Positioning deviation correction method, device and equipment of underwater instrument and storage medium

Abstract

The invention relates to a positioning deviation correction method, device and equipment of an underwater instrument and a storage medium. The method is applied to a positioning system comprising a vertical pile and a subsurface buoy body, the vertical pile and the subsurface buoy body are connected through a sliding limiting device, and the method comprises the steps that water surface positioning reference data are obtained based on a positioning antenna installed on the top of the vertical pile; using an attitude sensor on the subsurface buoy body to collect attitude parameters of the subsurface buoy body in real time, and obtaining vertical displacement data through a heaving sensor on the vertical pile; the position offset of the subsurface buoy body is calculated through an offset compensation algorithm based on the subsurface buoy body attitude parameters and the vertical displacement data, and the positioning result of the underwater instrument in the subsurface buoy body is corrected in real time based on the water surface positioning reference data and the position offset; compared with the prior art, the technical scheme of the invention can improve the high-precision positioning of the underwater instrument.

Description

Technical Field

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

[0002] In the field of research and development and testing of marine electronic information equipment, the precise positioning of underwater instruments is a key link in ensuring the reliability of test data. Currently, traditional offshore floating platforms are still the mainstream solution for underwater instrument positioning, but their technical architecture and positioning mechanism have significant defects, making it difficult to meet high-precision testing requirements.

[0003] At the positioning technology level, existing solutions have multiple bottlenecks. On the one hand, traditional GPS positioning cannot be used directly for underwater positioning because satellite signals severely attenuate in water, and must rely on underwater acoustic communication to indirectly transmit positioning information, which not only leads to a decrease in positioning accuracy, but also has the problem of insufficient real-time performance. On the other hand, single underwater acoustic positioning technology is interfered by the time-varying characteristics of the ocean acoustic channel and multipath effects, resulting in large positioning errors, making it difficult to achieve centimeter-level precise positioning. At the system design level, traditional positioning systems independently separate attitude measurement and positioning calculation, lacking a real-time linkage compensation mechanism. The data collected by the attitude sensor has not been effectively integrated into the positioning algorithm, resulting in errors accumulating over time, which cannot meet the stringent requirements of high-precision scenarios such as seismic exploration and electromagnetic sensor testing.

[0004] Existing technologies make it difficult to achieve high-precision positioning of underwater instruments due to positioning signal attenuation, underwater acoustic channel interference and lack of attitude compensation mechanism; these technical shortcomings urgently need to be addressed through innovative solutions. Summary of the Invention

[0005] The present application provides a method, device, equipment and storage medium for correcting positioning deviation of an underwater instrument, which can improve the high-precision positioning of the underwater instrument.

[0006] In the first aspect, the present application provides a method for correcting positioning deviation of an underwater instrument, which is applied to a positioning system including a stake and a submerged buoy, wherein the stake is connected to the submerged buoy through a sliding limit device, and the method includes: obtaining surface positioning reference data based on a positioning antenna installed on the top of the stake; using a posture sensor on the submerged buoy to collect the posture parameters of the submerged buoy in real time, and obtaining vertical displacement data through a heave sensor on the stake; based on the posture parameters of the submerged buoy and the vertical displacement data, calculating the position offset of the submerged buoy through an offset compensation algorithm, and based on the water surface positioning reference data and the position offset, correcting the positioning result of the underwater instrument in the submerged buoy in real time.

[0007] In one possible implementation, the positioning antenna installed on the top of the pile obtains the water surface positioning reference data, specifically including: based on the positioning antenna, receiving the GPS satellite signal and the differential correction signal sent by the ground reference station, using the carrier phase real-time dynamic algorithm to solve the GPS satellite signal and the differential correction signal to obtain the first three-dimensional coordinates of the top of the pile in the geodetic coordinates, and using the first three-dimensional coordinates as the water surface positioning reference data.

[0008] In a possible implementation, the use of the attitude sensor on the latent buoy to collect the attitude parameters of the latent buoy in real time specifically includes: the attitude sensor includes an accelerometer and a gyroscope; based on the accelerometer, three-axis acceleration data is collected, and based on the gyroscope, three-axis gyroscope angular velocity data is collected; based on the three-axis acceleration data and the three-axis gyroscope angular velocity data, the pitch angle, roll angle and yaw angle of the latent buoy are calculated, and the pitch angle, the roll angle and the yaw angle are used as the latent buoy attitude parameters of the latent buoy.

[0009] In one possible implementation, the pitch angle, roll angle and yaw angle of the buoy body are calculated based on the three-axis acceleration data and the three-axis gyroscope angular velocity data, specifically including: performing low-pass filtering on the three-axis acceleration data to obtain filtered three-axis acceleration data, and performing zero-bias pre-compensation on the three-axis gyroscope angular velocity data to obtain compensated gyroscope angular velocity data; performing gravity vector separation processing on the filtered three-axis acceleration data to obtain an initial pitch angle and an initial roll angle; determining an initial quaternion based on the initial pitch angle and the initial roll angle, performing quaternion integration processing on the compensated gyroscope angular velocity data using the Runge-Kutta method to obtain a rotation quaternion, and calculating the pitch angle, roll angle and yaw angle of the buoy body based on the initial quaternion and the rotation quaternion.

[0010] In one possible implementation, obtaining vertical displacement data through the heave sensor on the stake specifically includes: collecting vertical direction data from the heave sensor in real time, wherein the vertical direction data includes vertical acceleration data and pressure data; wherein the heave sensor is installed at a sliding limit device between the stake and the buoy body and is zero-calibrated under static water surface conditions; filtering the vertical acceleration data to obtain filtered vertical acceleration data, and compensating the pressure data to obtain compensated pressure data; calculating a first displacement estimate based on the filtered vertical acceleration data, and calculating a second displacement estimate based on the compensated pressure data; and performing weighted fusion processing on the first displacement estimate and the second displacement estimate to obtain vertical displacement data.

[0011] In a possible implementation, the position offset of the buoy is calculated by an offset compensation algorithm based on the buoy posture parameters and the vertical displacement data, specifically including: generating a rotation matrix based on the pitch angle, the roll angle, and the yaw angle; obtaining the original depth of the buoy, and determining the current depth of the buoy based on the vertical displacement data and the original depth; calculating an x-axis horizontal offset value based on the current depth and the pitch angle, and calculating a y-axis horizontal offset value based on the current depth and the roll angle; converting the x-axis horizontal offset value and the y-axis horizontal offset value into a global coordinate system based on the rotation matrix to obtain a converted x-axis horizontal offset value and a converted y-axis horizontal offset value; constructing a three-dimensional offset vector based on the converted x-axis horizontal offset value, the converted y-axis horizontal offset value, and the vertical displacement data, and using the three-dimensional offset vector as the position offset of the buoy.

[0012] In one possible implementation, the real-time correction of the positioning result of the underwater instrument in the submerged buoy based on the surface positioning reference data and the position offset specifically includes: superimposing the surface positioning reference data and the position offset to obtain the corrected underwater instrument position coordinates, and based on the corrected underwater instrument position coordinates, real-time correction of the positioning result of the underwater instrument in the submerged buoy.

[0013] In the second aspect, the present application provides a positioning deviation correction device for underwater instruments, including: a water surface positioning reference data acquisition module, a submerged buoy parameter acquisition module and a positioning correction module; wherein, the water surface positioning reference data acquisition module is used to obtain water surface positioning reference data based on the positioning antenna installed on the top of the pile; the submerged buoy parameter acquisition module is used to use the attitude sensor on the submerged buoy to collect the submerged buoy attitude parameters in real time, and obtain vertical displacement data through the heave sensor on the pile; the positioning correction module is used to calculate the position offset of the submerged buoy based on the submerged buoy attitude parameters and the vertical displacement data through an offset compensation algorithm, and based on the water surface positioning reference data and the position offset, correct the positioning result of the underwater instrument in the submerged buoy in real time.

[0014] In a third aspect, an embodiment of the present application further provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program can implement the above method when executed by a processor.

[0016] The embodiments of the present application provide a method, apparatus, device, and storage medium for correcting positioning deviations of underwater instruments, which have the following advantages over the prior art:

[0017] Based on the positioning antenna installed on the top of the pile, the water surface positioning reference data is obtained; the attitude sensor on the submerged buoy is used to collect the attitude parameters of the submerged buoy in real time, and the vertical displacement data is obtained through the heave sensor on the pile; based on the attitude parameters of the submerged buoy and the vertical displacement data, the position offset of the submerged buoy is calculated by the offset compensation algorithm, and based on the water surface positioning reference data and the position offset, the positioning result of the underwater instrument in the submerged buoy is corrected in real time; compared with the prior art, the technical solution of the present application obtains high-precision water surface positioning reference data by installing a positioning antenna on the top of the pile, and collects the attitude parameters of the submerged buoy in real time by using the attitude sensor of the submerged buoy. The data is collected and the vertical displacement data is obtained through the pile heave sensor. The surface positioning reference data and the underwater buoy posture parameters and vertical displacement data are linked together through the offset compensation algorithm to calculate the position offset of the buoy in real time. Among them, since the sliding limit devices of the pile and the buoy allow the two to move relative to each other, the vertical displacement error caused by waves is eliminated in conjunction with the heave sensor. By correcting the position offset of the buoy in real time, the surface positioning reference is finally mapped to the underwater instrument through the algorithm, which solves the problem of separation of posture compensation and positioning in traditional technology. Combined with the underwater acoustic positioning technology, the positioning accuracy of the underwater instrument can be improved to the centimeter level, effectively overcoming the influence of time-varying and multipath effects of the ocean acoustic channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0021] Figure 1 This is a flow chart of an embodiment of a method for correcting positioning deviation of an underwater instrument provided by the present application;

[0022] Figure 2This is a structural schematic diagram of an embodiment of a positioning deviation correction device for an underwater instrument provided by the present application;

[0023] Figure 3 This is a structural diagram of a computer device provided by this application. DETAILED DESCRIPTION

[0024] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0025] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0026] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0027] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0029] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0030] Example 1, see Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of a method for correcting positioning deviation of an underwater instrument provided by the present application. Figure 1 As shown, the method includes steps 101 to 103, which are specifically as follows:

[0031] Step 101: Acquire water surface positioning reference data based on the positioning antenna installed on the top of the pile.

[0032] In one embodiment, the piles are fixed to the seabed by an anchoring system to form a rigid support structure perpendicular to the sea level. The total length is 15 meters, suitable for shallow sea environments with a water depth of 10 meters, and the water depth can be adjusted. The horizontal position of the piles is fixed by an anchoring system, such as a gravity anchor, pile anchor, etc., to avoid horizontal deviation caused by waves and ensure the stability of the positioning reference.

[0033] In one embodiment, the buoy is mounted on the outside of the pile through a sliding limit device, and can be raised and lowered vertically along the pile (lifting range ≥ 5 meters), but is constrained by the limit device in the horizontal direction (offset ≤ 10 cm), forming a composite structure of "rigid reference + flexible sliding".

[0034] Specifically, the sliding limit device allows the buoy to rise and sink with the waves, while limiting posture changes such as roll and pitch, reducing the interference of the marine environment on the positioning of underwater instruments.

[0035] Specifically, the top of the pile is connected to the surface winch through a gantry, and the winch controls the raising and lowering of the buoy on the pile through an umbilical cable; the control console is located on the surface operating platform, forming a vertical control link with the top of the pile.

[0036] In one embodiment, the pile and the buoy are connected via an umbilical cable to achieve power supply and data transmission for underwater instruments.

[0037] In one embodiment, the heave sensor is installed near the cable outlet end of the pile gantry to monitor the vertical displacement of the buoy relative to the pile in real time, with a measurement accuracy of ≤5 cm. Its installation position is coaxial with the sliding track of the buoy to ensure the accuracy of the displacement data.

[0038] In one embodiment, the top of the portion of the pile above the water surface serves as a water surface positioning reference point, and a positioning antenna is installed on the top of the pile, wherein the positioning antenna is a PTK GPS positioning antenna, i.e., a real-time dynamic global positioning system antenna, which is used to directly receive satellite signals; the underwater portion of the pile extends to the test area to provide a vertical guide rail for the submerged buoy.

[0039] Specifically, the positioning antenna is fixed to the top of the stake, and the phase center is aligned with the axis of the stake to ensure the vertical transmission accuracy of the positioning reference.

[0040] Specifically, a positioning antenna is installed on the top of the pile, wherein the positioning antenna is a PTK GPS positioning antenna, that is, a real-time dynamic global positioning system antenna.

[0041] In one embodiment, based on the positioning antenna, GPS satellite signals and differential correction signals sent by the ground reference station are received, and the GPS satellite signals and the differential correction signals are solved using a carrier phase real-time dynamic algorithm to obtain the first three-dimensional coordinates of the top of the pile in geodetic coordinates, and the first three-dimensional coordinates are used as the water surface positioning reference data.

[0042] Specifically, the positioning antenna of the stake receives GPS satellite signals and extracts data from the GPS satellite signals to obtain pseudorange data, carrier phase observation values ​​and satellite clock parameters, wherein the carrier phase observation values ​​include L1 carrier phase observation values ​​and L2 carrier phase observation values.

[0043] Specifically, the ground reference station is deployed at a fixed point on the coast and sends differential correction data in RTCM3.3 format to the positioning antenna on the stake through a wireless link. The differential correction data includes carrier phase difference, pseudorange difference and satellite clock correction value.

[0044] Specifically, the carrier phase differential is used to correct the carrier phase observation value received by the stake antenna, and the pseudorange differential is used to correct the pseudorange data; the satellite clock error correction value is used to correct the satellite clock error parameters; wherein, the antenna carrier phase correction observation value includes L1 carrier phase correction observation value and L2 carrier phase correction observation value.

[0045] Specifically, the sum of the carrier phase difference and the carrier phase observation value is calculated to obtain the antenna carrier phase correction observation value; the sum of the pseudorange difference and the pseudorange data is calculated to obtain the antenna pseudorange correction data; the satellite clock parameters are updated based on the satellite clock difference correction value to obtain the satellite clock correction parameters.

[0046] Specifically, the positioning antenna on the stake transmits the antenna pseudorange correction data, antenna carrier phase correction observation value, and satellite clock correction parameters to the main control system of the buoy through the umbilical cable, and the main control system uses the carrier phase real-time dynamic algorithm for solution.

[0047] Specifically, the carrier phase real-time dynamic algorithm is a LAMBDA algorithm.

[0048] Specifically, when the LAMBDA algorithm is used to solve the GPS satellite signal and the differential correction signal, a wide lane combined observation value is constructed based on the L1 carrier phase observation value and the L2 carrier phase observation value, and the wide lane combined ambiguity is calculated. The floating-point solution of the wide lane ambiguity is solved by the least squares method, and the initial ambiguity candidate solution is generated by the differential data constraint of the reference station; based on the wide lane solution result, a narrow lane combined observation value is constructed, and the narrow lane combined ambiguity is calculated; and the LAMBDA algorithm is used to perform an integer search on the narrow lane combined ambiguity to determine the fixed integer ambiguity; based on the fixed integer ambiguity, a double-difference observation equation is constructed, and based on the double-difference observation equation, the three-dimensional coordinates of the top of the stake in the geodetic coordinate system are iteratively solved by the least squares method.

[0049] Specifically, the LAMBDA algorithm is used to perform integer search on the narrow lane ambiguity. When the fixed integer ambiguity is determined, the floating point solution covariance matrix is ​​subjected to Cholesky decomposition to generate an upper triangular matrix. The floating point solution of the narrow lane combined ambiguity is z-transformed to generate a parameter vector of the decororrelated space. With the goal of minimizing the objective function, the optimal narrow lane combined ambiguity is searched in the search decororrelated space, and the optimal narrow lane combined ambiguity is verified by the ratio test. For example, when the optimal narrow lane combined ambiguity is greater than 3, it is confirmed that the optimal narrow lane combined ambiguity is the fixed integer ambiguity. The objective function is in, is the optimal narrow lane combined ambiguity, is the ambiguity covariance matrix, is the floating-point solution for the narrow lane combined ambiguity.

[0050] Specifically, the double-difference observation equation is constructed by taking single differences between the observation values ​​of the same satellite at the staked receiver and the reference station receiver to eliminate the satellite clock error, and then taking differences between the single-difference observation values ​​of different satellites to eliminate the receiver clock error; correcting the residual atmospheric delay error through the ionospheric dual-frequency combination model and the tropospheric Saastamoinen model; the double-difference observation equation is as follows:

[0051]

[0052] Among them, ΔΔφ ijis the double-difference carrier phase observation value, ΔΔρ ij is the double difference geometric distance, ΔΔN ij is the double difference ambiguity, ΔΔε ij is the residual error, f is the frequency of the carrier signal, and c is the speed of light in vacuum.

[0053] Step 102: using the attitude sensor on the submerged buoy to collect the attitude parameters of the submerged buoy in real time, and obtaining the vertical displacement data through the heave sensor on the stake.

[0054] In one embodiment, the attitude sensor includes an accelerometer and a gyroscope.

[0055] In one embodiment, based on the accelerometer, three-axis acceleration data is collected, and based on the gyroscope, three-axis gyroscope angular velocity data is collected; based on the three-axis acceleration data and the three-axis gyroscope angular velocity data, the pitch angle, roll angle and yaw angle of the submerged buoy are calculated, and the pitch angle, the roll angle and the yaw angle are used as the submerged buoy attitude parameters of the submerged buoy.

[0056] In one embodiment, when calculating the pitch angle, roll angle and yaw angle of the submerged buoy based on the three-axis acceleration data and the three-axis gyroscope angular velocity data, the three-axis acceleration data is low-pass filtered to obtain filtered three-axis acceleration data, and the three-axis gyroscope angular velocity data is zero-bias pre-compensated to obtain compensated gyroscope angular velocity data; gravity vector separation is performed on the filtered three-axis acceleration data to obtain an initial pitch angle and an initial roll angle; based on the initial pitch angle and the initial roll angle, an initial quaternion is determined, and the compensated gyroscope angular velocity data is quaternion integrated using the Runge-Kutta method to obtain a rotation quaternion; and the pitch angle, roll angle and yaw angle of the submerged buoy are calculated based on the initial quaternion and the rotation quaternion.

[0057] Specifically, when the buoy is impacted by waves and currents in the marine environment, the three-axis accelerometer will collect three-axis acceleration data containing high-frequency noise; by processing the three-axis acceleration data through a low-pass filtering algorithm with a cutoff frequency set to 10Hz, the high-frequency jitter caused by wave impact can be eliminated, while retaining low-frequency components such as gravity acceleration.

[0058] Specifically, due to the inherent zero-bias error of the gyroscope, such as temperature drift and manufacturing deviation, long-term integration will cause attitude angle calculation drift; therefore, it is necessary to perform zero-bias pre-compensation processing on the collected three-axis gyroscope angular velocity data.

[0059] Specifically, when performing zero bias pre-compensation on the three-axis gyroscope angular velocity data, static angular velocity data output by the gyroscope is collected when the buoy is initially stationary, and the zero bias value of each axis, such as the X-axis zero bias value, the Y-axis zero bias value, and the Z-axis zero bias value, is calculated. The zero bias value of each axis is subtracted from the collected three-axis gyroscope angular velocity data to obtain compensated gyroscope angular velocity data, so as to avoid the accumulation of errors in the subsequently obtained yaw angle over time.

[0060] Specifically, when performing gravity vector separation processing on the filtered three-axis acceleration data, the filtered three-axis acceleration data is substituted into the pitch angle calculation formula to calculate the initial pitch angle θ0, and the filtered three-axis acceleration data is substituted into the roll angle calculation formula to obtain the initial roll angle Among them, the pitch angle calculation formula is: The roll angle calculation formula is: Where a x is the x-axis acceleration data, a y is the y-axis acceleration data, a z is the z-axis acceleration data.

[0061] Specifically, the initial pitch angle and the initial roll angle are substituted into the quaternion expression to construct the initial quaternion q0, where the quaternion expression q is as follows:

[0062] q = [w, x, y, z], where:

[0063]

[0064] z=0 (when the initial yaw angle is 0);

[0065] Where θ is the pitch angle, is the roll angle, w is the real part indicating the cosine value of the rotation angle around the rotation axis, and x, y, z are the imaginary parts, indicating the direction components of the rotation axis in three-dimensional space.

[0066] Specifically, the Runge-Kutta method is used to compensate the gyroscope angular velocity data [ω x ,ω y ,ω z ] to perform quaternion integration to obtain the rotation quaternion: wherein the Runge-Kutta method compensates the gyroscope angular velocity data [ω x ,ω y ,ω z ]The process of quaternion integration is: k+1 =q k +(Δt / 2)·Ω(ω k )·q k ; Among them, Ω(ω) is the skew-symmetric matrix for compensating the gyroscope angular velocity data, qk+1 is the updated quaternion of the latent buoy at time K+1, q k is the quaternion of the buoy at time K, and Δt is the sampling time step of the gyroscope data.

[0067] Preferably, the rotation quaternion includes a first quaternion q1, a second quaternion q2 and a third quaternion q3.

[0068] Specifically, the initial quaternion and the rotation quaternion are substituted into the preset angle calculation formula to calculate the pitch angle θ and roll angle of the buoy body. and the yaw angle ψ, the preset angle calculation formula is as follows:

[0069] θ=arcsin(2(q0q2-q1q3)0;

[0070]

[0071] In one embodiment, when obtaining vertical displacement data through the heave sensor on the stake, vertical direction data of the heave sensor is collected in real time, wherein the vertical direction data includes vertical acceleration data and pressure data; wherein the heave sensor is installed at the sliding limit device between the stake and the buoy body, and is zero-calibrated under static water surface conditions; the vertical acceleration data is filtered to obtain filtered vertical acceleration data, and the pressure data is compensated to obtain compensated pressure data; a first displacement estimate is calculated based on the filtered vertical acceleration data, and a second displacement estimate is calculated based on the compensated pressure data; and the first displacement estimate and the second displacement estimate are weightedly fused to obtain vertical displacement data.

[0072] Specifically, the heave sensor includes a three-axis MEMS accelerometer and a piezoresistive pressure sensor.

[0073] Specifically, based on a three-axis MEMS accelerometer, the vertical acceleration of the buoy is captured at a preset sampling frequency on the vertical axis to obtain vertical acceleration data; based on a piezoresistive pressure sensor, pressure data is collected based on the static pressure formula, wherein the static pressure formula is Where P is the pressure data, P0 is the atmospheric pressure, ρ is the seawater density, and g is the acceleration due to gravity.

[0074] Specifically, when filtering the vertical acceleration data, a low-pass Butterworth filter is used to filter the vertical acceleration data to obtain filtered vertical acceleration data, wherein the filtering process of the low-pass Butterworth filter is as follows:

[0075] a filtered(t)=Butterworth LPF (a raw (t)-a offset );

[0076] Where a filtered (t) is the filtered vertical acceleration data, a raw (t) is the vertical acceleration data, a offset is the zero bias value of the vertical acceleration sensor, which is determined by the static calibration process.

[0077] Specifically, when the pressure data is compensated, temperature compensation and salinity compensation are performed on the pressure data to obtain compensated pressure data, as shown below:

[0078] P 修正 =P 原始 -β(T-T0)-γ(S-S0);

[0079] Where, P 修正 To compensate the pressure data, P 原始 is the pressure data, β is the temperature compensation coefficient, γ is the salinity compensation coefficient, T is the real-time measured seawater temperature, T0 is the calibration temperature reference value, S is the real-time measured seawater salinity, and S0 is the calibration salinity reference value.

[0080] Specifically, a secondary integration process is performed on the filtered vertical acceleration data to calculate a first displacement estimation value.

[0081] Specifically, based on the static pressure formula, the compensation pressure data is subjected to displacement conversion processing to obtain a second displacement estimation value h p ,Right now

[0082] Specifically, corresponding weight coefficients are set for the first displacement estimation value and the second displacement estimation value respectively, and based on the weight coefficients, weighted fusion processing is performed on the first displacement estimation value and the second displacement estimation value to obtain vertical displacement data.

[0083] Step 103: Based on the water surface positioning reference data, the posture parameters of the submerged buoy and the vertical displacement data, the position offset of the submerged buoy is calculated by an offset compensation algorithm, and the positioning result of the underwater testing instrument in the submerged buoy is corrected in real time based on the submerged buoy.

[0084] In one embodiment, a rotation matrix is ​​generated based on the pitch angle, the roll angle, and the yaw angle.

[0085] Specifically, the pitch angle θ, the roll angle φ, and the yaw angle ψ are combined in the order of ZYX, that is, the order of yaw angle-pitch angle-roll angle, to obtain a rotation matrix R(θ, φ, ψ), as shown below:

[0086] R(θ,φ,ψ)=R z (ψ)·R y (θ)·R x (φ);

[0087]

[0088] Where R x (φ) is the roll angle around the x-axis, R y (θ) is the pitch angle around the y-axis, R z (ψ) is the yaw angle rotating around the z axis.

[0089] In one embodiment, the original depth of the latent buoy is obtained, and the current depth of the latent buoy is determined based on the vertical displacement data and the original depth.

[0090] Specifically, the vertical displacement data and the original depth are substituted into a depth calculation formula to obtain the current depth of the buoy, wherein the depth calculation formula is: D=D0+ΔD, wherein D0 is the original depth and ΔD is the vertical displacement data.

[0091] In one embodiment, an x-axis horizontal offset value is calculated based on the current depth and the pitch angle, and a y-axis horizontal offset value is calculated based on the current depth and the roll angle.

[0092] Specifically, the current depth and the pitch angle are substituted into a preset x-axis horizontal offset calculation formula to obtain an x-axis horizontal offset value, wherein the x-axis horizontal offset calculation formula is ΔX local =D·tan(θ); where ΔX local is the x-axis horizontal offset value in the buoy coordinates.

[0093] Specifically, the current depth and the roll angle are substituted into a preset y-axis horizontal offset calculation formula to obtain a y-axis horizontal offset value, wherein the y-axis horizontal offset calculation formula is ΔY local =D·tan(φ); where ΔY local is the y-axis horizontal offset value in the buoy coordinates.

[0094] In one embodiment, the x-axis horizontal offset value and the y-axis horizontal offset value are converted into a global coordinate system based on the rotation matrix to obtain a converted x-axis horizontal offset value and a converted y-axis horizontal offset value.

[0095] Specifically, the x-axis horizontal offset value and the y-axis horizontal offset value are substituted into the coordinate system conversion formula by the rotation matrix to obtain the converted x-axis horizontal offset value and the converted y-axis horizontal offset value; wherein the coordinate system conversion formula is as follows:

[0096]

[0097] Where ΔX is the horizontal offset value of the conversion x-axis in the global coordinate system, and ΔY is the horizontal offset value of the conversion y-axis in the global coordinate system.

[0098] In one embodiment, a three-dimensional offset vector is constructed based on the converted x-axis horizontal offset value, the converted y-axis horizontal offset value, and the vertical displacement data, and the three-dimensional offset vector is used as the position offset of the latent buoy.

[0099] Specifically, the three-dimensional offset vector is ΔP = [ΔX, ΔY, ΔD] T .

[0100] In one embodiment, the surface positioning reference data and the position offset are superimposed to obtain corrected underwater instrument position coordinates, and based on the corrected underwater instrument position coordinates, the positioning result of the underwater instrument in the buoy is corrected in real time.

[0101] Specifically, the surface positioning reference data and the position offset are superimposed to obtain the corrected underwater instrument position coordinates, and based on the corrected underwater instrument position coordinates P 修 , and correct the positioning results of the underwater instrument in the buoy in real time.

[0102] Specifically, the water surface positioning reference data is the first three-dimensional coordinate (X GPS , Y GPS , Y GPS ), the position offset is ΔX, ΔY, ΔD, and the superposition process of the surface positioning reference data and the position offset is as follows:

[0103]

[0104] Example 2, see Figure 2 , Figure 2This is a schematic structural diagram of an embodiment of a positioning deviation correction device for an underwater instrument provided in this application. Corresponding to the above-mentioned positioning deviation correction method for an underwater instrument, this application also provides a positioning deviation correction device for an underwater instrument. The positioning deviation correction device for an underwater instrument includes a module for executing the above-mentioned positioning deviation correction method for an underwater instrument. The positioning deviation correction device for an underwater instrument can be configured in a desktop computer, tablet computer, laptop computer, or other terminal. Specifically, the positioning deviation correction device for an underwater instrument includes a surface positioning reference data acquisition module 201, a buoy parameter acquisition module 202, and a positioning correction module 203.

[0105] The water surface positioning reference data acquisition module 201 is used to acquire water surface positioning reference data based on the positioning antenna installed on the top of the pile.

[0106] The submerged buoy parameter acquisition module 202 is used to collect the submerged buoy posture parameters in real time using the posture sensor on the submerged buoy, and to acquire vertical displacement data through the heave sensor on the stake.

[0107] The positioning correction module 203 is used to calculate the position offset of the submerged buoy based on the submerged buoy posture parameters and the vertical displacement data through an offset compensation algorithm, and to correct the positioning result of the underwater instrument in the submerged buoy in real time based on the water surface positioning reference data and the position offset.

[0108] In one embodiment, the water surface positioning reference data acquisition module 201 is used to obtain water surface positioning reference data based on the positioning antenna installed on the top of the pile, specifically including: based on the positioning antenna, receiving GPS satellite signals and differential correction signals sent by the ground reference station, using the carrier phase real-time dynamic algorithm to solve the GPS satellite signals and the differential correction signals to obtain the first three-dimensional coordinates of the top of the pile in the geodetic coordinates, and using the first three-dimensional coordinates as the water surface positioning reference data.

[0109] In one embodiment, the submerged buoy parameter acquisition module 202 is used to collect the submerged buoy attitude parameters in real time using the attitude sensor on the submerged buoy, specifically including: the attitude sensor includes an accelerometer and a gyroscope; based on the accelerometer, three-axis acceleration data is collected, and based on the gyroscope, three-axis gyroscope angular velocity data is collected; based on the three-axis acceleration data and the three-axis gyroscope angular velocity data, the pitch angle, roll angle and yaw angle of the submerged buoy are calculated, and the pitch angle, roll angle and yaw angle are used as the submerged buoy attitude parameters of the submerged buoy.

[0110] In one embodiment, the buoy parameter acquisition module 202 is used to calculate the pitch angle, roll angle and yaw angle of the buoy based on the three-axis acceleration data and the three-axis gyroscope angular velocity data, specifically including: performing low-pass filtering on the three-axis acceleration data to obtain filtered three-axis acceleration data, and performing zero-bias pre-compensation on the three-axis gyroscope angular velocity data to obtain compensated gyroscope angular velocity data; performing gravity vector separation processing on the filtered three-axis acceleration data to obtain an initial pitch angle and an initial roll angle; determining an initial quaternion based on the initial pitch angle and the initial roll angle, performing quaternion integration processing on the compensated gyroscope angular velocity data using the Runge-Kutta method to obtain a rotation quaternion, and calculating the pitch angle, roll angle and yaw angle of the buoy based on the initial quaternion and the rotation quaternion.

[0111] In one embodiment, the submerged buoy parameter acquisition module 202 is configured to acquire vertical displacement data through a heave sensor on the stake, specifically comprising: collecting vertical direction data from the heave sensor in real time, wherein the vertical direction data includes vertical acceleration data and pressure data; wherein the heave sensor is installed at a sliding limit device between the stake and the submerged buoy and is zero-calibrated under static water surface conditions; filtering the vertical acceleration data to obtain filtered vertical acceleration data, and compensating the pressure data to obtain compensated pressure data; calculating a first displacement estimate based on the filtered vertical acceleration data, and calculating a second displacement estimate based on the compensated pressure data; and performing weighted fusion processing on the first displacement estimate and the second displacement estimate to obtain vertical displacement data.

[0112] In one embodiment, the positioning correction module 203 is used to calculate the position offset of the buoy body through an offset compensation algorithm based on the buoy body posture parameters and the vertical displacement data, specifically including: generating a rotation matrix based on the pitch angle, the roll angle and the yaw angle; obtaining the original depth of the buoy body, and determining the current depth of the buoy body based on the vertical displacement data and the original depth; calculating an x-axis horizontal offset value based on the current depth and the pitch angle, and calculating a y-axis horizontal offset value based on the current depth and the roll angle; converting the x-axis horizontal offset value and the y-axis horizontal offset value into a global coordinate system based on the rotation matrix to obtain a converted x-axis horizontal offset value and a converted y-axis horizontal offset value; constructing a three-dimensional offset vector based on the converted x-axis horizontal offset value, the converted y-axis horizontal offset value and the vertical displacement data, and using the three-dimensional offset vector as the position offset of the buoy body.

[0113] In one embodiment, the positioning correction module 203 is used to correct the positioning result of the underwater instrument in the submerged buoy in real time based on the surface positioning reference data and the position offset, specifically including: superimposing the surface positioning reference data and the position offset to obtain the corrected underwater instrument position coordinates, and correcting the positioning result of the underwater instrument in the submerged buoy in real time based on the corrected underwater instrument position coordinates.

[0114] The positioning deviation correction device for underwater instruments can implement the positioning deviation correction method for underwater instruments in the above method embodiment. The options in the above method embodiment are also applicable to this embodiment and will not be described in detail here.

[0115] like Figure 3 As shown, Figure 3 This is a structural diagram of a computer device provided by the present application; it includes a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114, and the memory 113 is used to store computer programs.

[0116] In one embodiment of the present application, the processor 111 is configured to implement the positioning deviation correction method for an underwater instrument provided by any one of the aforementioned method embodiments when executing a program stored in the memory 113 .

[0117] Those skilled in the art will appreciate that all or part of the steps in the method of the above-described embodiment can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the steps in the method of the above-described embodiment.

[0118] Therefore, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the positioning deviation correction method of the underwater instrument provided in any of the aforementioned method embodiments are implemented.

[0119] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a magnetic disk, or an optical disk, etc. Any physical storage medium capable of storing program code can be non-volatile or volatile.

[0120] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and other division methods may be used in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not implemented.

[0122] The steps in the method of the embodiment of the present application can be adjusted in order, combined, and deleted according to actual needs. The units in the device of the embodiment of the present application can be combined, divided, and deleted according to actual needs. In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0124] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, as long as these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0126] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for correcting positioning deviation of an underwater instrument, characterized in that: Applied to a positioning system comprising a stake and a submerged buoy, wherein the stake and the submerged buoy are connected via a sliding limit device, the method comprises: Acquiring water surface positioning reference data based on the positioning antenna installed on the top of the pile; The posture parameters of the submerged buoy are collected in real time by using the posture sensor on the submerged buoy, and the vertical displacement data are obtained by using the heave sensor on the stake; Based on the posture parameters of the submerged buoy and the vertical displacement data, the position offset of the submerged buoy is calculated by an offset compensation algorithm, and based on the water surface positioning reference data and the position offset, the positioning result of the underwater instrument in the submerged buoy is corrected in real time.

2. The method according to claim 1, wherein The obtaining of water surface positioning reference data based on the positioning antenna installed on the top of the pile specifically includes: Based on the positioning antenna, the GPS satellite signal and the differential correction signal sent by the ground reference station are received, and the carrier phase real-time dynamic algorithm is used to solve the GPS satellite signal and the differential correction signal to obtain the first three-dimensional coordinates of the top of the pile in the geodetic coordinates, and the first three-dimensional coordinates are used as the water surface positioning reference data.

3. The method according to claim 1, wherein The method of collecting the posture parameters of the latent buoy in real time by using the posture sensor on the latent buoy specifically includes: The attitude sensor includes an accelerometer and a gyroscope; Based on the accelerometer, three-axis acceleration data is collected, and based on the gyroscope, three-axis gyroscope angular velocity data is collected; Based on the three-axis acceleration data and the three-axis gyroscope angular velocity data, the pitch angle, roll angle and yaw angle of the submerged buoy are calculated, and the pitch angle, roll angle and yaw angle are used as the submerged buoy attitude parameters of the submerged buoy.

4. The method according to claim 3, wherein The step of calculating the pitch angle, roll angle, and yaw angle of the buoy based on the three-axis acceleration data and the three-axis gyroscope angular velocity data specifically includes: Performing low-pass filtering on the three-axis acceleration data to obtain filtered three-axis acceleration data, and performing zero-bias pre-compensation on the three-axis gyroscope angular velocity data to obtain compensated gyroscope angular velocity data; performing gravity vector separation processing on the filtered three-axis acceleration data to obtain an initial pitch angle and an initial roll angle; Based on the initial pitch angle and the initial roll angle, an initial quaternion is determined, and the quaternion integration processing is performed on the compensation gyroscope angular velocity data using the Runge-Kutta method to obtain a rotation quaternion. Based on the initial quaternion and the rotation quaternion, the pitch angle, roll angle and yaw angle of the buoy are calculated.

5. The method according to claim 1, wherein The obtaining of vertical displacement data by the heave sensor on the pile specifically includes: collecting vertical direction data of the heave sensor in real time, wherein the vertical direction data includes vertical acceleration data and pressure data; wherein the heave sensor is installed at the sliding limit device of the stake and the buoy body, and is zero-calibrated under static water surface conditions; performing filtering processing on the vertical acceleration data to obtain filtered vertical acceleration data, and performing compensation processing on the pressure data to obtain compensated pressure data; calculating a first displacement estimate based on the filtered vertical acceleration data and calculating a second displacement estimate based on the compensated pressure data; A weighted fusion process is performed on the first displacement estimation value and the second displacement estimation value to obtain vertical displacement data.

6. The method according to claim 4, wherein The step of calculating the position offset of the latent buoy by using an offset compensation algorithm based on the latent buoy posture parameter and the vertical displacement data specifically includes: generating a rotation matrix based on the pitch angle, the roll angle, and the yaw angle; Acquiring the original depth of the buoy, and determining the current depth of the buoy based on the vertical displacement data and the original depth; Calculating an x-axis horizontal offset value based on the current depth and the pitch angle, and calculating a y-axis horizontal offset value based on the current depth and the roll angle; Converting the x-axis horizontal offset value and the y-axis horizontal offset value into a global coordinate system based on the rotation matrix to obtain a converted x-axis horizontal offset value and a converted y-axis horizontal offset value; A three-dimensional offset vector is constructed based on the converted x-axis horizontal offset value, the converted y-axis horizontal offset value and the vertical displacement data, and the three-dimensional offset vector is used as the position offset of the latent buoy.

7. The method according to claim 1, wherein The real-time correction of the positioning result of the underwater instrument in the buoy based on the water surface positioning reference data and the position offset specifically includes: The surface positioning reference data and the position offset are superimposed to obtain corrected underwater instrument position coordinates, and based on the corrected underwater instrument position coordinates, the positioning result of the underwater instrument in the buoy is corrected in real time.

8. A positioning deviation correction device for underwater instruments, characterized in that: include: Surface positioning reference data acquisition module, buoy parameter acquisition module and positioning correction module; The water surface positioning reference data acquisition module is configured to acquire water surface positioning reference data based on a positioning antenna installed on top of the pile; The submerged buoy parameter acquisition module is used to collect the submerged buoy posture parameters in real time using the posture sensor on the submerged buoy, and to obtain vertical displacement data through the heave sensor on the stake; The positioning correction module is used to calculate the position offset of the submerged buoy based on the posture parameters of the submerged buoy and the vertical displacement data through an offset compensation algorithm, and to correct the positioning result of the underwater instrument in the submerged buoy in real time based on the water surface positioning reference data and the position offset.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the computer program can implement the method according to any one of claims 1 to 7.

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