Acoustic signal-based underwater vehicle positioning method, device, equipment and medium

Abstract

The invention relates to an underwater vehicle positioning method, device and equipment based on sound signals and a storage medium. The method comprises the following steps: controlling a plurality of transmitting beacons in an underwater vehicle to transmit distance measuring sound signals, performing frequency division processing on the plurality of distance measuring sound signals, determining the distance measuring sound signal corresponding to each transmitting beacon, and determining the distance measuring sound signal corresponding to each transmitting beacon based on the distance measuring sound signal corresponding to each transmitting beacon and predetermined signal propagation time delay. The distance between each transmitting beacon and the base station is calculated, and the distances are used for determining the position information of the underwater vehicle. According to the invention, multiple transmitting beacons can be subjected to distance measurement at the same time, relatively high distance measurement precision can be ensured, the accuracy and real-time performance of positioning and attitude determination can be ensured, the tedious operation of sequentially measuring multiple beacons in a polling manner in the prior art is avoided, the measurement time is greatly shortened, and the measurement efficiency is improved. And meanwhile, limited frequency band resources are saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater positioning, and in particular to an underwater submerged vehicle positioning method and device based on acoustic signals, an underwater submerged vehicle positioning equipment and a storage medium. BACKGROUND

[0002] Underwater submerged vehicles are widely used in various fields such as ocean exploration, resource development, underwater operation, etc. When the underwater submerged vehicles are operating underwater, accurate positioning and orientation information is needed to ensure the smooth execution of the task. The existing underwater positioning and orientation methods have some limitations, for example, satellite positioning signals are difficult to receive underwater, optical positioning is greatly affected by the underwater environment, etc. As a common underwater ranging method, acoustic ranging uses the propagation characteristics of sound waves in water to measure distance, and has good applicability and reliability.

[0003] Currently, underwater acoustic ranging usually has two ways of asynchronous ranging and synchronous ranging. However, the asynchronous ranging method has long processing time and poor real-time performance in actual application, and the synchronous ranging method has higher requirements for synchronization accuracy and system resources, which limits the implementation of underwater multi-target ranging.

[0004] Therefore, how to provide a technical solution for synchronous ranging of multiple targets and overcoming the limitation of system frequency band resources has become a technical problem to be solved by those skilled in the art. SUMMARY

[0005] In view of the above, the present application provides an underwater submerged vehicle positioning method and device based on acoustic signals, an underwater submerged vehicle positioning equipment and a storage medium, which aims to solve the above technical problems.

[0006] In a first aspect, the present application provides an underwater submerged vehicle positioning method based on acoustic signals, the method comprising:

[0007] controlling a plurality of transmitting beacons in the underwater submerged vehicle to transmit ranging acoustic signals;

[0008] performing frequency division processing on the plurality of ranging acoustic signals to determine the ranging acoustic signal corresponding to each transmitting beacon;

[0009] based on the ranging acoustic signal corresponding to each transmitting beacon and the pre-determined signal propagation delay, calculating the distance between each transmitting beacon and the base station respectively, wherein the distance is used to determine the position information of the underwater submerged vehicle.

[0010] In a second aspect, the present application provides an underwater submerged vehicle positioning device based on acoustic signals, the underwater submerged vehicle positioning device comprising:

[0011] a transmitting module for controlling a plurality of transmitting beacons in the underwater submerged vehicle to transmit ranging acoustic signals;

[0012] A frequency division module is configured to perform frequency division processing on the multiple ranging acoustic signals to determine the ranging acoustic signal corresponding to each of the transmitting beacons.

[0013] A positioning module is configured to calculate the distance between each of the transmitting beacons and the base station based on the ranging acoustic signal corresponding to each of the transmitting beacons and the predetermined signal propagation time delay, wherein the distance is used to determine the position information of the underwater vehicle.

[0014] In a third aspect, the present application provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus.

[0015] The memory is configured to store a computer program.

[0016] The processor is configured to execute the program stored on the memory to implement the steps of the underwater vehicle positioning method based on acoustic signals according to any one of the first aspect.

[0017] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps of the underwater vehicle positioning method based on acoustic signals according to any one of the first aspect.

[0018] Compared with the prior art, the above technical solution provided by the embodiments of the present application has the following advantages:

[0019] The present application controls multiple transmitting beacons in the underwater vehicle to emit ranging acoustic signals, performs frequency division processing on the multiple ranging acoustic signals to determine the ranging acoustic signal corresponding to each of the transmitting beacons, calculates the distance between each of the transmitting beacons and the base station based on the ranging acoustic signal corresponding to each of the transmitting beacons and the predetermined signal propagation time delay, wherein the distance is used to determine the position information of the underwater vehicle. This can enable multiple transmitting beacons to perform ranging at the same time. Since the wider the bandwidth of the ranging signal is, the higher the ranging resolution is, the present application can ensure that more wideband ranging signals are processed at the same time, thus ensuring real-time performance and accuracy, saving frequency band resources, ensuring high ranging accuracy, ensuring the accuracy and real-time performance of positioning and attitude determination, avoiding the cumbersome operation of sequentially measuring multiple beacons in the traditional technology, greatly shortening the measurement time, and saving limited frequency band resources. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate one embodiment consistent with the present application and, together with the description, serve to explain the principles of the application.

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced as follows. Obviously, the drawings are only for the purpose of illustrating the embodiments of the present application and the prior art, and the one of ordinary skill in the art can obtain other drawings based on these drawings without any creative effort.

[0022] Figure 1 The schematic diagram of the architecture of the underwater submarine positioning system based on acoustic signals of the present application;

[0023] Figure 2 The schematic diagram of the flow chart of the preferred embodiment of the underwater submarine positioning method based on acoustic signals of the present application;

[0024] Figure 3 The schematic diagram of the module of the preferred embodiment of the underwater submarine positioning device based on acoustic signals of the present application;

[0025] Figure 4 The schematic diagram of the preferred embodiment of the electronic device of the present application;

[0026] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by one of ordinary skill in the art without any creative effort are within the scope of protection of the present application.

[0028] It should be noted that the description involving "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features indicated or implicitly indicating the number of the technical features indicated. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that one of ordinary skill in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0029] Reference Figure 1As shown in the figure, it is an architecture schematic diagram of the underwater vehicle positioning system based on acoustic signals of the present application. The underwater vehicle is in communication connection with the base station, and the underwater vehicle comprises a high-precision clock module, a DSP (Digital Signal Processing Module) module and three transmitting beacons, and the base station comprises a high-precision clock module, a receiver, a DSP module, a serial conversion module and a wireless module.

[0030] The high-precision clock module is used for receiving satellite signals and outputting PPS clock signals to the DSP module based on the satellite signals;

[0031] The multiple acoustic transmitters installed on the underwater vehicle serve as the transmitting beacons and are used for transmitting specific ranging signals;

[0032] The DSP module is used for real-time processing of underwater acoustic signals and simultaneously solving the distances of the multiple transmitting beacons on the underwater vehicle. The DSP module is also used for receiving PPS clock signals, controlling the transmitting beacons to periodically transmit ranging acoustic signals, and performing clock counting at the base station end to provide accurate reference time for distance solving, i.e. the starting time of the current period, so as to ensure the synchronization of the transmission and reception times;

[0033] The receiver mainly comprises a transducer and an acquisition device and is used for real-time receiving and acquiring the ranging acoustic signals transmitted by the underwater vehicle and converting the ranging acoustic signals into digital signals for transmission into the DSP module for processing;

[0034] The data center is used for completing the fusion and processing of the uploaded data of each buoy base station. The module can be deployed on a cloud server, the state of the base station can be queried and monitored through a UI interface, and the position and attitude of the underwater vehicle can be given in real time;

[0035] The present application controls the multiple transmitting beacons in the underwater vehicle to simultaneously transmit ranging signals through the high-precision clock module, then the base station end performs frequency division processing on the received multiple ranging signals to obtain the distances of the multiple transmitting beacons to the base station, the ranging results are output by the serial conversion module, and the position information and attitude of the underwater vehicle are displayed by reporting to the remote data center through the conversion from the 232 module to the wireless module.

[0036] The present application provides an underwater vehicle positioning method based on acoustic signals. Referring to Figure 2 As shown in the figure, it is a method flow schematic diagram of an embodiment of the underwater vehicle positioning method based on acoustic signals of the present application. The method is executed by an electronic device, the electronic device comprises a DSP module, the DSP module is a hardware module for processing signals through digital computing technology, the DSP module is in communication connection with multiple base stations, and the DSP module can also be deployed in the multiple base stations. The underwater vehicle positioning method based on acoustic signals comprises the following steps:

[0037] Step S10: controlling multiple transmitting beacons in the underwater vehicle to transmit ranging acoustic signals;

[0038] Step S20: performing frequency division processing on the multiple ranging acoustic signals at the base station end to determine the ranging acoustic signal corresponding to each transmitting beacon;

[0039] Step S30: based on the ranging acoustic signal corresponding to each transmitting beacon and the pre-determined signal propagation delay, calculating the distance between each transmitting beacon and the base station, respectively, wherein the distance is used to determine the position information of the underwater vehicle. For example, based on the ranging acoustic signal corresponding to each transmitting beacon, the propagation delay of each signal is estimated, and thus the distance between each transmitting beacon and the base station is obtained.

[0040] In the underwater positioning scenario, the underwater vehicle needs to cooperate with the base station to determine the position. Since the traditional single signal transmission is easy to be disturbed and difficult to meet the multi-target ranging demand, the use of multiple transmitting beacons can provide more information and enhance the positioning reliability and accuracy. Therefore, the DSP module can be used to control multiple transmitting beacons in the underwater vehicle to transmit ranging acoustic signals to the base station simultaneously, wherein the signal frequency bands emitted by each transmitting beacon are different, which facilitates subsequent differentiation. The transmitting beacons can emit ranging acoustic signals based on a PPS clock signal trigger. The PPS clock signal is a high-precision time reference signal that generates one pulse per second, which is used to accurately synchronize various devices and modules in the system. It can provide a unified and high-precision time reference for the multiple transmitting beacons on the underwater vehicle and the signal reception and processing at the base station end.

[0041] Further, before controlling multiple transmitting beacons in the underwater vehicle to transmit ranging acoustic signals simultaneously, the method further comprises:

[0042] The high-precision clock unit receives satellite signals;

[0043] The PPS clock signal is output to the DSP module based on the satellite signals, so that the DSP module controls the multiple transmitting beacons in the underwater vehicle to transmit ranging acoustic signals.

[0044] To achieve the synchronous transmission of multiple transmitting beacons and accurate ranging, a high-precision time reference is needed. Satellite signals have the characteristics of high precision and high stability, and can provide accurate time reference for the underwater positioning system. By receiving satellite signals through a high-precision clock unit, the time synchronization of the entire positioning system can be ensured, and the positioning accuracy and reliability can be improved.

[0045] The high-precision clock unit receives satellite signals and outputs a PPS clock signal to the DSP module based on the satellite signals. After receiving the PPS clock signal, the DSP module can control multiple transmitting beacons in the underwater vehicle to synchronously transmit ranging signals, ensuring that the signal transmission time of each transmitting beacon is strictly consistent with the reference time of the high-precision clock module, thereby providing accurate time reference for subsequent signal reception, time delay measurement, and other operations.

[0046] Specifically, the method comprises:

[0047] According to a pre-set frequency allocation scheme, the multiple transmitting beacons in the underwater vehicle are controlled to periodically transmit ranging acoustic signals, wherein the ranging acoustic signals corresponding to each transmitting beacon are independent of each other in the frequency domain.

[0048] In order to avoid mutual interference of signals of each transmitting beacon and improve the utilization rate of frequency band resources, the frequency of the transmitting beacon needs to be reasonably allocated. Through the pre-set frequency allocation scheme, the signals of each transmitting beacon can be ensured to be independent of each other in the frequency domain, and at the same time, the up-sweeping frequency signal and the down-sweeping frequency signal can be respectively used in the same frequency band, which can not only prevent mutual interference between signals, but also fully utilize limited frequency band resources. In addition, periodically transmitting ranging acoustic signals can ensure the real-time performance and stability of the positioning system and provide continuous data support for subsequent position information updating.

[0049] Since the ranging acoustic signals received by the base station are a mixture of signals of multiple transmitting beacons, it is difficult to accurately calculate the distance by directly processing the mixed signals, and therefore, the multiple ranging acoustic signals need to be processed by frequency division to separate the mixed signals into signals corresponding to each transmitting beacon. For example, a band-pass filter can be used to process the mixed signals, and each transmitting beacon signal is filtered according to the frequency range of each transmitting beacon signal, so as to separate the signals of each transmitting beacon.

[0050] Specifically, the ranging acoustic signal is a hyperbolic frequency modulation signal, and the method for processing the multiple ranging acoustic signals by frequency division to determine the ranging acoustic signal corresponding to each transmitting beacon comprises:

[0051] The multiple ranging acoustic signals are separated by frequency band using a band-pass filter;

[0052] The signals of different frequency bands and the down-sweeping hyperbolic frequency modulation signal are distinguished to determine the ranging acoustic signal corresponding to each transmitting beacon.

[0053] The band-pass filter is an electronic device that can allow signals of a specific frequency band to pass through while suppressing signals of other frequency bands. By using the band-pass filter, mixed signals can be decomposed into signals of different frequency bands, thereby achieving signal separation. According to a pre-set frequency allocation scheme, the center frequency and bandwidth of each band-pass filter are determined. Each band-pass filter corresponds to a signal frequency band of a specific beacon. The mixed ranging acoustic signals received by the base station are sent to each band-pass filter. The band-pass filter filters the signals and only allows signals matching the center frequency and bandwidth to pass through, thereby separating the mixed signals into signals of multiple frequency bands.

[0054] The ranging acoustic signal is a hyperbolic frequency modulation (HFM) signal. The HFM signal is a nonlinear frequency modulation signal whose instantaneous frequency changes over time according to a hyperbolic function. The HFM signal has a unique frequency modulation characteristic, i.e., its instantaneous frequency changes over time according to a hyperbolic function. The instantaneous frequency over time satisfies a hyperbolic relationship:

[0055]

[0056] Since the instantaneous frequency of the HFM signal is a function of time, it belongs to a swept frequency signal, and its change slope is related to the parameter k. Through verification, the correlation of the up-swept frequency (k>0) and down-swept frequency (k<0) HFM signals with the same center frequency is low enough, so the up-swept and down-swept signals of the same frequency band are used to represent two different targets, respectively, which can maximize the use of limited frequency band resources.

[0057] The instantaneous frequency of the up-sweeping HFM signal gradually increases over time, and the instantaneous frequency of the down-sweeping HFM signal gradually decreases over time, and the two signals have good orthogonality in the frequency domain, that is, the correlation of the two is low, and even if the same frequency band is multiplexed, it can be distinguished by signal processing methods. By distinguishing the up-sweeping HFM signal and the down-sweeping HFM signal multiplexed in the same frequency band, the capacity of the ranging signal can be increased in the limited frequency band resource, the utilization rate of the frequency band resource is improved, and at the same time, it is ensured that the ranging acoustic signal corresponding to each transmitting beacon can be accurately identified. The correlation algorithm is used to calculate the correlation of the received ranging acoustic signal and the pre-stored up-sweeping and down-sweeping hyperbolic frequency modulation signal templates. By calculating the correlation coefficient between the signals, the similarity of the received signal and the template signal is judged, and according to the correlation calculation result, it is determined whether the received ranging acoustic signal is an up-sweeping hyperbolic frequency modulation signal or a down-sweeping hyperbolic frequency modulation signal. For example, the correlation coefficient R1 is obtained by calculating the correlation of the received signal and the up-sweeping hyperbolic frequency modulation signal template, and the correlation coefficient R2 is obtained by calculating the correlation of the received signal and the down-sweeping hyperbolic frequency modulation signal template. If R1 is greater than R2, and R1 exceeds the preset correlation threshold, it is judged that the signal is an up-sweeping hyperbolic frequency modulation signal, otherwise it is judged to be a down-sweeping hyperbolic frequency modulation signal.

[0058] After determining the ranging acoustic signal corresponding to each transmitting beacon, the position information of the underwater vehicle is determined, and the distance between each transmitting beacon and the base station needs to be obtained. The time delay estimation is performed on the ranging acoustic signal in each channel, and the copy correlation time delay estimation algorithm is used to determine the transmission time of the transmitting beacon in a period in combination with the clock synchronization information. The transmission time is constant and known to the base station. According to the sound speed of water (for example, the real-time measurement of water temperature, salinity and other parameters can be used for accurate calculation or an empirical value is used) and the propagation time delay, the distance from each transmitting beacon to the base station is calculated, so that the distance between multiple transmitting beacons and the base station is measured synchronously in a measurement period, and the synchronous ranging of multiple transmitting beacons is realized, wherein the distance is used to determine the position information of the underwater vehicle.

[0059] Specifically, based on the ranging acoustic signal corresponding to each transmitting beacon and the pre-determined signal propagation time delay, the distance between each transmitting beacon and the base station is calculated, including:

[0060] According to the preset time delay estimation algorithm, the signal propagation time delay of the ranging acoustic signal corresponding to each transmitting beacon is determined;

[0061] According to the signal propagation time delay and the propagation speed of the ranging acoustic signal in water, the distance between each transmitting beacon and the base station is calculated.

[0062] The preset time delay estimation algorithm is used to calculate the time delay of the ranging acoustic signal corresponding to each transmitting beacon. For example, the received ranging acoustic signal is correlated with the pre-stored transmitting signal template, and the time position corresponding to the correlation peak is found to determine the signal propagation time delay. The propagation speed of the acoustic signal is relatively stable, but it is affected by factors such as water temperature, salinity, and depth. By pre-determining the propagation speed of the ranging acoustic signal in water, the distance between the transmitting beacon and the base station can be calculated using the signal propagation time delay. By calculating the distance between each transmitting beacon and the base station through the signal propagation time delay and the propagation speed of the signal in water, the position information of the underwater vehicle can be accurately determined.

[0063] Further, the distance between each transmitting beacon and the base station is calculated according to the signal propagation time delay and the propagation speed of the ranging acoustic signal in water, respectively, including:

[0064] The signal propagation time delay of the ranging acoustic signal corresponding to each transmitting beacon is multiplied by the propagation speed to obtain the distance between each transmitting beacon and the base station.

[0065] The propagation speed of the ranging acoustic signal in water is pre-determined according to the underwater environmental parameters (such as water temperature, salinity, depth, etc.). The sound speed (propagation speed of the ranging acoustic signal in water) can be obtained through an empirical formula. For example, the sound speed profiler can be used to measure the sound speed at different depths, and then the corresponding sound speed value is determined according to the depth position of the underwater vehicle and the base station. The signal propagation time delay is multiplied by the sound speed to obtain the distance between each transmitting beacon and the base station, i.e. the calculation formula is: distance = sound speed x time delay. The calculation is performed for each transmitting beacon respectively to obtain the distance between each transmitting beacon and the base station.

[0066] In one embodiment, the position information of the underwater vehicle is determined, including:

[0067] The distance between each transmitting beacon and the base station is uploaded to the data center, so that the data center determines the position information of the underwater vehicle after fusion processing of the distance between each transmitting beacon and the base station.

[0068] After the data center receives the distance data sent by the multiple base stations, it performs fusion processing on these data to finally determine the position information of the underwater vehicle. The data fusion processing can comprehensively consider the measurement results of multiple base stations, and the geometric algorithm can be used to obtain the accurate position information of the underwater vehicle. The data center can be deployed in a cloud server, and the state of the base station can be queried and monitored through a UI interface, and the position and attitude of the underwater vehicle are given in real time.

[0069] The application can realize the distance measurement of three transmitting beacons (transmitting signals are 6 kHz bandwidth HFM signals) on the underwater vehicle to the base station at the same time in each period on the receiving base station with only 12 kHz bandwidth, improves the efficiency of underwater distance measurement, ensures the distance measurement resolution of about ±0.1 m, realizes the real-time high-precision positioning of multiple underwater targets, enables multiple transmitting beacons to perform distance measurement at the same time while ensuring high distance measurement accuracy, ensures the accuracy and real-time performance of positioning and attitude determination, avoids the cumbersome operation of sequentially measuring multiple beacons in the traditional technology, greatly shortens the measurement time, and saves the limited frequency band resources.

[0070] Referring to Figure 3 As shown in FIG. 1, it is a functional module schematic diagram of the underwater vehicle positioning device 100 based on acoustic signals.

[0071] The underwater vehicle positioning device 100 based on acoustic signals is installed in an electronic device. According to the functions to be realized, the underwater vehicle positioning device 100 based on acoustic signals includes a transmitting module 110, a frequency dividing module 120 and a positioning module 130. The above modules can also be called units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete a fixed function, and are stored in the memory of the electronic device.

[0072] In this embodiment, the functions of each module / unit are as follows:

[0073] The transmitting module 110 is used for controlling multiple transmitting beacons in the underwater vehicle to transmit distance measurement acoustic signals.

[0074] The frequency dividing module 120 is used for frequency dividing processing of multiple distance measurement acoustic signals to determine the distance measurement acoustic signal corresponding to each transmitting beacon.

[0075] The positioning module 130 is used for calculating the distance between each transmitting beacon and the base station based on the distance measurement acoustic signal corresponding to each transmitting beacon and the pre-determined signal propagation delay, wherein the distance is used to determine the position information of the underwater vehicle.

[0076] In one embodiment, the underwater vehicle positioning device 100 based on acoustic signals further includes an output module, which is used for:

[0077] The high-precision clock unit receives satellite signals;

[0078] The output module outputs a PPS clock signal to the DSP module based on the satellite signals, so that the DSP module controls multiple transmitting beacons in the underwater vehicle to transmit distance measurement acoustic signals.

[0079] In one embodiment, the control of the multiple transmitting beacons in the underwater vehicle to transmit distance measurement acoustic signals at the same time includes:

[0080] The multiple transmitting beacons in the underwater vehicle are controlled to periodically transmit ranging acoustic signals according to a preset frequency allocation scheme, wherein the ranging acoustic signals corresponding to each transmitting beacon are independent of each other in the frequency domain.

[0081] In an embodiment, the ranging acoustic signal is a hyperbolic frequency modulation signal, and the frequency division processing of the multiple ranging acoustic signals to determine the ranging acoustic signal corresponding to each transmitting beacon comprises:

[0082] The multiple ranging acoustic signals are separated by frequency bands by using a band-pass filter;

[0083] The signals of different frequency bands and the down-sweep hyperbolic frequency modulation signal are distinguished to determine the ranging acoustic signal corresponding to each transmitting beacon.

[0084] In an embodiment, based on the ranging acoustic signal corresponding to each transmitting beacon and a predetermined signal propagation time delay, the distance between each transmitting beacon and the base station is calculated respectively, comprising:

[0085] According to a preset time delay estimation algorithm, the signal propagation time delay of the ranging acoustic signal corresponding to each transmitting beacon is determined;

[0086] According to the signal propagation time delay and the propagation speed of the ranging acoustic signal in water, the distance between each transmitting beacon and the base station is calculated respectively.

[0087] In an embodiment, according to the signal propagation time delay and the propagation speed of the ranging acoustic signal in water, the distance between each transmitting beacon and the base station is calculated respectively, comprising:

[0088] The signal propagation time delay of the ranging acoustic signal corresponding to each transmitting beacon is multiplied by the propagation speed to obtain the distance between each transmitting beacon and the base station.

[0089] In an embodiment, the position information of the underwater vehicle is determined, comprising:

[0090] The distance between each transmitting beacon and the base station is uploaded to a data center, so that the data center determines the position information of the underwater vehicle after fusion processing of the distance between each transmitting beacon and the base station.

[0091] Referring to Figure 4 FIG. 1 shows a schematic diagram of a preferred embodiment of an electronic device of the present application.

[0092] The electronic device comprises 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 complete communication with each other through the communication bus 114;

[0093] a memory 113 for storing computer programs, such as the acoustic-based underwater vehicle positioning program;

[0094] The processor 111 may, in some embodiments, be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor 111 is generally used to control overall operation of the electronic device, such as executing data interaction or communication related control and processing, etc. In the present embodiment, the processor 111 is used to run program codes or process data stored in the memory 113.

[0095] The communication interface 112 may, optionally, include a standard wired interface, a wireless interface (such as a WI-FI interface), and be used to establish a communication connection between the electronic device and other electronic devices.

[0096] The memory 113 includes at least one type of readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 113 can be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. In other embodiments, the memory 113 can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. of the electronic device. Of course, the memory 113 can also include both the internal storage unit and the external storage device of the electronic device. In the present embodiment, the memory 113 is generally used to store an operating system and various computer programs installed in the electronic device, such as program codes of the acoustic-based underwater vehicle positioning program, etc. In addition, the memory 113 can also be used to temporarily store various data that have been output or will be output.

[0097] Figure 3 Only the electronic device with components 111-114 is shown, but it should be understood that all the shown components are not required to be implemented, and more or fewer components can be alternatively implemented.

[0098] In an embodiment of the present application, the processor 111, when executing the program stored in the memory 113, implements the method for positioning the underwater vehicle based on the acoustic signal provided by any one of the preceding method embodiments, including:

[0099] controlling a plurality of transmitting beacons in the underwater vehicle to transmit ranging acoustic signals;

[0100] performing frequency division processing on the plurality of ranging acoustic signals to determine the ranging acoustic signal corresponding to each transmitting beacon;

[0101] calculating the distance between each transmitting beacon and the base station based on the ranging acoustic signal corresponding to each transmitting beacon and the predetermined signal propagation delay, wherein the distance is used to determine the position information of the underwater vehicle.

[0102] For detailed description of the above steps, please refer to the above Figure 2 For the flowchart of the method for positioning the underwater vehicle based on the acoustic signal.

[0103] In addition, the embodiment of the present application also proposes a computer readable storage medium, which is non-volatile or volatile. The computer readable storage medium is any one or any combination of the following: hard disk, multimedia card, SD card, flash card, SMC, read-only memory (ROM), erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, etc. The computer readable storage medium includes a storage data area and a storage program area, and the storage program area stores the underwater vehicle positioning program 10 based on the acoustic signal. When the underwater vehicle positioning program 10 based on the acoustic signal is executed by the processor, the following operations are implemented:

[0104] controlling a plurality of transmitting beacons in the underwater vehicle to transmit ranging acoustic signals;

[0105] performing frequency division processing on the plurality of ranging acoustic signals to determine the ranging acoustic signal corresponding to each transmitting beacon;

[0106] calculating the distance between each transmitting beacon and the base station based on the ranging acoustic signal corresponding to each transmitting beacon and the predetermined signal propagation delay, wherein the distance is used to determine the position information of the underwater vehicle.

[0107] The specific implementation of the computer readable storage medium of the present application is substantially the same as the specific implementation of the method for positioning the underwater vehicle based on the acoustic signal described above, and will not be repeated here.

[0108] It should be noted that the above-mentioned sequence numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. Moreover, the terms "comprise", "contain" or any other variants thereof in this document are intended to cover non-exclusive inclusion, so that the process, device, article or method comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, device, article or method. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of other identical elements in the process, device, article or method comprising the element.

[0109] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software and a general hardware simulation platform as required, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0110] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for underwater vehicle localization based on acoustic signals, the method comprising: The method comprises: Controlling multiple transmitting beacons in the underwater submersible to transmit ranging acoustic signals; Frequency division processing the multiple ranging acoustic signals to determine the ranging acoustic signal corresponding to each transmitting beacon; Based on the ranging acoustic signal corresponding to each transmitting beacon and the pre-determined signal propagation delay, the distance between each transmitting beacon and the base station is calculated respectively, wherein the distance is used to determine the position information of the underwater submersible.

2. The acoustic-based underwater vehicle positioning method of claim 1, wherein, Before controlling multiple transmitting beacons in the underwater submersible to transmit ranging acoustic signals simultaneously, the method further comprises: The high-precision clock unit receives satellite signals; Based on the satellite signals, the PPS clock signal is output to the DSP module, so that the DSP module controls the multiple transmitting beacons in the underwater submersible to transmit ranging acoustic signals.

3. The acoustic-based underwater vehicle positioning method of claim 1, wherein, The control of the multiple transmitting beacons in the underwater submersible to transmit ranging acoustic signals simultaneously comprises: According to the pre-set frequency allocation scheme, the multiple transmitting beacons in the underwater submersible are controlled to transmit ranging acoustic signals periodically, wherein the ranging acoustic signals corresponding to each transmitting beacon are independent of each other in the frequency domain.

4. The acoustic-based underwater vehicle positioning method of claim 1, wherein, The ranging acoustic signal is a hyperbolic frequency modulation signal, and the frequency division processing of the multiple ranging acoustic signals to determine the ranging acoustic signal corresponding to each transmitting beacon comprises: Using a band-pass filter to separate the multiple ranging acoustic signals by frequency band; The signals of different frequency bands and the down-sweeping hyperbolic frequency modulation signal are distinguished to determine the ranging acoustic signal corresponding to each transmitting beacon.

5. The acoustic-based underwater vehicle positioning method of claim 1, wherein, The calculation of the distance between each transmitting beacon and the base station based on the ranging acoustic signal corresponding to each transmitting beacon and the pre-determined signal propagation delay comprises: According to the pre-set time delay estimation algorithm, the signal propagation delay of the ranging acoustic signal corresponding to each transmitting beacon is determined; According to the signal propagation delay and the propagation speed of the ranging acoustic signal in water, the distance between each transmitting beacon and the base station is calculated respectively.

6. The acoustic-based underwater vehicle positioning method of claim 5, wherein, The calculation of the distance between each transmitting beacon and the base station based on the signal propagation delay and the propagation speed of the ranging acoustic signal in water comprises: The signal propagation delay of the ranging acoustic signal corresponding to each transmitting beacon is multiplied by the propagation speed to obtain the distance between each transmitting beacon and the base station.

7. The acoustic-based underwater vehicle positioning method of any one of claims 1 to 6, wherein, The determination of the position information of the underwater submersible comprises: The distance between each transmitting beacon and the base station is uploaded to the data center, so that the data center determines the position information of the underwater submersible after fusion processing of the distance between each transmitting beacon and the base station.

8. An acoustic signal based underwater vehicle positioning apparatus, characterized by, The device comprises: A transmitting module for controlling multiple transmitting beacons in the underwater submersible to transmit ranging acoustic signals; A frequency division module for frequency division processing the multiple ranging acoustic signals to determine the ranging acoustic signal corresponding to each transmitting beacon; A positioning module for calculating the distance between each transmitting beacon and the base station based on the ranging acoustic signal corresponding to each transmitting beacon and the pre-determined signal propagation delay, wherein the distance is used to determine the position information of the underwater submersible.

9. An electronic device, comprising: It comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; The memory is used to store computer programs; A processor for implementing the method of any one of claims 1 to 7 for locating an underwater vehicle based on acoustic signals when executing a program stored on a memory.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, which when executed by a processor implements the method of any one of claims 1 to 7 for locating an underwater vehicle based on acoustic signals.

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