Underwater target positioning method, device and equipment

Abstract

The invention relates to an underwater target positioning method and device and computer equipment. Comprising the following steps: acquiring position coordinates of a plurality of positioning buoys and attitude data of the plurality of positioning buoys; calibrating the position coordinates of the positioning buoys according to the attitude data of each positioning buoy in the plurality of positioning buoys to obtain the actual position coordinates of the positioning buoys; and calculating the position coordinate of the underwater target according to the actual position coordinate of each positioning buoy in the plurality of positioning buoys by adopting a time difference of arrival positioning method. Therefore, by calibrating the position coordinates of the plurality of positioning buoys according to the attitude data of the plurality of positioning buoys, the influence of the marine environment on the position coordinates of the positioning buoys can be effectively eliminated, and further accurate positioning of the underwater target is realized.

Description

Technical Field

[0001] This application relates to the field of positioning, and more particularly to an underwater target positioning method, apparatus, and computer equipment. Background Technology

[0002] In recent years, the state has successively established seabed observation networks in regions such as the East China Sea and the South China Sea to achieve long-term, continuous, and real-time observation of key sea areas. The seabed observation networks have deployed multiple seabed observation nodes. These nodes locate and track underwater targets to achieve continuous observation of them.

[0003] Currently, existing technical solutions use satellite positioning to locate underwater targets. Specifically, the time difference between the signal from the underwater target and different buoys is measured, then the time difference is converted into a distance difference, and the position of the underwater target is calculated based on the distance difference and the position coordinates of the different buoys.

[0004] However, the buoy's position changes with the ocean currents. Therefore, the underwater target's position coordinates calculated based on the distance difference and the buoy's position coordinates are inaccurate. Summary of the Invention

[0005] This application provides an underwater target positioning method, apparatus, and computer equipment, aiming to solve the technical problem of inaccurate underwater target positioning.

[0006] In a first aspect, embodiments of this application provide an underwater target localization method, which includes:

[0007] Optionally, the position coordinates of multiple positioning buoys and the attitude data of the multiple positioning buoys can be obtained;

[0008] The position coordinates of the positioning buoys are calibrated based on the attitude data of each of the plurality of positioning buoys to obtain the actual position coordinates of the positioning buoys;

[0009] The time-of-arrival (TOA) positioning method is used to calculate the position coordinates of the underwater target based on the actual position coordinates of each of the multiple positioning buoys.

[0010] Optionally, before calculating the position coordinates of the underwater target based on the actual position coordinates of each of the plurality of positioning buoys using the time difference of arrival (TDOA) positioning method, the method further includes:

[0011] A reference positioning buoy is determined from the plurality of positioning buoys;

[0012] The first clock deviation of each of the plurality of positioning buoys is determined based on the reference positioning buoy, wherein the first clock deviation of the positioning buoy is the time difference between the local time of the reference positioning buoy and the local time of the positioning buoy.

[0013] The local time of each of the plurality of positioning buoys is updated based on the first clock offset of each positioning buoy.

[0014] Optionally, determining the first clock offset of each of the plurality of positioning buoys based on the reference positioning buoy includes:

[0015] The first clock deviation of each of the multiple positioning buoys is calculated using either the two-way satellite time-frequency transfer method or the satellite common-view method.

[0016] Optionally, determining the first clock offset of each of the plurality of positioning buoys based on the reference positioning buoy includes:

[0017] The time delay error of the positioning buoy is determined based on the attitude data of each positioning buoy among the plurality of positioning buoys;

[0018] The second clock deviation of each of the plurality of positioning buoys is calculated using either the two-way satellite time-frequency transfer method or the satellite common-view method.

[0019] The second clock deviation of the positioning buoy is corrected based on the time delay error of each of the plurality of positioning buoys to obtain the first clock deviation of the positioning buoy.

[0020] Optionally, the plurality of positioning buoys includes a first positioning buoy, and the step of calculating the first clock deviation of each positioning buoy among the plurality of positioning buoys using the two-way satellite time-frequency transfer method includes:

[0021] Obtain a first timestamp, which is the current timestamp of the reference positioning buoy when the reference positioning buoy sends a first signal to the first positioning buoy, and the first signal is used for time synchronization;

[0022] Obtain a second timestamp, which is the current timestamp of the first positioning buoy when the first positioning buoy receives the first signal;

[0023] Obtain a third timestamp, which is the current timestamp of the first positioning buoy when the first positioning buoy sends a second signal to the reference positioning buoy, and the second signal is used for time synchronization;

[0024] Obtain a fourth timestamp, which is the current timestamp of the reference positioning buoy when the reference positioning buoy receives the second signal;

[0025] The first clock deviation of the first positioning buoy is calculated based on the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp.

[0026] Optionally, the formula for calculating the first clock deviation of the first positioning buoy is:

[0027]

[0028] Where T4 is the fourth timestamp, T3 is the third timestamp, T2 is the second timestamp, and T1 is the first timestamp.

[0029] Optionally, the plurality of positioning buoys includes a second positioning buoy, and the step of using the satellite common-view method to calculate the first clock deviation of each positioning buoy among the plurality of positioning buoys includes:

[0030] Obtain the fifth timestamp, which is the current timestamp of the reference positioning buoy when it sends the third signal to the target satellite at the first moment;

[0031] Obtain the sixth timestamp, which is the current timestamp of the second positioning buoy when the second positioning buoy sends the fourth signal to the target satellite at the first moment;

[0032] Obtain the first distance between the reference positioning buoy and the target satellite;

[0033] Obtain the second distance between the second positioning buoy and the target satellite;

[0034] The first clock deviation of the second positioning buoy is calculated based on the fifth timestamp, the sixth timestamp, the first distance, and the second distance.

[0035] Optionally, the formula for calculating the first clock deviation of the second positioning buoy is:

[0036]

[0037] Where T5 is the fifth timestamp, T6 is the sixth timestamp, d1 is the first distance, d2 is the second distance, and c is the speed of light.

[0038] Secondly, embodiments of this application also provide an underwater target positioning device, which includes a unit for performing the above-described method.

[0039] Thirdly, embodiments of this application also provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0040] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0041] This application provides an underwater target positioning method, apparatus, and computer device. The method includes: acquiring the position coordinates and attitude data of multiple positioning buoys; calibrating the position coordinates of each positioning buoy based on its attitude data to obtain its actual position coordinates; and calculating the position coordinates of the underwater target using a time-of-arrival (TOA) positioning method. Therefore, this application acquires the position coordinates and attitude data of multiple positioning buoys. Then, it calibrates the position coordinates of each positioning buoy based on its attitude data to obtain its actual position coordinates. Finally, it calculates the position coordinates of the underwater target using a TOA positioning method. Thus, by calibrating the position coordinates of multiple positioning buoys based on their attitude data, the influence of the marine environment on the position coordinates of the positioning buoys can be effectively eliminated, thereby achieving accurate positioning of underwater targets. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0045] Figure 1 This is one of the flowcharts illustrating an underwater target localization method provided in an embodiment of this application;

[0046] Figure 2 A second schematic flowchart illustrating an underwater target localization method provided in this application embodiment;

[0047] Figure 3 A schematic block diagram of an underwater target positioning device provided in an embodiment of this application;

[0048] Figure 4 A computer device provided in an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0051] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0052] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the 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.

[0053] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0054] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0055] To address the technical problem of inaccurate underwater target positioning in existing technologies, this application provides an underwater target positioning device that can achieve accurate positioning of underwater targets.

[0056] Figure 1 This is one of the flowcharts illustrating an underwater target positioning method provided in an embodiment of this application; in one embodiment, the method is applied to an underwater positioning system, the underwater positioning system including multiple positioning buoys, and the method includes:

[0057] S1. Obtain the position coordinates and attitude data of multiple positioning buoys.

[0058] The number of positioning buoys is greater than or equal to three. The position coordinates of the positioning buoys can be either their position coordinates in a geographic coordinate system or their position coordinates in a world coordinate system. This application does not impose any limitation on this. The attitude data of the positioning buoys includes, but is not limited to, pitch angle, roll angle, and heading angle. Each of the multiple positioning buoys has its own attitude data. It should be noted that a change in any of the pitch angle, roll angle, or heading angle of the positioning buoys will cause a shift in the satellite antenna pointing direction or a change in the signal transmission path.

[0059] S2. Based on the attitude data of each of the multiple positioning buoys, calibrate the position coordinates of the positioning buoys to obtain the actual position coordinates of the positioning buoys.

[0060] Specifically, the pitch, roll, and heading angles of the positioning buoy are converted into geographic coordinates using a rotation matrix or quaternions. For example, taking the ZYX rotation sequence as an example, the rotation matrix R is:

[0061]

[0062] Where θ is the heading angle and φ is the pitch angle. This refers to the roll angle.

[0063] The offset of the buoy's antenna in the carrier coordinate system is obtained; then, the offset is converted into a correction value in the geographic coordinate system using a rotation matrix R. Finally, the buoy's position coordinates are corrected based on the correction value to obtain the buoy's actual position coordinates.

[0064] S3. The time difference of arrival (TDOA) positioning method is used to calculate the position coordinates of the underwater target based on the actual position coordinates of each of the multiple positioning buoys.

[0065] Specifically, the underwater target simultaneously sends signals to multiple positioning buoys, and the time difference between the arrival of the signals at different positioning buoys is measured as follows:

[0066] Δt ij =t i -t j

[0067] Among them, t i t is the time it takes for the signal to reach the i-th buoy; j Let be the time it takes for the signal to reach the j-th buoy.

[0068] The time difference of the positioning buoys is converted into a distance difference. The formula for calculating the distance difference is:

[0069] Δd ij =c*Δt ij

[0070] Where, Δd ij Let c be the difference between the distance between the i-th buoy and the underwater target and the distance between the j-th buoy and the underwater target, where c is the speed of light.

[0071] Another formula for calculating the distance difference is:

[0072]

[0073] The underwater target's position coordinates are (x, y, z). Therefore, at least three time differences are needed to calculate the underwater target's position coordinates.

[0074] This application provides an underwater target positioning method. The method includes: acquiring the position coordinates and attitude data of multiple positioning buoys; calibrating the position coordinates of each positioning buoy based on its attitude data to obtain its actual position coordinates; and calculating the position coordinates of the underwater target using a time-of-arrival (TOA) positioning method. Therefore, this application acquires the position coordinates and attitude data of multiple positioning buoys. Then, it calibrates the position coordinates of each positioning buoy based on its attitude data to obtain its actual position coordinates. Finally, it calculates the position coordinates of the underwater target using a TOA positioning method. Thus, by calibrating the position coordinates of multiple positioning buoys based on their attitude data, the influence of the marine environment on the position coordinates of the positioning buoys can be effectively eliminated, thereby achieving accurate positioning of underwater targets.

[0075] Please see Figure 2 , Figure 2 This is a second schematic flowchart illustrating an underwater target positioning method provided in an embodiment of this application. In one embodiment, before calculating the position coordinates of the underwater target based on the actual position coordinates of each of the plurality of positioning buoys using the time difference of arrival (TDOA) positioning method, the method further includes:

[0076] S4. Determine the reference buoy from multiple positioning buoys.

[0077] Choose one of the multiple positioning buoys as the reference positioning buoy.

[0078] S5. Determine the first clock offset for each of the multiple positioning buoys.

[0079] The first clock deviation of the positioning buoy is the time difference between the local time of the reference positioning buoy and the local time of the positioning buoy.

[0080] It should be noted that, as shown in the above embodiments, the calculation of the underwater target's position coordinates requires measuring the time difference between the arrival of the signal at different positioning buoys. Therefore, this application embodiment performs local time synchronization on multiple positioning buoys to improve the accuracy of the underwater target's position coordinate calculation.

[0081] In one embodiment, determining the first clock offset of each of the plurality of positioning buoys based on the reference positioning buoy includes:

[0082] S51. Using the two-way satellite time and frequency transfer method or the satellite common-view method, calculate the first clock deviation of each positioning buoy among multiple positioning buoys.

[0083] In one embodiment, the plurality of positioning buoys includes a first positioning buoy, and the step of calculating the first clock deviation of each positioning buoy among the plurality of positioning buoys using a two-way satellite time-frequency transfer method includes:

[0084] S511, Get the first timestamp.

[0085] The first timestamp is the current timestamp of the reference buoy when it sends the first signal to the first positioning buoy. The first signal is used for time synchronization. It should be noted that the current timestamp of the reference buoy is obtained based on the reference buoy's local clock.

[0086] S512, Get the second timestamp.

[0087] The second timestamp is the current timestamp of the first positioning buoy when it receives the first signal. It should be noted that the current timestamp of the first positioning buoy is obtained based on the local clock of the first positioning buoy.

[0088] S513, Get the third timestamp.

[0089] The third timestamp is the current timestamp of the first positioning buoy when it sends the second signal to the reference positioning buoy. The second signal is used for time synchronization. It should be noted that the current timestamp of the first positioning buoy is the timestamp obtained by the first positioning buoy based on its local clock.

[0090] S514, Get the fourth timestamp.

[0091] The fourth timestamp is the current timestamp of the reference buoy when it receives the second signal. It should be noted that the current timestamp of the reference buoy is obtained based on the reference buoy's local clock.

[0092] S515. Calculate the first clock deviation of the first positioning buoy based on the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp.

[0093] In one embodiment, the formula for calculating the first clock deviation of the first positioning buoy is:

[0094]

[0095] Where T4 is the fourth timestamp, T3 is the third timestamp, T2 is the second timestamp, and T1 is the first timestamp.

[0096] It should be noted that if the number of positioning buoys is greater than one, each positioning buoy will be processed according to S511-S515 above to obtain the first clock deviation of each positioning buoy.

[0097] In one embodiment, the plurality of positioning buoys includes a second positioning buoy, and the step of calculating the first clock offset of each positioning buoy among the plurality of positioning buoys using the common-view satellite method includes:

[0098] a. Obtain the fifth timestamp.

[0099] The fifth timestamp is the current timestamp of the reference positioning buoy when it sends the third signal to the target satellite at the first moment.

[0100] b. Obtain the sixth timestamp.

[0101] The sixth timestamp is the current timestamp of the second positioning buoy when it sends the fourth signal to the target satellite at the first moment;

[0102] c. Obtain the first distance between the reference positioning buoy and the target satellite.

[0103] In this embodiment, the first distance between the reference positioning buoy and the target satellite is measured using a satellite positioning system.

[0104] d. Obtain the second distance between the second positioning buoy and the target satellite.

[0105] It should be noted that step d is the same as or similar to step c. This application will not elaborate further on this point.

[0106] e. Calculate the first clock deviation of the second positioning buoy based on the fifth timestamp, the sixth timestamp, the first distance, and the second distance;

[0107] In one embodiment, the formula for calculating the first clock deviation of the second positioning buoy is:

[0108]

[0109] Where T5 is the fifth timestamp, T6 is the sixth timestamp, d1 is the first distance, d2 is the second distance, and c is the speed of light.

[0110] It should be noted that if the number of positioning buoys is greater than 1, steps a to e will be performed on each positioning buoy to obtain the first clock offset for each positioning buoy.

[0111] In yet another embodiment, determining the first clock offset of each of the plurality of positioning buoys based on the reference positioning buoy includes:

[0112] S52. Determine the time delay error of the positioning buoy based on the attitude data of each positioning buoy among the multiple positioning buoys.

[0113] It should be noted that when the positions of multiple positioning buoys change, the time difference between the signals arriving at different positioning buoys also changes. Therefore, this embodiment calculates the time delay error of each positioning buoy based on the attitude data of each of the multiple positioning buoys. The time delay error is the time delay error caused by the change in the position of the positioning buoy during signal propagation.

[0114] S53. Using the two-way satellite time and frequency transfer method or the satellite common-view method, calculate the second clock deviation of each positioning buoy among multiple positioning buoys.

[0115] It should be noted that S53 is the same as or similar to S51. This application will not elaborate further on this.

[0116] S54. Correct the second clock deviation of the positioning buoy based on the time delay error of each positioning buoy among the multiple positioning buoys to obtain the first clock deviation of the positioning buoy.

[0117] Specifically, in this embodiment of the application, the time delay error is subtracted from the second clock offset to obtain the first clock offset.

[0118] S6. Update the local time of the positioning buoys according to the first clock offset of each positioning buoy among the multiple positioning buoys.

[0119] Specifically, the new local time is obtained by adding the buoy's first clock deviation to the buoy's local time.

[0120] See Figure 3 , Figure 3 This is a schematic block diagram of an underwater target positioning device provided in an embodiment of this application. Corresponding to the above-described underwater target positioning method, this application also provides an underwater target positioning device. The underwater target positioning device includes a unit for performing the above-described underwater target positioning method, and the underwater target positioning device can be configured in a terminal such as a desktop computer, tablet computer, or laptop computer. Specifically, the underwater target positioning device includes:

[0121] The acquisition unit 301 is used to acquire the position coordinates of multiple positioning buoys and the attitude data of the multiple positioning buoys;

[0122] The calibration unit 302 is used to calibrate the position coordinates of the positioning buoy based on the attitude data of each positioning buoy among the plurality of positioning buoys, so as to obtain the actual position coordinates of the positioning buoy;

[0123] The calculation unit 303 is used to calculate the position coordinates of the underwater target based on the actual position coordinates of each of the plurality of positioning buoys using the time difference of arrival (TDOA) positioning method.

[0124] In one embodiment, the device further includes a first determining unit 304, a second determining unit 305, and an updating unit 306, wherein the determining unit 304 is used to determine a reference positioning buoy from the plurality of positioning buoys;

[0125] The second determining unit 305 is used to determine the first clock deviation of each of the plurality of positioning buoys according to the reference positioning buoy, wherein the first clock deviation of the positioning buoy is the time difference between the local time of the reference positioning buoy and the local time of the positioning buoy;

[0126] The update unit 306 is used to update the local time of the positioning buoy based on the first clock offset of each of the plurality of positioning buoys.

[0127] In one embodiment, the second determining unit 305 is specifically used to calculate the first clock deviation of each of the plurality of positioning buoys using a two-way satellite time-frequency transfer method or a satellite common-view method.

[0128] In another embodiment, the second determining unit 305 is further specifically used to determine the time delay error of the positioning buoy based on the attitude data of each positioning buoy among the plurality of positioning buoys;

[0129] The second clock deviation of each of the plurality of positioning buoys is calculated using either the two-way satellite time-frequency transfer method or the satellite common-view method.

[0130] The second clock deviation of the positioning buoy is corrected based on the time delay error of each of the plurality of positioning buoys to obtain the first clock deviation of the positioning buoy.

[0131] The plurality of positioning buoys includes a first positioning buoy, and the second determining unit 305 is specifically used to obtain a first timestamp, the first timestamp being the current timestamp of the reference positioning buoy when the reference positioning buoy sends a first signal to the first positioning buoy, and the first signal being used for time synchronization;

[0132] Obtain a second timestamp, which is the current timestamp of the first positioning buoy when the first positioning buoy receives the first signal;

[0133] Obtain a third timestamp, which is the current timestamp of the first positioning buoy when the first positioning buoy sends a second signal to the reference positioning buoy, and the second signal is used for time synchronization;

[0134] Obtain a fourth timestamp, which is the current timestamp of the reference positioning buoy when the reference positioning buoy receives the second signal;

[0135] The first clock deviation of the first positioning buoy is calculated based on the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp.

[0136] In one embodiment, the formula for calculating the first clock deviation of the first positioning buoy is:

[0137]

[0138] Where T4 is the fourth timestamp, T3 is the third timestamp, T2 is the second timestamp, and T1 is the first timestamp.

[0139] In one embodiment, the plurality of positioning buoys includes a second positioning buoy, which acquires a fifth timestamp, the fifth timestamp being the current timestamp of the reference positioning buoy when the reference positioning buoy sends a third signal to the target satellite at a first moment;

[0140] Obtain the sixth timestamp, which is the current timestamp of the second positioning buoy when the second positioning buoy sends the fourth signal to the target satellite at the first moment;

[0141] Obtain the first distance between the reference positioning buoy and the target satellite;

[0142] Obtain the second distance between the second positioning buoy and the target satellite;

[0143] The first clock deviation of the second positioning buoy is calculated based on the fifth timestamp, the sixth timestamp, the first distance, and the second distance.

[0144] In one embodiment, the formula for calculating the first clock deviation of the second positioning buoy is:

[0145]

[0146] Where T5 is the fifth timestamp, T6 is the sixth timestamp, d1 is the first distance, d2 is the second distance, and c is the speed of light.

[0147] like Figure 4 As shown, this application provides a computer device including a processor 41, a communication interface 42, a memory 43, and a communication bus 44. The processor 41, the communication interface 42, and the memory 43 communicate with each other through the communication bus 44. The memory 43 is used to store computer programs.

[0148] In one embodiment of this application, the processor 41, when executing the program stored in the memory 43, implements the control method for underwater target positioning provided in any of the foregoing method embodiments.

[0149] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0150] Therefore, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the underwater target localization method provided in any of the foregoing method embodiments.

[0151] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk, or any other physical storage medium capable of storing program code. The computer-readable storage medium can be non-volatile or volatile.

[0152] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0154] The steps in the methods of this application embodiment can be adjusted, merged, or deleted according to actual needs. The units in the apparatus of this application embodiment can be merged, divided, or deleted according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0155] If the integrated unit is implemented as 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 this application, in essence, or the part that contributes to the prior art, or all or part 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 to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0156] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0157] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0158] The above description is merely a specific embodiment of this application, but the scope of protection of this 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 this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for locating underwater targets, characterized in that, include: Acquire the position coordinates of multiple positioning buoys and the attitude data of the multiple positioning buoys; The position coordinates of the positioning buoys are calibrated based on the attitude data of each of the plurality of positioning buoys to obtain the actual position coordinates of the positioning buoys; The time-of-arrival (TOA) positioning method is used to calculate the position coordinates of the underwater target based on the actual position coordinates of each of the multiple positioning buoys.

2. The method according to claim 1, characterized in that, Before calculating the position coordinates of the underwater target based on the actual position coordinates of each of the plurality of positioning buoys using the time difference of arrival (TDOA) positioning method, the method further includes: A reference positioning buoy is determined from the plurality of positioning buoys; The first clock deviation of each of the plurality of positioning buoys is determined based on the reference positioning buoy, wherein the first clock deviation of the positioning buoy is the time difference between the local time of the reference positioning buoy and the local time of the positioning buoy. The local time of each of the plurality of positioning buoys is updated based on the first clock offset of each positioning buoy.

3. The method according to claim 2, characterized in that, The step of determining the first clock offset of each of the plurality of positioning buoys based on the reference positioning buoy includes: The first clock deviation of each of the multiple positioning buoys is calculated using either the two-way satellite time-frequency transfer method or the satellite common-view method.

4. The method according to claim 2, characterized in that, The step of determining the first clock offset of each of the plurality of positioning buoys based on the reference positioning buoy includes: The time delay error of the positioning buoy is determined based on the attitude data of each positioning buoy among the plurality of positioning buoys; The second clock deviation of each of the plurality of positioning buoys is calculated using either the two-way satellite time-frequency transfer method or the satellite common-view method. The second clock deviation of the positioning buoy is corrected based on the time delay error of each of the plurality of positioning buoys to obtain the first clock deviation of the positioning buoy.

5. The method according to claim 3, characterized in that, The plurality of positioning buoys includes a first positioning buoy. The method of calculating the first clock deviation of each positioning buoy using a two-way satellite time-frequency transfer method includes: Obtain a first timestamp, which is the current timestamp of the reference positioning buoy when the reference positioning buoy sends a first signal to the first positioning buoy, and the first signal is used for time synchronization; Obtain a second timestamp, which is the current timestamp of the first positioning buoy when the first positioning buoy receives the first signal; Obtain a third timestamp, which is the current timestamp of the first positioning buoy when the first positioning buoy sends a second signal to the reference positioning buoy, and the second signal is used for time synchronization; Obtain a fourth timestamp, which is the current timestamp of the reference positioning buoy when the reference positioning buoy receives the second signal; The first clock deviation of the first positioning buoy is calculated based on the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp.

6. The method according to claim 5, characterized in that, The formula for calculating the first clock deviation of the first positioning buoy is: Where T4 is the fourth timestamp, T3 is the third timestamp, T2 is the second timestamp, and T1 is the first timestamp.

7. The method according to claim 3, characterized in that, The plurality of positioning buoys includes a second positioning buoy. The method of calculating the first clock offset for each positioning buoy among the plurality of positioning buoys using the common-view satellite method includes: Obtain the fifth timestamp, which is the current timestamp of the reference positioning buoy when it sends the third signal to the target satellite at the first moment; Obtain the sixth timestamp, which is the current timestamp of the second positioning buoy when the second positioning buoy sends the fourth signal to the target satellite at the first moment; Obtain the first distance between the reference positioning buoy and the target satellite; Obtain the second distance between the second positioning buoy and the target satellite; The first clock deviation of the second positioning buoy is calculated based on the fifth timestamp, the sixth timestamp, the first distance, and the second distance.

8. The method according to claim 7, characterized in that, The formula for calculating the first clock deviation of the second positioning buoy is: Where T5 is the fifth timestamp, T6 is the sixth timestamp, d1 is the first distance, d2 is the second distance, and c is the speed of light.

9. An underwater target positioning device, characterized in that, The device includes: The acquisition unit is used to acquire the position coordinates of multiple positioning buoys and the attitude data of the multiple positioning buoys; A calibration unit is used to calibrate the position coordinates of the positioning buoy based on the attitude data of each positioning buoy among the plurality of positioning buoys, so as to obtain the actual position coordinates of the positioning buoy; The calculation unit is used to calculate the position coordinates of the underwater target based on the actual position coordinates of each of the plurality of positioning buoys using the time difference of arrival (TDOA) positioning method.

10. A computer device, characterized in that, The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1 to 8.

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