to the field of marine acoustics, and particularly relates to a three-point positioning method for deep-sea moored buoys. Background Art

[0002] Moored buoys are important technical equipment for obtaining marine environmental noise information and conducting acoustic surveys to obtain high-quality acoustic signals. Moored buoy devices can carry a variety of measurement and detection instruments, and can relatively covertly conduct long-term, fixed-point, continuous and multi-layer synchronous measurements under harsh sea conditions. Therefore, moored buoy devices have been widely used in marine scientific investigation and research, marine military reconnaissance and other aspects.

[0003] In the present invention, the positioning of deep-sea moored buoys means that after the moored buoy enters the water, the weight at the end of the moored buoy will drift under the influence of the resistance of the floating body at the upper end of the moored buoy, sea current, etc. The drifting distance in the deep-sea area will increase with the increase of the sea depth, resulting in an error of several hundred meters between the actual position of the deep-sea moored buoy in the sea and the coordinates recorded when the weight enters the water, and the position of the moored buoy may change greatly. This influence causes certain errors in the analysis of the acoustic data recorded by the subsequent deep-sea moored buoys, especially causing distortion of the acoustic data that needs to be accurately analyzed. At the same time, it brings great difficulties to the search and recovery work of the moored buoys, and even directly leads to the failure of recovery and the loss of the system, causing huge economic losses. In order to obtain the actual position of the deep-sea moored buoy in the water for subsequent correction processing to obtain more accurate data, and at the same time make the recovery work proceed smoothly, it is necessary to reposition the deep-sea moored buoy. Especially when recovering the moored buoy, if situations such as the failure of the release device cause the moored buoy to be unable to be recovered and the satellite communication equipment cannot work, first performing positioning and attitude analysis to obtain relatively accurate information such as the actual position and underwater attitude of the moored buoy is more conducive to carrying out other methods of salvage work and recovering the economic losses caused by the loss of the moored buoy.

[0004] In the current research on the above problems, some scholars have conducted relevant research on the positioning of deep-sea moored buoys. This method can be found in the reference document ("Research on the Positioning Method of Deep-Sea Acoustic Moored Buoys", published in Acoustics Technology, Vol. 39, No. 3, starting page 290, in June 2020). However, the method in this paper requires the establishment of a complex geostereometric model and the calculation of self-written programs. Generally speaking, the calculation process is relatively complex, with a large workload, and it is not easy to promote and apply. Summary of the Invention

[0005] The purpose of this application is to use the release device deck unit transponder, combine simple algorithms and map software tools, establish a stereometric relationship, and use the three-point positioning method to achieve the rapid positioning of underwater deep-sea acoustic moored buoys, provide more accurate position information for the specific position of the moored buoy underwater, provide data guarantee for the subsequent acoustic data processing, and at the same time save time for the recovery and salvage of deep-sea moored buoys.

[0006] To achieve the above object, the present application proposes a three-point positioning method for deep-sea mooring buoys, including:

[0007] Step 1: Obtain the longitude and latitude, seawater depth at the time when the mooring weight of the deep-sea mooring buoy enters the water, and the distance between the deep-sea release device and the mooring weight.

[0008] Step 2: Select three position points that are not on a straight line within a set distance from the point where the mooring weight enters the water, and record the longitude and latitude coordinates of these three position points.

[0009] Step 3: Actually measure the distances from the three position points to the deep-sea release device.

[0010] Step 4: Obtain the longitude and latitude coordinate position of the deep-sea mooring buoy based on the three-point positioning method of solid geometry.

[0011] As an improvement of the above method, the set distance is 2 ± 0.5 km.

[0012] As an improvement of the above method, the actual measurement of the distances from the three position points to the deep-sea release device includes:

[0013] The experimental ship maneuvers to the three position points respectively, and at each position point, uses the deep-sea release device deck unit from the tail of the experimental ship to measure and obtain the distance between the release device deck unit and the deep-sea release device.

[0014] As an improvement of the above method, Step 4 includes:

[0015] Calculate the distances from the three position points to the point where the deep-sea mooring buoy release device projects on the sea surface respectively:

[0016]

[0017] where r i represents the distance from the i-th position point to the point where the deep-sea mooring buoy release device projects on the sea surface; R i represents the distance from the i-th position point to the deep-sea mooring buoy release device; H represents the seawater depth at the point where the deep-sea mooring buoy enters the water; H0 represents the distance between the deep-water release device and the mooring weight;

[0018] Draw circles with the three position points as the centers and the distances from the position points to the point where the deep-sea mooring buoy release device projects on the sea surface as the radii respectively. The intersection point of the three circles is the position of the actually deployed deep-sea mooring buoy.

[0019] Compared with the prior art, the advantages of the present application are:

[0020] In the process of deploying deep - sea moorings, due to the downward pull of the weight and the resistance of the mooring buoy, the weight does not fall vertically completely after entering the water, and the falling position may drift. This causes the actual position of the mooring to be inconsistent with the recorded position of the weight entry point, which affects the subsequent recovery and acoustic data processing of the mooring. The present invention uses a deep - sea release device for ranging, combines a three - dimensional geometric model and map software for three - point positioning. The calculation method is simple and highly operable, which can correct the actual deployment position of the deep - sea mooring and improve the estimation accuracy of the deep - sea mooring deployment position. It provides strong support for the subsequent processing of acoustic experimental data and the recovery of the mooring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure shows the flow chart of the three - point positioning method for deep - sea moorings;

[0022] Figure 2 The figure shows the three - dimensional geometric schematic diagram of the sea experiment;

[0023] Figure 3 The figure shows the schematic diagram of estimating the mooring position at a single position in the sea experiment;

[0024] Figure 4 The figure shows the result of three - point intersection positioning using map software in the sea experiment and the comparison with the weight entry point of the deep - sea mooring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings.

[0026] A three - point positioning method for deep - sea moorings proposed by the present invention takes into account that due to the downward pull of the weight and the resistance of the mooring buoy, the weight does not fall vertically completely after entering the water, resulting in the situation that the actual bottom - sitting position of the mooring is inconsistent with the recorded position. First, obtain the longitude and latitude of the weight entry point, the sea depth, and the distance between the deep - sea release device and the mooring weight during the deployment of the deep - sea mooring through the experimental records during the deployment; then record the longitude and latitude coordinates of three non - collinear position points 2 ± 0.5 km away from the deep - sea mooring by the ship - borne GPS; then the experimental mother ship sails to these three position points in turn, and actually measures the distances from the experimental mother ship to the deep - sea release device at the three position points through the deck unit of the deep - sea release device; finally, obtain the longitude and latitude coordinate position of the deep - sea mooring through the three - point positioning method based on solid geometry. The three - point positioning method can also use map software to input the coordinates of the three position points for calculation.

[0027] The present invention comprehensively considers the situation that during the deployment of deep-sea mooring buoys, the actual position of the mooring buoy is inconsistent with the recorded position of the sinker entry point into the water, which affects the subsequent recovery and salvage of the mooring buoy and the processing of acoustic data. By using the distance measurement of the deep-sea release device and combining the three-point positioning method with the solid geometry model and map software, the actual deployment position of the deep-sea mooring buoy is corrected, improving the estimation accuracy of the deployment position of the deep-sea mooring buoy. It provides strong support for the subsequent processing of acoustic experimental data and the recovery and salvage of the mooring buoy.

[0028] As Figure 1 shown, the three-point positioning method for deep-sea mooring buoys provided by the present invention includes:

[0029] Step 1: Obtain the longitude and latitude, seawater depth at the sinker entry point during the deployment of the deep-sea mooring buoy, and the distance between the deep-sea release device and the sinker of the mooring buoy. These data can be obtained from the experimental records during the deployment of the deep-sea mooring buoy.

[0030] Through the recorded longitude and latitude coordinate position (O lon , O lat ) of the sinker entry point during the deployment of the deep-sea mooring buoy and input it into the map software; use the depth sounder on the experimental ship to measure the seawater depth H at the sinker entry point; and record the distance H0 of the steel wire rope between the deep-sea release device and the sinker of the mooring buoy during the design of the deep-sea mooring buoy, that is, the depth of the deep-sea release device from the seabed; obtain these three values to provide basic data for the subsequent three-point positioning method of solid geometry.

[0031] In this embodiment, during a certain sea trial in the northern South China Sea, the recorded coordinate of the sinker entry point at the central station O during the deployment of the deep-sea mooring buoy is (20°59.907′N, 119°00.093′E); the seawater depth H at point O recorded by the shipborne ten-thousand-meter depth sounder is 2705 m; during the design of the deep-sea mooring buoy, the deep-sea release device is connected to the sinker of the mooring buoy through a steel wire rope, and the distance H0 is 40 m.

[0032] Step 2: Record the longitude and latitude coordinates of three position points about 2 ± 0.5 km away from the deep-sea mooring buoy and not on a straight line. The above longitude and latitude coordinates can be recorded by the shipborne GPS.

[0033] According to the longitude and latitude of the sinker entry position of the deep-sea mooring buoy, select three position points A, B, and C that are 2 ± 0.5 km away from the sinker entry position during the deployment of the deep-sea mooring buoy and not on a straight line. The experimental ship maneuvers to these three position points in turn, and records the longitude and latitude information of the three positions as (A lon , A lat ), (B lon , B lat ) and (C lon , C lat ).

[0034] During the experiment, in combination with the nautical chart software, the longitude and latitude of the heavy block's water entry point are input into the software. At the same time, near the center point O on the map, three non-collinear position points A, B, and C are selected at a distance of 2 ± 0.5 km.

[0035] Step 3: Measure the distances from the three position points to the deep-sea release device.

[0036] The experimental mother ship can be used to travel to these three position points in turn. Through actual measurement by the deep-sea release device deck unit, the distances from the experimental mother ship to the deep-sea release device at the three position points can be obtained respectively.

[0037] During the process of the experimental ship maneuvering to the three position points selected in Step 2, at each position point, using the deep-sea release device deck unit from the tail of the experimental ship, the distances between the release device deck unit and the deep-sea release device are measured and obtained as R1, R2, and R3 respectively, that is, the distances from the three position points A, B, and C to the deep-sea release device on the deep-sea buoy.

[0038] During the experiment, when the experimental ship travels to the predetermined position point A, the deep-sea release device deck unit is used to position and measure the distance to the bottom-mounted deep-sea release device, and the measured distance is 3324.6 m. The longitude and latitude coordinates are recorded using the shipborne GPS as (20°59.538′N, 119°01.062′E); when traveling to the predetermined position point B, the measured distance from the release device deck unit to the underwater release device is 3407.9 m, and the longitude and latitude coordinates are recorded using the shipborne GPS as (20°59.472′N, 118°58.040′E); when traveling to the predetermined position point C, the measured distance from the release device deck unit to the underwater release device is 3102.9 m, and the longitude and latitude coordinates are recorded using the shipborne GPS as (21°0.948′N, 119°0.035′E).

[0039] Step 4: Using the longitude and latitude coordinates of the above four position points and the measured distances, the longitude and latitude coordinate position of the deep-sea buoy is obtained through the three-point positioning method based on solid geometry. This calculation can be carried out on the map software.

[0040] Using the distances between the 3 measurement points and the deep-sea release device, the water depth at the water entry point of the deep-sea buoy heavy block, and the depth of the deep-sea release device from the seabed as prior known information; using the solid geometry relationship to calculate the distances from the projection points of the actual position points of the deep-sea buoy projected onto the sea surface to the three position points A, B, and C respectively. That is, calculate the radii of the circles with points A, B, and C as the centers respectively, and in combination with the map software, determine the coordinate position of the deep-sea buoy through the three-point positioning method.

[0041] The principle of the three-point positioning method lies in using solid geometry and mathematical relationships to obtain the position of the submersible buoy release device. When deploying a deep-sea submersible buoy, the distance between the deep-water release device and the weight is generally connected by a steel wire rope. After sinking to the bottom, it will be straightened due to the buoyancy of the submersible buoy floating body, so this distance is known as H0. As Figure 2 Shown in the solid geometry relationship, when the distance from the unknown point O1 of the actual position of the deep-sea submersible buoy to the determined point A is known as R through measurement in step 1, the projection O1' of point O1 on the sea level where point A is located must be on a circle with point A as the center and radius r.

[0042] When calculating the radius r of the circle, since the sea depth at the actual position point of the deep-sea submersible buoy cannot be measured, it needs to be approximately equivalent indirectly from the sea depth measured by the shipborne ten-thousand-meter depth sounder at the water entry point O of the nearby submersible buoy weight. Therefore, there is an assumption condition in this geometric method, that is, the seabed in the small area near the recorded positions of the true position of the deep-sea submersible buoy and the water entry point of the weight is approximately flat. In the actual deep-sea environment, the above two position points will not be very far apart, about 1 km. The seabed changes in this small area will not be very drastic, so this assumption approximation is also valid during the execution process. In this way, the radius of the circle on the sea level where the projection of the deep-sea submersible buoy release device with point A as the center is:

[0043]

[0044] And so on, according to the solid geometry relationship, the radii of the circles with the three stations near the water entry point of the weight as the centers can be obtained respectively.

[0045]

[0046] Mark the three stations on the map software according to the recorded longitude and latitude, and draw circles with points A, B, and C as the centers respectively according to the three obtained circle radii. The intersection point is the projection point of the actual position of the deep-sea release device projected onto the sea surface, that is, the position coordinates of the actually deployed deep-sea submersible buoy.

[0047] In this embodiment, the longitude and latitude coordinates of point O (the water entry point of the weight), point A, point B, and point C are input into the map software, and the basic principle of the three-point positioning method is used as Figure 2 Shown. The specific principle is that when the distance from the actual position O1 of the deep-sea release device on the seabed to the sea surface point A is the measured value R; the distance h from the projection O1' of point O1 on the sea surface can be approximately equal to the sea depth H recorded at point O minus the distance H0 from the deep-sea release device to the seabed (submersible buoy weight). Here, an approximation is made, assuming that the seabed in the short distance near the water entry point of the weight is relatively flat, and the sea depth at point O1' can be equivalently approximated as the sea depth of the water entry point of the weight, 2705 m. In this way, the distance h from point O1 projected onto the sea level,

[0048] h = H - H0

[0049] Through the geometric relationship in three-dimensional space, the projection point O1' of the actual position O1 of the deep-sea mooring buoy on the sea surface can be determined to be on the circle with point A on the sea surface as the center and radius r. The value of r can be calculated by the following formula

[0050]

[0051] Based on this geometric relationship, find two other points B and C that are not on the same straight line as A. Then, the intersection point of the three circles with A, B, and C as the centers can be obtained. This intersection point is the projection of the actual position of the deep-sea mooring buoy on the sea surface. The schematic diagram of the specific geometric relationship in three-dimensional space is as Figure 3 shown

[0052] According to the data in the above measurement record process, the radii of the circles with points A, B, and C on the sea surface as the centers can be obtained as follows

[0053]

[0054] Enter points A, B, and C into the map software and draw circles with radii r1, r2, and r3 respectively. The longitude and latitude coordinates of the intersection point are the actual position of the deep-sea mooring buoy. The positioning result of the deep-sea mooring buoy in the experimental process of this case is as Figure 4 shown. The mooring buoy point O2 located by the method of the present invention is marked in the figure, and there is a difference of about 300 m from the recorded position of the weight entry point into the water. During the experimental implementation process, the disappearance point of the beacon at the uppermost end of the deep-sea mooring buoy was also recorded after the weight entered the water. It can be seen that the mooring buoy point located by this method is between the connection line of the weight entry point at the lowermost end and the beacon entry point at the uppermost end of the deep-sea mooring buoy, and is close to the end of the weight with a larger mass. This provides certain reference significance for the future deployment and recovery of deep-sea acoustic mooring buoys

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that any modification or equivalent replacement of the technical solutions of the present application does not depart from the spirit and scope of the technical solutions of the present application, and they should all be covered within the scope of the claims of the present application

Claims

1. A three-point positioning method for a deep-sea buoy, comprising: Step 1: Obtain the latitude and longitude of the submerged buoy weight entering the water when the deep-sea submerged buoy is deployed, the seawater depth, and the distance between the deep-sea releaser and the submerged buoy weight; Step 2: Select three points that are not in a straight line within the set distance from the point where the submerged buoy weight enters the water, and record the longitude and latitude coordinates of these three points; Step 3: Actually measure the distances from the three locations to the deep-sea releaser; Step 4: Obtain the longitude and latitude coordinates of the deep-sea buoy using a three-point positioning method based on stereo geometry.

2. The deep-sea buoy positioning method according to claim 1, characterized in that: The set distance is 2±0.5km.

3. The deep-sea buoy positioning method according to claim 1, characterized in that: The actual measurement of the distances from the three locations to the deep-sea releaser includes: The experimental ship maneuvered to three locations respectively, and at each location, the deep-sea releaser deck unit was used from the stern of the experimental ship to measure the distance between the releaser deck unit and the deep-sea releaser.

4. The deep-sea buoy positioning method according to claim 1, characterized in that: The step 4 comprises: Calculate the distances from the three locations to the point where the deep-sea buoy releaser is projected on the sea level: Among them, r i R represents the distance from the i-th position point to the projection of the deep-sea buoy releaser on the sea level; i represents the distance from the ith position point to the deep-sea buoy releaser; H represents the sea depth of the deep-sea buoy entry point; H0 represents the distance between the deep-water releaser and the buoy weight block; Draw circles with the three position points as the center and the distance from the position point to the point where the deep-sea buoy releaser is projected on the sea level as the radius. The intersection of the three circles is the actual position of the deployed deep-sea buoy.

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