A submerged load distributed ultra-short baseline positioning system and positioning method

Abstract

The application belongs to the field of positioning, and particularly relates to a submerged load distributed ultra-short baseline positioning system and a positioning method. The application discloses a submerged load distributed ultra-short baseline positioning system and a robust positioning method thereof, which effectively overcomes the problem that the positioning results of a traditional ultra-short baseline positioning system are inconsistent under limited observation space and different array patterns. By arranging acoustic elements at multiple positions on the surface of a submarine, a distributed acoustic array is formed, and the observation space of the submarine is expanded. Meanwhile, a robust positioning method is proposed by introducing azimuth constraints, and the robustness of the acoustic positioning result to array changes is enhanced. Through the application, the observation of the acoustic array on the submerged load to a target in the whole space can be realized, and stable positioning accuracy can be maintained when part of the acoustic elements fail.

Description

Technical Field

[0001] This invention belongs to the field of positioning, and in particular relates to a submersible distributed ultra-short baseline positioning system and positioning method. Background Technology

[0002] Ultra-short baseline (USLB) positioning systems have become commonly used acoustic positioning devices for underwater users due to their simple structure and easy installation. The system consists of an acoustic array mounted on a carrier and acoustic transducers mounted on the underwater user. By measuring the propagation delay of the user signal to each receiving element of the acoustic array, the user's azimuth and distance relative to the array can be estimated, thus determining their location.

[0003] Traditional ultra-short baseline positioning systems are mostly used on shipboard platforms, with the acoustic array typically mounted as a whole on the bottom of the hull, primarily for observing underwater users in the lower half of the space. However, in submersible applications, the incident acoustic signals from underwater users may come from multiple directions. In this case, the traditional monolithic array structure can no longer meet the all-around observation requirements of the submersible platform.

[0004] Furthermore, due to the obstruction caused by the submersible platform structure, the combination of acoustic elements that can normally receive signals has a certain degree of randomness within any given positioning cycle, and the resulting acoustic array is usually irregular. Existing positioning methods for irregular arrays are quite sensitive to array changes, and the positioning accuracy will significantly decrease when some acoustic elements fail. Summary of the Invention

[0005] The purpose of this invention is to address the low accuracy of existing submersible ultra-short baseline (USBR) positioning systems. A submersible distributed USBR positioning system is provided, comprising: a distributed acoustic positioning subsystem and a cooperative signal transmission subsystem;

[0006] The cooperative signal transmission subsystem is installed on the underwater user, and the distributed acoustic positioning subsystem is mounted on the submersible platform.

[0007] The underwater user refers to the target device or carrier that needs to be located, such as: underwater robots (AUV / ROV), divers, underwater sensor nodes, moorings, torpedoes, or other underwater moving or stationary targets carrying acoustic beacons. It is equipped with a cooperative signal transmission subsystem, which is an acoustic transducer that can actively transmit known acoustic signals (such as pulses, coded signals, etc.) for communication with the positioning system.

[0008] A submersible platform (or submarine-borne platform) refers to an underwater platform carrying a positioning system, typically an unmanned underwater vehicle (UUV) or other submersible vehicle. This platform serves as the receiver for the positioning system, equipped with a distributed acoustic positioning subsystem. This subsystem receives acoustic signals transmitted from underwater users and estimates the user's location and distance using multi-element time delay measurements.

[0009] The cooperative signal transmission subsystem is used to periodically send positioning signals outward;

[0010] The distributed acoustic positioning subsystem is used to receive the positioning signal sent by the cooperative signal transmitting subsystem 7, and to obtain the location information of the underwater user based on the received positioning signal.

[0011] The cooperative signal transmission subsystem includes: an atomic clock, an acoustic emission transducer, and a signal generator;

[0012] The atomic clock and signal generator are installed inside the underwater user's cabin;

[0013] The acoustic emission transducer is installed on the surface of the underwater user;

[0014] The atomic clock is used to ensure clock synchronization among multiple underwater users;

[0015] The acoustic transmitting transducer is used to transmit the positioning signal generated by the signal generator outward;

[0016] The signal generator is used to generate positioning signals.

[0017] A submersible distributed ultra-short baseline positioning method includes: S1: a cooperative signal transmission subsystem of an underwater user periodically transmits positioning signals outward; S2: a distributed acoustic positioning subsystem of the submersible platform receives the positioning signals transmitted by the cooperative signal transmission subsystem and obtains the location information of the underwater user based on the received positioning signals.

[0018] Preferably, the distributed acoustic positioning subsystem includes: a distributed array, a signal processing chassis, a compass, and a display control platform;

[0019] The distributed array comprises M acoustic receiving primitives, where M is a positive integer.

[0020] The distributed acoustic positioning subsystem of the submersible platform in S2 receives the positioning signal sent by the cooperative signal transmitting subsystem and obtains the location information of the underwater user based on the received positioning signal. The specific process is as follows:

[0021] S2.1: In the distributed acoustic positioning subsystem of the submersible platform, the distributed array receives the positioning signal sent by the cooperative signal transmission subsystem and inputs the received positioning signal to the signal processing chassis.

[0022] In the distributed acoustic positioning subsystem of the submersible platform, the compass collects the attitude data of the submersible platform and inputs the collected attitude data into the signal processing chassis.

[0023] S2.2: The decision module in the signal processing chassis determines the valid primitives in the distributed array based on the received positioning signal; the specific process is as follows:

[0024] Based on the received positioning signal, the acoustic receiving elements in the distributed array that successfully received the signal are determined to be valid elements, and the acoustic receiving elements that did not receive the signal are determined to be invalid elements.

[0025] S2.3: The positioning module in the signal processing chassis performs underwater user position calculation based on effective primitives, positioning signals and attitude data, and converts the calculation results to the geodetic coordinate system to obtain the underwater user's position information.

[0026] The beneficial effects of this invention are as follows:

[0027] This invention discloses a submersible distributed ultra-short baseline positioning system and its calibration method for installation deflection. Compared with traditional ultra-short baseline positioning systems, this invention can achieve observation of underwater users throughout the entire space using acoustic arrays, and can maintain stable positioning accuracy even when some acoustic elements fail. It solves the problem of low positioning accuracy of submersible ultra-short baseline systems. Attached Figure Description

[0028] Figure 1 A schematic diagram of the components of a submersible distributed ultra-short baseline positioning system;

[0029] Figure 2 A schematic diagram of the underwater distributed ultra-short baseline positioning process;

[0030] Figure 3 This is a schematic diagram illustrating the geometric definition of the baseline vector, user orientation, and orientation constraints.

[0031] Figure 4 This is a schematic diagram illustrating the relationship between the local coordinate system and the global coordinate system.

[0032] Figure Labels

[0033] 1. Distributed acoustic positioning subsystem; 2. Distributed array; 3. Acoustic receiving element; 4. Signal processing chassis; 5. Compass; 6. Display and control platform; 7. Cooperative signal transmission subsystem; 8. Atomic clock; 9. Acoustic transmission transducer; 10. Signal generator. Detailed Implementation

[0034] Specific implementation method one: Combining Figure 1-4 The present invention describes a submarine-borne distributed ultra-short baseline positioning system, comprising: a distributed acoustic positioning subsystem 1 and a cooperative signal transmission subsystem 7;

[0035] The cooperative signal transmission subsystem 7 is installed on the underwater user, and the distributed acoustic positioning subsystem 1 is mounted on the submersible platform.

[0036] The underwater user refers to the target device or carrier that needs to be located, such as: underwater robots (AUV / ROV), divers, underwater sensor nodes, moorings, torpedoes, or other underwater moving or fixed targets carrying acoustic beacons. It is equipped with a cooperative signal transmission subsystem 7, which is an acoustic transducer capable of actively transmitting known acoustic signals (such as pulses, coded signals, etc.) for communication with the positioning system.

[0037] A submersible platform (or submarine-borne platform) refers to an underwater platform carrying a positioning system, typically an unmanned underwater vehicle (UUV) or other submersible vehicle. This platform serves as the receiver for the positioning system, and is equipped with a distributed acoustic positioning subsystem 1. This subsystem receives acoustic signals transmitted from underwater users and estimates the user's location and distance through multi-element time delay measurements.

[0038] The cooperative signal transmission subsystem 7 is used to periodically send positioning signals outward;

[0039] The distributed acoustic positioning subsystem 1 receives positioning signals transmitted by the cooperative signal transmitting subsystem 7 and obtains the underwater user's location information based on the received positioning signals. In application, the cooperative signal transmitting subsystem 7 is mounted on the underwater user and moves with the user. The distributed acoustic positioning subsystem 1 is installed on the submersible platform and moves with the platform. The cooperative signal transmitting subsystem 7 periodically transmits positioning signals outwards. The distributed acoustic positioning subsystem 1 receives and processes the positioning signals and obtains the underwater user's location information.

[0040] Specific Implementation Method Two: The difference between this implementation method and Specific Implementation Method One is that the cooperative signal transmission subsystem 7 includes: an atomic clock 8, an acoustic emission transducer 9, and a signal generator 10;

[0041] The atomic clock 8 and the signal generator 10 are installed inside the underwater user's cabin;

[0042] The acoustic emission transducer 9 is installed on the surface of the underwater user;

[0043] The atomic clock 8 is used to ensure clock synchronization among multiple underwater users;

[0044] The acoustic transmitting transducer 9 is used to transmit the positioning signal generated by the signal generator 10 outward;

[0045] The signal generator 10 is used to generate a positioning signal;

[0046] The other steps and parameters are the same as in Specific Implementation Method 1.

[0047] Specific Implementation Method 3: The difference between this implementation method and Specific Implementation Methods 1 and 2 is that the distributed acoustic positioning subsystem 1 includes: a distributed array 2, a signal processing chassis 4, a compass 5, and a display control platform 6;

[0048] The distributed array 2 includes M acoustic receiving elements 3, where M is a positive integer, and the M acoustic receiving elements 3 are uniformly installed on the outer surface of the submersible platform.

[0049] The signal processing chassis 4, the compass 5, and the display control platform 6 are all fixedly installed inside the submersible platform;

[0050] The distributed array 2 is connected to the signal processing chassis 4 via a watertight cable;

[0051] The attitude data output terminal of the compass 5 is connected to the attitude data input terminal of the signal processing chassis 4;

[0052] The signal processing chassis 4 and the display control platform 6 are connected via a data bus;

[0053] The distributed array 2 is used to receive positioning signals sent from the cooperative signal transmission subsystem 7 in different directions;

[0054] The compass 5 is used to collect attitude data of the submersible platform;

[0055] The signal processing chassis 4 includes: a data storage module, a decision module, and a positioning module;

[0056] The data storage module is used to store the positioning signals received from the distributed array 2 and the acquired attitude data from the compass 5;

[0057] The decision module is responsible for determining whether all acoustic receiving elements 3 in the distributed array 2 have successfully received the positioning signal. Elements that have successfully received the signal are determined to be valid elements, while those that have not received the signal are determined to be invalid elements.

[0058] The positioning module performs underwater user position calculation based on attitude data collected by effective primitives and compass 5, and converts the calculation results to the geodetic coordinate system to obtain the underwater user's position information;

[0059] The display control platform 6 can display the positioning results in real time;

[0060] The clocks of the cooperative signal transmission subsystem 7 and the distributed acoustic positioning subsystem 1 are both synchronized.

[0061] The other steps and parameters are the same as in one of the specific implementation methods one or two.

[0062] Specific Implementation Method 4: A submersible distributed ultra-short baseline positioning method, comprising: S1: The cooperative signal transmission subsystem 7 of the underwater users periodically transmits positioning signals outward; (the positioning signals adopt direct sequence spread spectrum signals) When there are multiple underwater users, each user should use an independent pseudo-random code to ensure that the signals of different users have sufficient distinguishability, thereby effectively avoiding mutual interference.

[0063] S2: The distributed acoustic positioning subsystem 1 of the submersible platform receives the positioning signal sent by the cooperative signal transmitting subsystem 7, and obtains the location information of the underwater user based on the received positioning signal.

[0064] The underwater user refers to the target device or carrier that needs to be located, such as: underwater robots (AUV / ROV), divers, underwater sensor nodes, moorings, torpedoes, or other underwater moving or stationary targets carrying acoustic beacons. It is equipped with a cooperative signal transmission subsystem 7 for communicating with the positioning system.

[0065] A submersible platform (or submarine-borne platform) refers to an underwater platform carrying a positioning system, typically an unmanned underwater vehicle (UUV) or other submersible vehicle. This platform serves as the receiver for the positioning system, and is equipped with a distributed acoustic positioning subsystem 1. This subsystem receives acoustic signals transmitted from underwater users and estimates the user's location and distance through multi-element time delay measurements.

[0066] Specific Implementation Method Five: The difference between this implementation method and Specific Implementation Method Four is that the distributed acoustic positioning subsystem 1 includes: a distributed array 2, a signal processing chassis 4, a compass 5, and a display control platform 6;

[0067] The distributed array 2 includes M acoustic receiving primitives 3, where M is a positive integer.

[0068] The distributed acoustic positioning subsystem 1 of the submersible platform in S2 receives the positioning signal sent by the cooperative signal transmitting subsystem 7, and obtains the location information of the underwater user based on the received positioning signal. The specific process is as follows:

[0069] S2.1: In the distributed acoustic positioning subsystem 1 of the submersible platform, the distributed array 2 receives the positioning signal sent by the cooperative signal transmission subsystem 7 and inputs the received positioning signal to the signal processing chassis 4;

[0070] In the distributed acoustic positioning subsystem 1 of the submersible platform, the compass 5 collects the attitude data of the submersible platform and inputs the collected attitude data into the signal processing chassis 4.

[0071] S2.2: The decision module in the signal processing chassis 4 determines the valid elements in the distributed array 2 based on the received positioning signal; the specific process is as follows:

[0072] Based on the received positioning signal, the acoustic receiving elements in the distributed array 2 that successfully received the signal are determined to be valid elements, and the acoustic receiving elements that did not receive the signal are determined to be invalid elements.

[0073] S2.3: The positioning module in the signal processing chassis 4 performs underwater user position calculation based on effective primitives, positioning signals and attitude data, and converts the calculation results to the geodetic coordinate system to obtain the underwater user's position information;

[0074] The other steps and parameters are the same as in Specific Implementation Method Four.

[0075] Specific Implementation Method Six: This implementation method differs from Specific Implementation Method Five in that: the positioning module in the signal processing chassis 4 of S2.3 performs underwater user position calculation based on effective primitives, positioning signals, and attitude data, and converts the calculation results to the geodetic coordinate system to obtain the underwater user's position information; the specific process is as follows:

[0076] S2.3.1: Construct a locally distributed matrix based on all valid primitives, and construct the local coordinate system of the locally distributed matrix. Determine all effective primitives in the local coordinate system The coordinate data below;

[0077] S2.3.2: Extract and process the positioning signal to obtain the acoustic propagation delay data from the underwater user to N effective primitives; N is a positive integer; this process is common knowledge in the field of underwater acoustic positioning.

[0078] Time Delay Estimation (TDE) is the core step in underwater acoustic positioning systems. It involves estimating the propagation time delay from the sound source to each hydrophone (element) from the received signal. This is the most fundamental and critical signal processing step. Preferred methods include cross-correlation, generalized cross-correlation (GCC-PHAT, etc.), matched filtering, and phase-based time delay estimation. Cross-correlation is the most classic and widely used method, calculating the cross-correlation function between the reference signal and the received signals from each channel, with the peak position corresponding to the time delay. Generalized cross-correlation (GCC-PHAT, etc.) can improve robustness in noisy or reverberant environments. Matched filtering achieves high-precision time delay estimation when the transmitted signal is known (e.g., cooperative beacons). Phase-based time delay estimation is suitable for narrowband continuous wave signals.

[0079] S2.3.3: All effective primitives obtained from S2.3.1 in the local coordinate system Using the coordinate data below and the acoustic propagation delay data of the underwater user to N effective primitives obtained in S2.3.2, a robust positioning method with additional orientation constraints is adopted to obtain the underwater user's position in the local coordinate system. The following location data;

[0080] S2.3.4: According to the coordinate base transformation theorem, the underwater user's coordinates are transformed into the local coordinate system. Transform the position below to the global coordinate system The position of the underwater user in the global coordinate system is obtained below.

[0081] S2.3.5: Transform the underwater user's position in the global coordinate system to the geodetic coordinate system to obtain the underwater user's position information;

[0082] The other steps and parameters are the same as those in one of the specific implementation methods four to five.

[0083] Specific Implementation Method Seven: The difference between this implementation method and Specific Implementation Method Six is ​​as follows:

[0084] The local coordinate system in S2.3.1 The origin Located at the geometric center of a locally distributed array, axis, shaft and The axes point to the front, right, and top directions of the locally distributed array, respectively.

[0085] The global coordinate system in S2.3.4 origin Located at the center of mass of the submersible platform, axis, shaft and The axes point to the front, right, and top directions of the submersible platform, respectively.

[0086] The other steps and parameters are the same as those in one of the specific implementation methods four to six.

[0087] Specific Implementation Method Eight: The difference between this implementation method and Specific Implementation Method Seven is as follows:

[0088] In S2.3.3, all effective primitives obtained from S2.3.1 are in the local coordinate system. Using the coordinate data below and the acoustic propagation delay data of the underwater user to N effective primitives obtained in S2.3.2, a robust positioning method with additional orientation constraints is adopted to obtain the underwater user's position in the local coordinate system. The location data is below; the specific process is as follows:

[0089] S2.3.3.1: Combining the two-dimensional direction finding theorem and the vector projection theorem, all effective primitives obtained according to S2.3.1 are in the local coordinate system. The coordinate data and the acoustic propagation delay data of the underwater user to N effective primitives obtained from S2.3.2 are used to construct an orientation measurement model;

[0090] S2.3.3.2: Introduce azimuth constraints into the azimuth measurement model to obtain an azimuth measurement model with azimuth constraints; construct a constrained optimization problem based on the azimuth measurement model with azimuth constraints.

[0091] S2.3.3.3: Solve the constrained optimization problem constructed in S2.3.3.2 to obtain the first-order approximate optimal solution for the underwater user's orientation;

[0092] S2.3.3.4: Calculate the distance measurement data of the underwater user based on the acoustic propagation delay data from the underwater user to N effective primitives;

[0093] S2.3.3.5: Based on the first-order approximate optimal solution of the underwater user's orientation and the distance measurement of the underwater user, obtain the underwater user's position in the local coordinate system. The position is as follows; other steps and parameters are the same as in one of the specific implementation methods four to seven.

[0094] Specific Implementation Method Nine: The difference between this implementation method and Specific Implementation Method Eight is as follows:

[0095] The simultaneous application of the two-element direction-finding theorem and the vector projection theorem in S2.3.3.1, based on all the effective primitives obtained in S2.3.1 in the local coordinate system... The coordinate data and the acoustic propagation delay data from the underwater user to N effective primitives obtained in S2.3.2 are used to construct an azimuth measurement model, which is expressed by the formula:

[0096] ;

[0097] in, This represents the speed at which sound waves travel in water; This represents the arrival time difference between the i-th and j-th effective primitives; The baseline vector represents the combination of the i-th and j-th effective primitives; and Representing primitive elements i and j in the local coordinate system The coordinates below; Indicates the location of the underwater user;

[0098] In section S2.3.3.2, azimuth constraints are introduced into the azimuth measurement model to obtain a azimuth measurement model with azimuth constraints. Based on this azimuth measurement model, a constrained optimization problem is constructed, expressed by the following formula:

[0099] ;

[0100] ;

[0101] ;

[0102] In the formula, The formula represents the constraint, where T represents the first intermediate variable and K represents the second intermediate variable.

[0103] This represents the underwater user's bearing that minimizes the objective function. Represents the Euler distance. express transpose,

[0104] The meaning of constrained optimization problem is: to satisfy orientation constraints Under the premise of ensuring that the sum of squared residuals of the observation equation The smallest u;

[0105] In section S2.3.3.3, the constrained optimization problem constructed in section S2.3.3.2 is solved to obtain a first-order approximate optimal solution for the underwater user's orientation. This can be expressed as a formula:

[0106] ;

[0107] ;

[0108] ;

[0109] ;

[0110] ;

[0111] ;

[0112] In the formula, This represents the initial, manually set underwater user bearing value. express The inverse matrix, The term represents the local distributed array structure related terms, and W represents the observation data related terms. This indicates items related to the underwater user's location. This represents a first-order approximation of the orientation constraint. express Transpose of;

[0113] The specific process of solving this constrained optimization problem is as follows: This invention uses the most basic solution method for constrained optimization problems.

[0114] First, a first-order linear approximation is performed on the orientation constraint, expressed by the formula:

[0115] ;

[0116] Secondly, construct the Lagrange function: ;

[0117] In the formula, This represents the Lagrange coefficient.

[0118] Finally, the Lagrange function right Find the derivative and set it to 0. The formula is:

[0119] ;

[0120] Simplify the formula This allows us to obtain a first-order approximate optimal solution for the orientation.

[0121] ;

[0122] In step S2.3.3.4, the distance measurement data of the underwater user is calculated based on the acoustic propagation time delay data from the underwater user to N effective primitives; expressed by the formula:

[0123] ;

[0124] In the formula, R represents the distance measurement data of the underwater user; This represents the acoustic propagation delay from the underwater user to the i-th effective primitive;

[0125] In S2.3.3.5, the underwater user's position in the local coordinate system is obtained based on the first-order approximate optimal solution of the underwater user's orientation and the distance measurement of the underwater user. The position below; expressed by the formula:

[0126] ;

[0127] In the formula, Indicates the underwater user in the local coordinate system The position is as follows; other steps and parameters are the same as in specific implementation methods four to eight.

[0128] Specific Implementation Method Ten: The difference between this implementation method and Specific Implementation Method Nine is as follows:

[0129] In S2.3.4, based on the coordinate base transformation theorem, the underwater user is transformed into a local coordinate system. Transform the position below to the global coordinate system The location information of the underwater user is obtained, which can be expressed by the formula:

[0130] ;

[0131] in, Represents from the local coordinate system To global coordinate system The rotation matrix, This represents the positional offset of the submersible platform's center of mass from the geometric center of the locally distributed array;

[0132] Rotation matrix Position offset is obtained through the geometric projection relationship between the local distributed matrix and the local coordinate system and the global coordinate system. It can be obtained through optical measurement.

[0133] The other steps and parameters are the same as those in one of the specific implementation methods four to nine.

[0134] Specific Implementation Method Eleven: This implementation method is a computer storage medium that stores at least one instruction. The at least one instruction is loaded and executed by a processor to realize the aforementioned underwater distributed ultra-short baseline positioning system.

[0135] It should be understood that the instructions include computer program products, software, or computerized methods corresponding to any method described in this invention; the instructions can be used to program computer systems or other electronic devices. Computer storage media may include readable media on which instructions are stored, and may include, but are not limited to, magnetic storage media and optical storage media; magneto-optical storage media include read-only memory (ROM), random access memory (RAM), erasable programmable memory (EPROM), and flash memory, for example, EPROM and EEPROM, as well as flash memory layers, or other types of media suitable for storing electronic instructions.

[0136] Specific Implementation Method Twelve: This implementation method is a submersible distributed ultra-short baseline positioning device. The device includes a processor and a memory. It should be understood that this includes any device described in this invention that includes a processor and a memory. The device may also include other units and modules that perform display, interaction, processing, control, and other functions through signals or instructions.

[0137] The memory stores at least one instruction, which is loaded and executed by the processor to implement the aforementioned underwater distributed ultra-short baseline positioning system.

[0138] Those skilled in the art will understand that at least one stored instruction is a computer program product corresponding to a method or system. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0139] This application is described with reference to flowchart illustrations and / or block diagrams of methods, systems, and computer program products according to embodiments of this application, and can also be used with corresponding devices. It should be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0140] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0141] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operations to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0142] The above description is merely of preferred embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention, and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A submersible distributed ultra-short baseline positioning method, characterized in that, include: S1: The underwater user's cooperative signal transmission subsystem (7) periodically sends out positioning signals; S2: The distributed acoustic positioning subsystem (1) of the submersible platform receives the positioning signal sent by the cooperative signal transmitting subsystem (7), and obtains the location information of the underwater user based on the received positioning signal; the specific process is as follows: Combining the two-dimensional direction finding theorem and the vector projection theorem, based on the fact that all effective primitives are in the local coordinate system... The coordinate data and acoustic propagation delay data from the underwater user to N effective primitives are used to construct an azimuth measurement model, which is expressed by the formula: ； in, This represents the speed at which sound waves travel in water; This represents the arrival time difference between the i-th and j-th effective primitives; The baseline vector represents the combination of the i-th and j-th effective primitives; and Representing primitive elements i and j in the local coordinate system The coordinates below; Indicates the location of the underwater user; By introducing azimuth constraints into the azimuth measurement model, a azimuth measurement model with azimuth constraints is obtained. Based on this model, a constrained optimization problem is constructed, expressed by the formula: ； ； ； In the formula, The formula represents the constraint, where T represents the first intermediate variable and K represents the second intermediate variable. This represents the underwater user's bearing that minimizes the objective function. Represents the Euler distance. express transpose, Solving the constrained optimization problem yields a first-order approximate optimal solution for the underwater user's orientation. This can be expressed as a formula: ； ； ； ； ； ； In the formula, This represents the initial, manually set underwater user bearing value. express The inverse matrix, The term represents the local distributed array structure related terms, and W represents the observation data related terms. This indicates items related to the underwater user's location. This represents a first-order approximation of the orientation constraint. express Transpose of; The distance measurement data of the underwater user is calculated based on the acoustic propagation time delay data from the underwater user to N effective primitives; expressed by the formula: ； In the formula, R represents the distance measurement data of the underwater user; This represents the acoustic propagation delay from the underwater user to the i-th effective primitive; Based on the first-order approximate optimal solution of the underwater user's orientation and the distance measurement of the underwater user, the underwater user's position in the local coordinate system is obtained. The position below; expressed by the formula: ； In the formula, Indicates the underwater user in the local coordinate system The position below.

2. The submersible distributed ultra-short baseline positioning method according to claim 1, characterized in that, The distributed acoustic positioning subsystem (1) includes: a distributed array (2), a signal processing chassis (4), a compass (5), and a display control platform (6); The distributed array (2) includes: M acoustic receiving primitives (3), where M is a positive integer. The distributed acoustic positioning subsystem (1) of the submersible platform in S2 receives the positioning signal sent by the cooperative signal transmission subsystem (7) and obtains the location information of the underwater user based on the received positioning signal. The specific process is as follows: S2.1: In the distributed acoustic positioning subsystem (1) of the submersible platform, the distributed array (2) receives the positioning signal sent by the cooperative signal transmission subsystem (7) and inputs the received positioning signal to the signal processing chassis (4); In the distributed acoustic positioning subsystem (1) of the submersible platform, the compass (5) collects the attitude data of the submersible platform and inputs the collected attitude data into the signal processing chassis (4); S2.2: The decision module in the signal processing chassis (4) determines the valid elements in the distributed array (2) based on the received positioning signal; the specific process is as follows: Based on the received positioning signal, the acoustic receiving primitives in the distributed array (2) that successfully received the signal are determined to be valid primitives, and the acoustic receiving primitives that did not receive the signal are determined to be invalid primitives. S2.3: The positioning module in the signal processing chassis (4) performs underwater user position calculation based on effective primitives, positioning signals and attitude data, and converts the calculation results to the geodetic coordinate system to obtain the underwater user's position information.

3. The submersible distributed ultra-short baseline positioning method according to claim 2, characterized in that, The positioning module in the signal processing chassis (4) of S2.3 performs underwater user position calculation based on effective primitives, positioning signals, and attitude data, and converts the calculation results to the geodetic coordinate system to obtain the underwater user's position information; the specific process is as follows: S2.3.1: Construct a locally distributed matrix based on all valid primitives, and construct the local coordinate system of the locally distributed matrix. Determine all effective primitives in the local coordinate system The coordinate data below; S2.3.2: Extract and process the positioning signal to obtain the acoustic propagation time delay data from the underwater user to N effective primitives; N is a positive integer; S2.3.3: All effective primitives obtained from S2.3.1 in the local coordinate system Using the coordinate data below and the acoustic propagation delay data of the underwater user to N effective primitives obtained in S2.3.2, a robust positioning method with additional orientation constraints is adopted to obtain the underwater user's position in the local coordinate system. The following location data; S2.3.4: According to the coordinate base transformation theorem, the underwater user's coordinates are transformed into the local coordinate system. Transform the position below to the global coordinate system The position of the underwater user in the global coordinate system is obtained below. S2.3.5: Transform the underwater user's position in the global coordinate system to the geodetic coordinate system to obtain the underwater user's position information.

4. The submersible distributed ultra-short baseline positioning method according to claim 3, characterized in that, The local coordinate system in S2.3.1 The origin Located at the geometric center of a locally distributed array, axis, shaft and The axes point to the front, right, and top directions of the locally distributed array, respectively. The global coordinate system in S2.3.4 origin Located at the center of mass of the submersible platform, axis, shaft and The axes point to the front, right, and top of the submersible platform, respectively.

5. The submersible distributed ultra-short baseline positioning method according to claim 4, characterized in that, In S2.3.4, based on the coordinate base transformation theorem, the underwater user is transformed into a local coordinate system. Transform the position below to the global coordinate system The location information of the underwater user is obtained, which can be expressed by the formula: ； in, Represents from the local coordinate system To global coordinate system The rotation matrix, This represents the positional offset of the submersible platform's center of mass from the geometric center of the locally distributed array.

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