Real-time monitoring method, device and product for position of underwater submersible

Abstract

The invention discloses a real-time monitoring method, device and product for the position of an underwater submersible, and relates to the technical field of positioning. The speed data, fed back by the acoustic positioning system, of the underwater submersible at the current moment, the course angle data, fed back by the dead reckoning system, of the underwater submersible at the current moment and the first reckoning position, fed back by the acoustic positioning system, of the underwater submersible at the current moment are received; determining a position differential value according to the speed data, the course angle data and a position differential calculation equation based on dead reckoning; determining a second reckoning position of the underwater submersible at the current moment based on the position differential value and the positioning position of the underwater submersible at the previous moment; if the difference between the first calculation position and the second calculation position exceeds the difference threshold of the speed interval where the speed data is located, the second calculation position serves as the positioning position of the underwater vehicle at the current moment; and otherwise, taking the first reckoning position as the positioning position at the current moment. According to the invention, long-distance monitoring and positioning of the underwater submersible can be realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of positioning, and particularly relates to a real-time monitoring method, device and product for the position of an underwater submersible. BACKGROUND

[0002] High-precision navigation and positioning of an underwater submersible is a key technology for deep-sea exploration and ocean exploration, and is also one of the technical problems currently faced. Real-time monitoring of the position of the underwater submersible can be achieved through high-precision navigation and positioning of the underwater submersible. Common methods for real-time monitoring of the position of the underwater submersible include an acoustic positioning system based on a Doppler velocity log (DVL) and a dead reckoning (DR) system based on a compass.

[0003] In actual applications, the acoustic positioning system based on the DVL can achieve long-distance positioning due to its full-water-area coverage. However, due to environmental influences, data jumps or loss often occur in the positioning process, resulting in that the underwater submersible cannot obtain effective acoustic navigation data in some time periods. The DR system based on the compass can achieve high-precision navigation for a short distance, but for long-distance positioning, the cumulative error causes the positioning position of the underwater submersible to be greatly different from the actual position.

[0004] Therefore, how to provide an effective scheme to achieve long-distance monitoring and positioning of the position of the underwater submersible has become a problem to be solved in the prior art. SUMMARY

[0005] The purpose of the present application is to provide a real-time monitoring method, device and product for the position of an underwater submersible to solve the above problems existing in the prior art.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0007] In a first aspect, the present application provides a real-time monitoring method for the position of an underwater submersible, comprising:

[0008] receiving speed data of the underwater submersible at a current time fed back by an acoustic positioning system based on a Doppler velocity log (DVL), heading angle data of the underwater submersible at the current time fed back by a dead reckoning (DR) system based on a compass, and a first estimated position of the underwater submersible at the current time fed back by the acoustic positioning system;

[0009] determining a position differential value of the underwater submersible at the current time according to the speed data of the underwater submersible at the current time, the heading angle data of the underwater submersible at the current time, and a position differential calculation equation established in advance and based on the DR;

[0010] determine a second estimated position of the underwater vehicle at the current time based on the differential value of the position of the underwater vehicle at the current time and the positioning position of the underwater vehicle at the previous time;

[0011] if the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the speed interval in which the speed data at the current time is located, then the second estimated position is taken as the positioning position of the underwater vehicle at the current time;

[0012] if the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the speed interval in which the speed data at the current time is located, then the first estimated position is taken as the positioning position of the underwater vehicle at the current time.

[0013] Based on the above disclosure, the present application receives the speed data of the underwater vehicle at the current time fed back by the Doppler-based acoustic positioning system, the heading angle data of the underwater vehicle at the current time fed back by the compass-based dead reckoning system, and the first estimated position of the underwater vehicle at the current time fed back by the acoustic positioning system; determines the differential value of the position of the underwater vehicle at the current time according to the speed data of the underwater vehicle at the current time, the heading angle data of the underwater vehicle at the current time, and the pre-established and dead reckoning-based position differential calculation equation; determines the second estimated position of the underwater vehicle at the current time based on the differential value of the position of the underwater vehicle at the current time and the positioning position of the underwater vehicle at the previous time; if the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the speed interval in which the speed data at the current time is located, then the second estimated position is taken as the positioning position of the underwater vehicle at the current time; if the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the speed interval in which the speed data at the current time is located, then the first estimated position is taken as the positioning position of the underwater vehicle at the current time. In this way, the second estimated position of the underwater vehicle at the current time positioned based on dead reckoning is compared with the first estimated position of the underwater vehicle at the current time positioned by the acoustic positioning system, to determine whether the acoustic positioning system is currently abnormal due to data jump or loss, and when the acoustic positioning system is currently abnormal due to data jump or loss, the dead reckoning system continues to perform navigation positioning for a short time, to take advantage of the short-time high-precision characteristics of the dead reckoning system, so that when the acoustic positioning system is abnormal, the navigation data is not affected by data jump or loss, thereby realizing long-distance monitoring and positioning of the underwater vehicle.

[0014] In one possible design, the method further includes:

[0015] According to the velocity data of the underwater vehicle in the carrier coordinate system detected by the acoustic positioning system and the heading angle data of the underwater vehicle measured by the compass of the dead reckoning system, a velocity equation of the underwater vehicle in the navigation coordinate system is established;

[0016] The position differential calculation equation is established based on the velocity equation of the underwater vehicle in the navigation coordinate system.

[0017] In a possible design, the velocity equation of the underwater vehicle in the navigation coordinate system is wherein V E represents the eastward velocity of the underwater vehicle in the navigation coordinate system, V N represents the northward velocity of the underwater vehicle in the navigation coordinate system, V dx represents the rightward velocity of the underwater vehicle in the carrier coordinate system detected by the acoustic positioning system, V dy represents the forward velocity of the underwater vehicle in the carrier coordinate system detected by the acoustic positioning system, ψ c represents the heading angle data of the underwater vehicle measured by the compass of the dead reckoning system.

[0018] In a possible design, the position differential calculation equation is wherein L represents the latitude of the underwater vehicle, λ represents the longitude of the underwater vehicle, R m represents the radius of the meridian of the earth, and R n represents the radius of the prime vertical circle of the earth.

[0019] In a possible design, the velocity data of the underwater vehicle at the current time includes the rightward velocity and the forward velocity of the underwater vehicle in the carrier coordinate system.

[0020] In a second aspect, the present application provides a real-time monitoring device for the position of an underwater vehicle, comprising:

[0021] a receiving unit configured to receive the velocity data of the underwater vehicle at the current time fed back by the Doppler log-based acoustic positioning system, the heading angle data of the underwater vehicle at the current time fed back by the compass-based dead reckoning system, and the first calculated position of the underwater vehicle at the current time fed back by the acoustic positioning system;

[0022] a first determining unit configured to determine the position differential value of the underwater vehicle at the current time according to the velocity data of the underwater vehicle at the current time, the heading angle data of the underwater vehicle at the current time, and the pre-established and dead reckoning-based position differential calculation equation;

[0023] The second determining unit is configured to determine a second estimated position of the underwater vehicle at the current time based on a differential value of the position of the underwater vehicle at the current time and a positioning position of the underwater vehicle at a previous time.

[0024] The determining unit is configured to determine whether a difference between the first estimated position and the second estimated position exceeds a difference threshold corresponding to a speed interval in which the speed data at the current time is located.

[0025] The positioning unit is configured to, if the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the speed interval in which the speed data at the current time is located, take the second estimated position as the positioning position of the underwater vehicle at the current time.

[0026] If the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the speed interval in which the speed data at the current time is located, the first estimated position is taken as the positioning position of the underwater vehicle at the current time.

[0027] In a third aspect, the present application provides an electronic device, comprising a memory, a processor and a transceiver connected in sequence and in communication, wherein the memory is configured to store a computer program, the transceiver is configured to receive and send messages, and the processor is configured to read the computer program and execute the real-time monitoring method for the position of the underwater vehicle according to the first aspect or any possible design of the first aspect.

[0028] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, and when the instructions are executed on a computer, the real-time monitoring method for the position of the underwater vehicle according to the first aspect or any possible design of the first aspect is executed.

[0029] In a fifth aspect, the present application provides a computer program product comprising instructions, and when the instructions are executed on a computer, the computer is caused to execute the real-time monitoring method for the position of the underwater vehicle according to the first aspect or any possible design of the first aspect.

[0030] Advantages:

[0031] The present invention provides a method, device, and product for real-time monitoring of the location of underwater submersibles. This method compares the second estimated position of the underwater submersible at the current moment, located based on dead reckoning, with the first estimated position at the current moment, located by an acoustic positioning system. It determines whether the acoustic positioning system is experiencing a positioning anomaly due to data jumps or loss. If the acoustic positioning system experiences a positioning anomaly due to data jumps or loss, the dead reckoning system continues navigation and positioning for a short period, leveraging the high accuracy of the dead reckoning system in a short time. This ensures that navigation data is not affected by data jumps or loss when the acoustic positioning system is abnormal, thereby achieving long-distance monitoring and positioning of underwater submersibles, facilitating practical application and widespread adoption. Attached Figure Description

[0032] Figure 1 A flowchart illustrating a real-time monitoring method for the location of an underwater submersible provided in an embodiment of this application;

[0033] Figure 2 A block diagram illustrating a real-time monitoring device for the location of an underwater submersible, provided in an embodiment of this application.

[0034] Figure 3 This is a block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0036] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0037] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0038] Example

[0039] like Figure 1 As shown, the real-time monitoring method for the location of an underwater submersible provided in the first aspect of this embodiment can be executed, but is not limited to, by a computer device with certain computing resources, such as a cloud server, a personal computer (PC, referring to a multi-purpose computer of a size, price, and performance suitable for personal use; desktop computers, laptops, mini-laptops, tablets, and ultrabooks all belong to personal computers), a smartphone, a personal digital assistant (PDA), and other electronic devices. Figure 1 As shown, the real-time monitoring method for the location of an underwater submersible may include, but is not limited to, the following steps S101 to S105.

[0040] Step S101. Receive the speed data of the underwater vehicle at the current moment from the acoustic positioning system based on the Doppler log, the heading angle data of the underwater vehicle at the current moment from the dead reckoning system based on the compass, and the first estimated position of the underwater vehicle at the current moment from the acoustic positioning system.

[0041] The underwater vehicle's velocity data at the current moment, fed back by the acoustic positioning system, can be deduced by comparing the frequency difference between the transmitted and received signals from the Doppler log. The underwater vehicle's heading angle at the current moment can be directly measured using the compass in the dead reckoning system. The underwater vehicle's velocity data at the current moment includes its rightward and forward velocities in the carrier coordinate system.

[0042] Step S102. Based on the underwater vehicle's velocity data at the current moment, the underwater vehicle's heading angle data at the current moment, and the pre-established position differential calculation equation based on dead reckoning, determine the underwater vehicle's position differential value at the current moment.

[0043] In the embodiment of the present application, a position differential calculation equation for dead reckoning of the position of the underwater vehicle is established in advance. When the position differential calculation equation is established, the velocity equation of the underwater vehicle in the navigation coordinate system can be established according to the velocity data of the underwater vehicle in the carrier coordinate system detected by the acoustic positioning system and the heading angle data of the underwater vehicle measured by the compass of the dead reckoning system.

[0044] The velocity equation of the underwater vehicle in the navigation coordinate system can be expressed as wherein V E represents the eastward velocity of the underwater vehicle in the navigation coordinate system, V N represents the northward velocity of the underwater vehicle in the navigation coordinate system, V dx represents the rightward velocity of the underwater vehicle in the carrier coordinate system detected by the acoustic positioning system, V dy represents the forward velocity of the underwater vehicle in the carrier coordinate system detected by the acoustic positioning system, and ψ c represents the heading angle data of the underwater vehicle measured by the compass of the dead reckoning system.

[0045] Then, the position differential calculation equation based on the dead reckoning is established based on the velocity equation of the underwater vehicle in the navigation coordinate system.

[0046] The position differential calculation equation can be expressed as wherein L represents the latitude of the underwater vehicle, λ represents the longitude of the underwater vehicle, R m represents the radius of the meridian of the earth, and R n represents the radius of the prime vertical circle of the earth, and · represents the differential symbol.

[0047] After the velocity data of the underwater vehicle at the current time and the heading angle data of the underwater vehicle at the current time are obtained, the velocity data of the underwater vehicle at the current time and the heading angle data of the underwater vehicle at the current time can be substituted into the position differential calculation equation to obtain the position differential value of the underwater vehicle at the current time.

[0048] Step S103. The second reckoning position of the underwater vehicle at the current time is determined based on the position differential value of the underwater vehicle at the current time and the positioning position of the underwater vehicle at the previous time.

[0049] Specifically, the position offset can be obtained by integrating the position differential value (i.e. the velocity) of the underwater vehicle at the current time with respect to time (i.e. multiplying the velocity of the underwater vehicle at the current time by the time difference from the previous time to the current time), and then the second reckoning position of the underwater vehicle at the current time can be obtained by adding the position offset to the positioning position of the underwater vehicle at the previous time.

[0050] Step S104. If the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the speed interval in which the speed data at the current time is located, the second estimated position is taken as the positioning position of the underwater vehicle at the current time.

[0051] wherein the first estimated position is the position of the underwater vehicle at the current time positioned by the acoustic positioning system, and the second estimated position is the position of the underwater vehicle at the current time estimated by the dead reckoning. If the acoustic positioning system currently does not have data jump or loss, the difference between the first estimated position and the second estimated position is minimal, and if the acoustic positioning system currently has data jump or loss, there will be a significant difference between the first estimated position and the second estimated position.

[0052] Based on this, the embodiments of the present application pre-set the difference threshold for determining whether the acoustic positioning system has data jump or loss for different speed intervals. The difference threshold can be pre-set artificially according to actual conditions, and the difference threshold corresponding to different speed intervals is different. After the first estimated position and the second estimated position of the underwater vehicle at the current time are determined, the first estimated position and the second estimated position can be compared. If the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the speed interval in which the speed data at the current time is located, it indicates that the acoustic positioning system currently has data jump or loss, and the dead reckoning system continues to perform navigation positioning for a short time at this time, that is, the second estimated position is taken as the positioning position of the underwater vehicle at the current time.

[0053] Step S105. If the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the speed interval in which the speed data at the current time is located, the first estimated position is taken as the positioning position of the underwater vehicle at the current time.

[0054] If the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the speed interval in which the speed data at the current time is located, it indicates that the acoustic positioning system currently does not have data jump or loss, and navigation positioning is continued by the acoustic positioning system at this time, that is, the first estimated position is taken as the positioning position of the underwater vehicle at the current time.

[0055] In summary, the real-time monitoring method for the position of the underwater diving apparatus provided by the application compares the second estimated position of the underwater diving apparatus at the current time based on the dead reckoning with the first estimated position of the underwater diving apparatus at the current time located by the acoustic positioning system, determines whether the acoustic positioning system is currently in the abnormal positioning state due to the data jump or loss, and continues the navigation positioning by the dead reckoning system for a short time when the acoustic positioning system is currently in the abnormal positioning state due to the data jump or loss, so that the navigation data is not affected by the data jump or loss when the acoustic positioning system is abnormal, thereby realizing the long-distance monitoring and positioning of the underwater diving apparatus, and facilitating the practical application and promotion.

[0056] Please refer to Figure 2 The second aspect of the embodiments of the present application provides a real-time monitoring device for the position of an underwater diving apparatus, which comprises:

[0057] a receiving unit, configured to receive the speed data of the underwater diving apparatus at the current time fed back by the acoustic positioning system based on the Doppler log, the heading angle data of the underwater diving apparatus at the current time fed back by the dead reckoning system based on the compass, and the first estimated position of the underwater diving apparatus at the current time fed back by the acoustic positioning system;

[0058] a first determining unit, configured to determine the position differential value of the underwater diving apparatus at the current time according to the speed data of the underwater diving apparatus at the current time, the heading angle data of the underwater diving apparatus at the current time, and the position differential calculation equation based on the dead reckoning and established in advance;

[0059] a second determining unit, configured to determine a second estimated position of the underwater vehicle at the current time based on a differential value of the position of the underwater vehicle at the current time and a positioning position of the underwater vehicle at a previous time;

[0060] a judging unit, configured to judge whether a difference between the first estimated position and the second estimated position exceeds a difference threshold corresponding to a speed interval in which the speed data at the current time is located;

[0061] a positioning unit, configured to take the second estimated position as the positioning position of the underwater vehicle at the current time if the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the speed interval in which the speed data at the current time is located; and

[0062] take the first estimated position as the positioning position of the underwater vehicle at the current time if the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the speed interval in which the speed data at the current time is located.

[0063] The working process, working details and technical effects of the device for real-time monitoring of the position of the underwater vehicle provided in the second aspect of the embodiment can be referred to the first aspect of the embodiment, and will not be described here.

[0064] Please refer to Figure 3 The third aspect of the embodiment of the present application provides an electronic device, which comprises a memory, a processor and a transceiver connected in sequence and in communication, wherein the memory is configured to store a computer program, the transceiver is configured to receive and send messages, and the processor is configured to read the computer program and execute the method for real-time monitoring of the position of the underwater vehicle as described in the first aspect of the embodiment.

[0065] For example, the memory can include, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a flash memory, a first-in-first-out memory (FIFO) and / or a first-in-last-out memory (FILO), etc.; the processor can be, but is not limited to, a microprocessor of STM32F105 series, an ARM (Advanced RISC Machines) processor or an X86 architecture processor, or a processor integrated with a NPU (neural-network processing units); and the transceiver can be, but is not limited to, a WiFi (Wireless Fidelity) wireless transceiver, a Bluetooth wireless transceiver, a General Packet Radio Service (GPRS) wireless transceiver, a ZigBee wireless transceiver, a 3G transceiver, a 4G transceiver and / or a 5G transceiver, etc.

[0066] The fourth aspect of the embodiment provides a computer readable storage medium storing instructions of the real-time monitoring method for the position of the underwater submersible as described in the first aspect of the embodiment, i.e. the computer readable storage medium stores the instructions, and when the instructions are run on a computer, the real-time monitoring method for the position of the underwater submersible as described in the first aspect is executed. Wherein, the computer readable storage medium refers to a carrier storing data, which can include, but is not limited to, floppy disks, optical disks, hard disks, flash memories, USB flash disks, Memory Sticks, etc., and the computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0067] The fifth aspect of the embodiment provides a computer program product containing instructions, which, when run on a computer, cause the computer to execute the real-time monitoring method for the position of the underwater submersible as described in the first aspect of the embodiment, wherein the computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0068] It should be understood that in the following description, specific details are provided to facilitate a complete understanding of the example embodiments. However, a person of ordinary skill in the art should understand that the example embodiments can be implemented without these specific details. For example, systems can be shown in block diagrams to avoid obscuring the examples with unnecessary details. In other instances, well-known processes, structures and techniques can not be shown in unnecessary detail to avoid obscuring the example embodiments.

[0069] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for real-time monitoring of the position of an underwater submersible, characterized in that, include: It receives the current speed data of the underwater vehicle from the acoustic positioning system based on the Doppler log, the current heading angle data of the underwater vehicle from the dead reckoning system based on the compass, and the first estimated position of the underwater vehicle from the acoustic positioning system at the current moment. Based on the underwater vehicle's velocity data at the current moment, the underwater vehicle's heading angle data at the current moment, and the pre-established position differential calculation equation based on dead reckoning, the position differential value of the underwater vehicle at the current moment is determined. Based on the differential value of the underwater vehicle's position at the current moment and the underwater vehicle's position at the previous moment, the second estimated position of the underwater vehicle at the current moment is determined. If the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the velocity range of the velocity data at the current moment, then the second estimated position is taken as the positioning position of the underwater submersible at the current moment. If the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the velocity range of the velocity data at the current moment, then the first estimated position is taken as the positioning position of the underwater submersible at the current moment.

2. The method for real-time monitoring of the position of an underwater submersible according to claim 1, characterized in that, The method further includes: Based on the velocity data of the underwater submersible in the carrier coordinate system detected by the acoustic positioning system and the heading angle data of the underwater submersible measured by the compass of the dead reckoning system, the velocity equation of the underwater submersible in the navigation coordinate system is established. The position differential calculation equation is established based on the velocity equation of the underwater submersible in the navigation coordinate system.

3. The method for real-time monitoring of the position of an underwater submersible according to claim 2, characterized in that, The velocity equation of the underwater submersible in the navigation coordinate system is: Where V E V represents the eastward velocity of the underwater submersible in the navigation coordinate system. N V represents the northward velocity of the underwater submersible in the navigation coordinate system. dx V represents the rightward velocity of the underwater submersible in the carrier coordinate system detected by the acoustic positioning system. dy ψ represents the forward velocity of the underwater submersible in the carrier coordinate system detected by the acoustic positioning system. c This refers to the heading angle data of the underwater submersible measured by the compass of the dead reckoning system.

4. The method for real-time monitoring of the position of an underwater submersible according to claim 3, characterized in that, The position differential calculation equation is as follows: Where L represents the latitude of the underwater vehicle, λ represents the longitude of the underwater vehicle, and R... m R represents the radius of the Earth's meridian. n This represents the radius of the Earth's geocentric circle.

5. The method for real-time monitoring of the position of an underwater submersible according to claim 1, characterized in that, The underwater vehicle's velocity data at the current moment includes its rightward and forward velocities in the carrier coordinate system.

6. A real-time monitoring device for the position of an underwater submersible, characterized in that, include: The receiving unit is used to receive the current speed data of the underwater vehicle fed back by the acoustic positioning system based on the Doppler log, the current heading angle data of the underwater vehicle fed back by the dead reckoning system based on the compass, and the first estimated position of the underwater vehicle fed back by the acoustic positioning system at the current moment. The first determining unit is used to determine the differential position value of the underwater vehicle at the current moment based on the speed data of the underwater vehicle at the current moment, the heading angle data of the underwater vehicle at the current moment, and the pre-established position differential calculation equation based on dead reckoning. The second determining unit is used to determine the second estimated position of the underwater vehicle at the current moment based on the differential value of the underwater vehicle's position at the current moment and the underwater vehicle's positioning position at the previous moment. The judgment unit is used to determine whether the difference between the first estimated position and the second estimated position exceeds the difference threshold corresponding to the speed range in which the speed data at the current moment is located; The positioning unit is configured to use the second calculated position as the positioning position of the underwater submersible at the current moment if the difference between the first calculated position and the second calculated position exceeds the difference threshold corresponding to the speed range of the current speed data. as well as If the difference between the first estimated position and the second estimated position does not exceed the difference threshold corresponding to the velocity range of the velocity data at the current moment, then the first estimated position is taken as the positioning position of the underwater submersible at the current moment.

7. An electronic device, characterized in that, The device includes a memory, a processor, and a transceiver that are sequentially and communicatively connected. The memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the real-time monitoring method for the position of an underwater submersible as described in any one of claims 1 to 5.

8. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or the instructions are executed by the computer, they implement the real-time monitoring method for the position of an underwater submersible as described in any one of claims 1 to 5.

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