Submersible ultra-short baseline underwater calibration system and installation deflection angle calibration method

Abstract

The invention belongs to the field of error calibration, and particularly relates to a submerged-load ultra-short baseline underwater calibration system and an installation deflection angle calibration method. The invention discloses a submerged-load ultra-short baseline underwater calibration system and a calibration method thereof for an installation deflection angle, and overcomes the limitation that a traditional calibration method depends on high-precision GPS positioning information. The system comprises a submerged ultra-short baseline subsystem installed on a submersible vehicle and two seabed reference subsystems arranged on the seabed. According to the implementation scheme, a submersible vehicle carries out differential positioning on two seabed references along a preset track, carrier position parameters are eliminated, and a submersible ultra-short baseline installation deflection angle calibration model is established; based on the matrix decomposition theory, an observation equation of each installation deflection angle is constructed, and the installation deflection angles are obtained through an alternating iteration estimation algorithm. Through the method, the installation deflection angle can be estimated without GPS measurement information, and the method is suitable for a submerged platform executing underwater tasks for a long time.

Description

Technical Field

[0001] This invention belongs to the field of error calibration, and particularly relates to a submersible ultra-short baseline underwater calibration system and a calibration method for installation deflection angle. Background Technology

[0002] Ultra-short baseline (USB) positioning systems, with their advantages of simple structure and convenient installation, have become commonly used acoustic positioning devices for underwater targets. The installation deflection angle between the acoustic array and the compass is the main source of positioning error in USB systems. Traditional installation deflection angle calibration methods are mostly used for shipborne USB systems, typically obtaining the installation deflection angle by locating an underwater fixed reference point along a pre-set track from a surface vessel with a known absolute position. However, these methods rely on high-precision carrier position information provided by GPS equipment, which is often difficult to obtain for submersible platforms performing long-term underwater missions. Although some acoustic positioning systems can provide position information for underwater vehicles, their positioning accuracy is usually one to two orders of magnitude lower than that of GPS positioning systems, failing to meet the technical requirements for high-precision installation deflection angle calibration. Summary of the Invention

[0003] The purpose of this invention is to solve the problem of low accuracy in existing submersible ultra-short baseline installation angle calibration. A submersible ultra-short baseline underwater calibration system is provided, comprising: The submersible-borne ultra-short baseline subsystem and two seabed reference subsystems are included; the submersible-borne ultra-short baseline subsystem is installed on the submersible; the two seabed reference subsystems are evenly distributed on the seabed. The submersible ultra-short baseline subsystem is used to send a wake-up signal to the seabed, receive calibration signals from two seabed reference subsystems, collect the attitude data of the submersible, and calculate the installation deflection angle of the ultra-short baseline based on the attitude data of the submersible and the received calibration signals. The two aforementioned seabed reference subsystems are used to send calibration signals back to the submersible at fixed intervals after receiving the wake-up signal.

[0004] Preferably, the submersible ultra-short baseline subsystem includes: an acoustic array, a compass, a signal processing chassis, and a display and control platform; The compass is installed inside the cavity of the acoustic array, and the acoustic array and compass are integrated and suspended directly below the submersible; The signal processing chassis and display control platform are fixedly installed inside the submersible; The data output terminals of the acoustic array and compass are connected to the data input terminals of the signal processing box via a watertight cable; the signal processing box is connected to the display control platform via a data bus. The acoustic array is used to send wake-up signals to the seabed and receive calibration signals from two seabed reference subsystems. The compass is used to collect attitude data of the submersible; The signal processing chassis is used to calculate and process the received calibration signal and the submersible's attitude data to obtain the ultra-short baseline installation angle; the display and control platform is used to display the processing results in real time and issue wake-up task commands.

[0005] Preferably, both of the aforementioned seabed reference subsystems include: an atomic clock, an acoustic transceiver ... The atomic clock, battery compartment, and decision and control module are all fixedly installed inside a pressure-resistant and sealed housing. The acoustic transceiver is fixedly mounted on the upper surface of the pressure-resistant sealed housing; The acoustic transceiver transducer is used to receive the wake-up signal sent by the submersible ultra-short baseline subsystem, and after successfully receiving the wake-up signal, it replies with a calibration signal to the submersible at a fixed period. The atomic clock is used to ensure clock synchronization between the two seabed reference subsystems; The decision and control module is used to determine whether the received wake-up signal has been successfully detected, and to control the acoustic transceiver to send a calibration signal back to the submersible at a fixed period. The clocks of the aforementioned submersible ultra-short baseline subsystem and the two seabed reference subsystems are all synchronized. The wake-up sound signal sent by the submersible ultra-short baseline subsystem is a dual-frequency frequency shift keying signal; The calibration acoustic signals returned by the two seabed reference subsystems are direct sequence spread spectrum signals using different pseudo-random codes.

[0006] The calibration method for the installation offset angle of submersible ultra-short baseline includes: S1: Distribute the two seabed reference subsystems evenly on the seabed; S2: The submersible to be calibrated travels along a preset track around two seabed reference subsystems, and the submersible to be calibrated is equipped with a submersible ultra-short baseline subsystem. During navigation, the submersible ultra-short baseline subsystem sends a wake-up signal to the seabed; after receiving the wake-up signal, the two seabed reference subsystems reply with calibration signals to the submersible at fixed intervals. S3: The submersible ultra-short baseline subsystem receives calibration signals from two seabed reference subsystems; The submersible-borne ultra-short baseline subsystem collects attitude data of the submersible during navigation; S4: The submersible ultra-short baseline subsystem calculates the ultra-short baseline installation angle calibration value based on the submersible's attitude data and the received calibration signal, including: the first installation angle calibration value, the second installation angle calibration value and the third installation angle calibration value; S5: Calibrate the installation angle of the submersible ultra-short baseline according to the calibration value of the ultra-short baseline installation angle.

[0007] Preferably, the two seabed reference subsystems in S1 are deployed at a distance of d on the seabed; The preset track of the submersible to be calibrated in S2 is a tic-tac-toe track, where the side length of the tic-tac-toe track is L, and L≤d; During the voyage, the submersible ultra-short baseline subsystem sends a wake-up signal to the seabed; after receiving the wake-up signal, the two seabed reference subsystems reply with calibration signals to the submersible at fixed intervals; the specific process is as follows: The acoustic array of the submersible ultra-short baseline subsystem sends a wake-up signal to the seabed, and the wake-up acoustic signal is a dual-frequency frequency shift keying signal. The acoustic transceiver transducers of the two seabed reference subsystems receive the wake-up signal sent by the submersible ultra-short baseline subsystem, and after successfully receiving the wake-up signal, reply with a calibration signal to the submersible at a fixed period. The calibration signal is a direct sequence spread spectrum signal using different pseudo-random codes.

[0008] Preferably, in S3, the submersible ultra-short baseline subsystem receives calibration signals from two seabed reference subsystems; The submersible-borne ultra-short baseline subsystem collects attitude data of the submersible during navigation; the specific process is as follows: The acoustic array of the submersible ultra-short baseline subsystem receives calibration signals from two seabed reference subsystems. The compass of the submersible's ultra-short baseline subsystem collects attitude data of the submersible during navigation; The submersible ultra-short baseline subsystem in S4 calculates the ultra-short baseline installation angle calibration value based on the submersible's attitude data and the received calibration signal. The specific process is as follows: S4.1: Transmit the calibration signals received by the acoustic array from the two seabed reference subsystems to the signal processing box. The compass receives the submersible's attitude data during navigation and transmits it to the signal processing box. S4.2: The signal processing box calculates and processes the received calibration signal and the submersible's attitude data to obtain the ultra-short baseline installation angle calibration value; The beneficial effects of this invention are as follows: This invention discloses a submersible ultra-short baseline underwater calibration system and its calibration method for installation deflection angle. Compared with traditional calibration methods, this invention can estimate the installation deflection angle between the acoustic array and the compass without requiring high-precision GPS positioning information, thus making it suitable for submersible ultra-short baseline systems primarily used for underwater operations. It solves the problem of low calibration accuracy for installation deflection angles of submersible ultra-short baseline systems. Attached Figure Description

[0009] Figure 1 A schematic diagram of the composition of a submersible ultra-short baseline underwater calibration system; Figure 2 Schematic diagram of a deflection calibration track for a submarine-launched ultra-short baseline installation; Figure 3 A schematic diagram illustrating the construction of a deflection calibration model for submersible ultra-short baseline installation. Figure 4 This is a flowchart of an alternating iterative estimation algorithm for installation deflection angle based on matrix decomposition.

[0010] Figure label: Submersible ultra-short baseline subsystem 1, acoustic array 2, compass 3, signal processing chassis 4, seabed reference subsystem 5, atomic clock 6, acoustic transceiver transducer 7, pressure-resistant sealed housing 8, battery compartment 9, array coordinate system 10. Carrier coordinate system 11. Geodetic Coordinate System 12, Direct Sequence Spread Spectrum Signal; 13, Display Control Platform; 14, Decision and Control Module; 15, Dual-Frequency Frequency Shift Keying (FSK) Signal; 16. Detailed Implementation

[0011] Specific implementation method one: Combining Figure 1-4 The submersible ultra-short baseline underwater calibration system of the present invention includes: The system comprises a submersible ultra-short baseline subsystem 1 and two seabed reference subsystems 5. The submersible ultra-short baseline subsystem 1 is mounted on the submersible. The two seabed reference subsystems 5 are evenly distributed on the seabed. In application, the submersible ultra-short baseline subsystem 1 is mounted on the submersible and moves with it. The two seabed reference subsystems 5 are deployed on the seabed, and their positions remain unchanged after deployment.

[0012] The submersible ultra-short baseline subsystem 1 is used to send a wake-up signal to the seabed, receive calibration signals from two seabed reference subsystems 5, collect the attitude data of the submersible, and calculate the installation angle of the ultra-short baseline based on the attitude data of the submersible and the received calibration signals. The two aforementioned seabed reference subsystems 5 are used to send calibration signals back to the submersible at fixed intervals after receiving the wake-up signal.

[0013] Specific Implementation Method Two: The difference between this implementation method and Specific Implementation Method One is that: The aforementioned submersible ultra-short baseline subsystem 1 includes: an acoustic array 2, a compass 3, a signal processing chassis 4, and a display and control platform 14; The compass 3 is installed inside the cavity of the acoustic array 2, and the acoustic array 2 and the compass 3 are integrally suspended and installed directly below the submersible; The signal processing chassis 4 and the display control platform 14 are fixedly installed inside the submersible; The data output terminals of the acoustic array 2 and the compass 3 are connected to the data input terminals of the signal processing box 4 via watertight cables; the signal processing box 4 is connected to the display control platform 14 via a data bus. The acoustic array 2 is used to send a wake-up signal to the seabed and receive calibration signals from the two seabed reference subsystems 5. The compass 3 is used to collect the attitude data of the submersible; The signal processing chassis 4 is used to calculate and process the received calibration signal and the attitude data of the submersible to obtain the ultra-short baseline installation angle; The display control platform 14 is used to display processing results in real time and issue wake-up task commands. The process of issuing a wake-up task command to the acoustic array 2 is as follows: the display control platform 14 first sends a command to the signal processing chassis 4 via the data bus, and then the signal processing chassis 4 excites the acoustic array 2 to emit an acoustic signal via a watertight cable. Other steps and parameters are the same as in Specific Implementation Method 1.

[0014] Specific Implementation Method Three: The difference between this implementation method and Specific Implementation Methods One and Two is that: Both of the aforementioned seabed reference subsystems 5 include: an atomic clock 6, an acoustic transceiver transceiver 7, a pressure-resistant sealed housing 8, a battery compartment 9, and a decision and control module 15; The atomic clock 6, battery compartment 9 and decision and control module 15 are all fixedly installed inside the pressure-resistant sealed housing 8; The acoustic transceiver 7 is fixedly mounted on the upper surface of the pressure-resistant sealed housing 8; The acoustic transceiver 7 is used to receive the wake-up signal sent by the submersible ultra-short baseline subsystem 1, and after successfully receiving the wake-up signal, it replies with a calibration signal to the submersible at a fixed period. The atomic clock 6 is used to ensure the clock synchronization of the two seabed reference subsystems 5; The decision and control module 15 is used to determine whether the received wake-up signal has been successfully detected, and to control the acoustic transceiver 7 to send a calibration signal back to the submersible at a fixed period. The clocks of the submersible ultra-short baseline subsystem 1 and the two seabed reference subsystems 5 are all synchronized; The wake-up sound signal sent by the submersible ultra-short baseline subsystem 1 is a dual-frequency frequency shift keying (FSK) signal 16; The calibration acoustic signals returned by the two seabed reference subsystems 5 are direct sequence spread spectrum signals 13 using different pseudo-random codes.

[0015] The batteries in battery compartment 9 are used to power the electrical equipment in the seabed reference subsystem.

[0016] The clocks of the submersible ultra-short baseline subsystem 1 and the two seabed reference subsystems 5 are synchronized. Before calibration, the clocks of each subsystem are synchronized via a synchronization box. The wake-up signal sent by the submersible ultra-short baseline subsystem 1 is a dual-frequency frequency shift keying (FSK) signal 16. The calibration signal replied by the seabed reference subsystems 5 is a direct sequence spread spectrum signal 13. Each seabed reference subsystem 5 uses an independent pseudo-random code to ensure sufficient differentiation between signals from different reference systems, thereby effectively avoiding mutual interference.

[0017] The other steps and parameters are the same as in one of the specific implementation methods one or two.

[0018] Specific Implementation Method Four: A calibration method for the installation offset angle of submersible ultra-short baselines, including: S1: The two seabed reference subsystems 5 are evenly distributed on the seabed; S2: The submersible to be calibrated travels along a preset track around two seabed reference subsystems 5, and the submersible to be calibrated is equipped with a submersible ultra-short baseline subsystem 1. During navigation, the submersible ultra-short baseline subsystem 1 sends a wake-up signal to the seabed; after receiving the wake-up signal, the two seabed reference subsystems 5 reply with calibration signals to the submersible at fixed intervals. S3: Submarine-borne ultra-short baseline subsystem 1 receives calibration signals from two seabed reference subsystems 5; Submersible ultra-short baseline subsystem 1 collects submersible attitude data during navigation; S4: The submersible ultra-short baseline subsystem 1 calculates the ultra-short baseline installation angle calibration value based on the submersible's attitude data and the received calibration signal, including: the first installation angle calibration value, the second installation angle calibration value and the third installation angle calibration value; S5: Calibrate the installation angle of the submersible ultra-short baseline according to the calibration value of the ultra-short baseline installation angle.

[0019] Specific Implementation Method Five: The difference between this implementation method and Specific Implementation Method Four is as follows: In S1, the two seabed reference subsystems 5 are deployed at a distance of d on the seabed. In S2, the preset track of the submersible to be calibrated is a tic-tac-toe track, where the side length of the tic-tac-toe track is L, and L≤d. During the voyage, the submersible ultra-short baseline subsystem 1 sends a wake-up signal to the seabed; after receiving the wake-up signal, the two seabed reference subsystems 5 reply with calibration signals to the submersible at fixed intervals; the specific process is as follows: The acoustic array 2 of the submersible ultra-short baseline subsystem 1 sends a wake-up signal to the seabed, and the wake-up acoustic signal is a dual-frequency frequency shift keying (FSK) signal 16; The acoustic transceiver transceiver 7 of the two seabed reference subsystems 5 receive the wake-up signal sent by the submersible ultra-short baseline subsystem 1, and after successfully receiving the wake-up signal, reply with a calibration signal to the submersible at a fixed period. The calibration signal is a direct sequence spread spectrum signal 13 using different pseudo-random codes; wherein, the wake-up task command is issued to the acoustic array 2, and the process is as follows: the display control platform 14 first sends a command to the signal processing chassis 4 through the data bus, and then the signal processing chassis 4 excites the acoustic array 2 to emit an acoustic signal through a watertight cable. This process is a conventional setup procedure in the art; The other steps and parameters are the same as in Specific Implementation Method Four.

[0020] Specific Implementation Method Six: The difference between this implementation method and Specific Implementation Methods Four and Five is as follows: The submersible ultra-short baseline subsystem 1 in S3 receives calibration signals from two seabed reference subsystems 5; Submersible ultra-short baseline subsystem 1 collects submersible attitude data during navigation; the specific process is as follows: The acoustic array 2 of the submersible ultra-short baseline subsystem 1 receives calibration signals from two seabed reference subsystems 5; The compass 3 of the submersible ultra-short baseline subsystem 1 collects attitude data of the submersible during navigation; The submersible ultra-short baseline subsystem 1 in S4 calculates the ultra-short baseline installation angle calibration value based on the submersible's attitude data and the received calibration signal. The specific process is as follows: S4.1: Transmit the calibration signals received by the acoustic array 2 from the two seabed reference subsystems 5 to the signal processing box 4. The attitude data of the submersible during navigation received by the compass 3 is transmitted to the signal processing box 4; S4.2: Signal processing box 4 calculates and processes the received calibration signal and the attitude data of the submersible to obtain the calibration value of the ultra-short baseline installation angle; The other steps and parameters are the same as those in one of the specific implementation methods four to five.

[0021] Specific Implementation Method Seven: The difference between this implementation method and Specific Implementation Methods Four to Six is ​​that: In step S4.2, the signal processing box 4 calculates and processes the received calibration signal and the submersible's attitude data to obtain the ultra-short baseline installation deflection angle calibration value. The specific process is as follows: S4.2.1: Obtain the coordinates of the two seabed reference subsystems in the array coordinate system based on the received calibration signal. Position data at level 10; The base coordinate system The origin of 10 Located at the geometric center of acoustic array 2, axis, shaft and The axes point to the front, right, and top directions of acoustic array 2, respectively; S4.2.2: Based on the submersible's attitude data, the two seabed reference subsystems are mapped to the geodetic coordinate system. Position data from 12 to the carrier coordinate system 11. Two seabed reference subsystems were obtained in the carrier coordinate system. Position data below 11; The carrier coordinate system The origin of 11 Located at the geometric center of compass 3, axis, shaft and The axes point to the front, right, and top directions of compass 3, respectively; The geodetic coordinate system 12 axis, shaft and The axes point to the north, east, and sky directions, respectively. S4.2.3: Based on the two seabed reference subsystems in the array coordinate system Position data of 10 and two seabed reference subsystems in the carrier coordinate system The location data under 11 was used to construct a calibration model for the installation deflection angle of the submersible ultra-short baseline; S4.2.4: Perform matrix decomposition on the submersible ultra-short baseline installation angle calibration model to obtain the first installation angle observation equation, the second installation angle observation equation, and the third installation angle observation equation; S4.2.5: Using an alternating iterative estimation algorithm, the first installation deflection angle observation equation, the second installation deflection angle observation equation, and the third installation deflection angle observation equation are solved iteratively to obtain the ultra-short baseline installation deflection angle calibration; The other steps and parameters are the same as those in one of the specific implementation methods four to six.

[0022] Specific Implementation Method Eight: The difference between this implementation method and Specific Implementation Method Seven is as follows: In S4.2.3, based on the two seabed reference subsystems in the array coordinate system Position data of 10 and two seabed reference subsystems in the carrier coordinate system The location data under position 11 is used to construct a calibration model for the installation deflection angle of the submersible ultra-short baseline; expressed by the formula: in, This represents the first seabed reference subsystem, the 5-geometry coordinate system. The position below 12, The second seabed reference subsystem 5 represents the geodetic coordinate system. The position below 12; and Representing the two in the matrix coordinate system The position below 10; Represents the carrier coordinate system 11. Transform to Geodetic Coordinate System A rotation matrix of 12; It is known (obtained through measurement data from compass 3). Represents the base coordinate system 10. Transform to the carrier coordinate system The rotation matrix of 11 represents the parameters to be estimated; ; ; in, Indicates the first installation offset angle. Indicates the second installation offset angle. Indicates the third installation offset angle. This represents the rotation matrix corresponding to the first installation deflection angle. This represents the rotation matrix corresponding to the second installation deflection angle. This represents the rotation matrix corresponding to the third installation deflection angle; The other steps and parameters are the same as those in one of the specific implementation methods four to seven.

[0023] Specific Implementation Method Nine: The difference between this implementation method and Specific Implementation Method Seven is that: In S4.2.4, the submersible ultra-short baseline installation deflection calibration model is subjected to matrix decomposition to obtain the first installation deflection observation equation, the second installation deflection observation equation, and the third installation deflection observation equation; the specific process is as follows: The first installation deflection angle observation equation is expressed by the formula: ; ; ; in, express transpose, Represents the carrier coordinate system The observation vector corresponding to the first installation deflection angle at position 11. Represents the base coordinate system The observation vector corresponding to the first installation deflection angle at position 10; Indicates from the geodetic coordinate system 12. Transform to the carrier coordinate system A rotation matrix of 11; It is known, obtained through measurements from compass 3; The second installation deflection angle observation equation is expressed by the formula: ; ; ; in, express transpose, Represents the carrier coordinate system The observation vector corresponding to the second installation deflection angle at position 11. Represents the base coordinate system The observation vector corresponding to the second installation deflection angle at 10°; The third installation deflection angle observation equation is expressed by the formula: ; ; ; in, express transpose, Represents the carrier coordinate system The observation vector corresponding to the third installation deflection angle at position 11. Represents the base coordinate system The observation vector corresponding to the third installation deflection angle is 10; other steps and parameters are the same as those in specific implementation methods four to eight.

[0024] Specific Implementation Method Ten: The difference between this implementation method and Specific Implementation Method Seven is that: In S4.2.5, an alternating iterative estimation algorithm is used to iteratively solve the first installation deflection angle observation equation, the second installation deflection angle observation equation, and the third installation deflection angle observation equation to obtain the ultra-short baseline installation deflection angle calibration value. The specific process is as follows: S4.2.5.1: Treat the second and third installation deflection angles as constants, and use the first installation deflection angle observation equation to estimate the first installation deflection angle, thus obtaining the estimated result of the first installation deflection angle; (Here, treating the second and third installation deflection angles as constants means using the estimated results of the second and third installation deflection angles from the previous iteration), where the initial constants of the first round can be set manually). S4.2.5.2: Treat the first installation deflection angle (here, the first installation deflection angle is regarded as a constant, which means using the estimated result of the first installation deflection angle) and the third installation deflection angle as constants, and use the second installation deflection angle observation equation to estimate the second installation deflection angle to obtain the estimated result of the second installation deflection angle; S4.2.5.3: Treat the first installation deflection angle (here, the first installation deflection angle is regarded as a constant, which means using the estimation result of the first installation deflection angle) and the second installation deflection angle (here, the second installation deflection angle is regarded as a constant, which means using the estimation result of the second installation deflection angle) as constants, and use the third installation deflection angle observation equation to estimate the third installation deflection angle to obtain the estimation result of the third installation deflection angle; S4.2.5.4: Repeat steps S4.2.5.1 to S4.2.5.3. When the estimated results of the first installation deflection angle, the second installation deflection angle, and the third installation deflection angle all converge, stop the iteration and use the final estimated results of the first installation deflection angle, the second installation deflection angle, and the third installation deflection angle as the first installation deflection angle calibration value, the second installation deflection angle calibration value, and the third installation deflection angle calibration value; other steps and parameters are the same as in one of the specific implementation methods four to nine.

[0025] 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 submersible ultra-short baseline underwater calibration system.

[0026] It should be understood that the instructions include any computer program product, software, or computerized method corresponding to any method described in this invention; the instructions can be used to program a computer system or other electronic device. Computer storage media may include readable media on which instructions are stored, and may include, but are not limited to, magnetic storage media, optical storage media; magneto-optical storage media include read-only memory (ROM), random access memory (RAM), erasable programmable memory (EPROM and EEPROM), and flash memory layers, or other types of media suitable for storing electronic instructions.

[0027] Specific Implementation Method Twelve: This implementation method is a submersible ultra-short baseline underwater calibration 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. The memory stores at least one instruction, which is loaded and executed by the processor to implement the submersible ultra-short baseline underwater calibration system.

[0028] Those skilled in the art will understand that at least one stored instruction constitutes 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.

[0029] 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, and 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.

[0030] 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.

[0031] 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.

[0032] 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 latent-loaded ultra-short baseline underwater calibration system, characterized in that, The application relates to a submarine-borne ultra-short baseline system and two seabed reference systems. The submarine-borne ultra-short baseline system is installed on a submarine vehicle; and the two seabed reference systems are arranged on the seabed. The submarine-borne ultra-short baseline system is used for sending a wake-up signal to the seabed, receiving calibration signals from the two seabed reference systems, collecting attitude data of the submarine vehicle, and calculating an installation deviation angle of the ultra-short baseline according to the attitude data of the submarine vehicle and the received calibration signals. The two seabed reference systems are used for sending the calibration signals to the submarine vehicle at a fixed period after receiving the wake-up signal. The submarine-borne ultra-short baseline system comprises an acoustic array, a compass, a signal processing box and a display control platform.

2. The latent-loaded USBL underwater calibration system of claim 1, wherein, The compass is installed in a cavity of the acoustic array, and the acoustic array and the compass are integrally suspended and installed below the submarine vehicle. The signal processing box and the display control platform are fixedly installed in the submarine vehicle. The data output ends of the acoustic array and the compass are connected with the data input end of the signal processing box through a water-proof cable; and the signal processing box is connected with the display control platform through a data bus. The acoustic array is used for sending the wake-up signal to the seabed and receiving the calibration signals from the two seabed reference systems. The compass is used for collecting the attitude data of the submarine vehicle. The signal processing box is used for calculating and processing according to the received calibration signals and the attitude data of the submarine vehicle, so as to obtain the installation deviation angle of the ultra-short baseline. The display control platform is used for displaying the processing result in real time and sending a wake-up task instruction. Each of the two seabed reference systems comprises an atomic clock, an acoustic transceiver, a pressure-resistant sealed shell, a battery cabin and a decision and control module.

3. The latent-loaded USBL underwater calibration system of claim 2, wherein, The atomic clock, the battery cabin and the decision and control module are fixedly installed in the pressure-resistant sealed shell. The acoustic transceiver is fixedly installed on the upper surface of the pressure-resistant sealed shell. The acoustic transceiver is used for receiving the wake-up signal sent by the submarine-borne ultra-short baseline system, and sending the calibration signals to the submarine vehicle at a fixed period after successfully receiving the wake-up signal. The atomic clock is used for ensuring the clock synchronization of the two seabed reference systems. The decision and control module is used for judging whether the received wake-up signal is successfully detected, and controlling the acoustic transceiver to send the calibration signals to the submarine vehicle at a fixed period. The clocks of the submarine-borne ultra-short baseline system and the two seabed reference systems are in a synchronous state. The wake-up signal sent by the submarine-borne ultra-short baseline system is a double-frequency frequency shift keying signal. The calibration signals sent by the two seabed reference systems are direct sequence spread spectrum signals with different pseudo-random codes. The application relates to a submarine-borne ultra-short baseline system and two seabed reference systems.

4. A method of calibrating the installation bias angle of a latent-loaded ultra-short baseline, characterized in that, S1: arranging the two seabed reference systems on the seabed; S2: making a submarine vehicle to be calibrated to sail around the two seabed reference systems along a preset track, wherein the submarine vehicle to be calibrated is provided with a submarine-borne ultra-short baseline system; During the sailing, the submarine-borne ultra-short baseline system sends a wake-up signal to the seabed; After receiving the wake-up signal, the two seabed reference systems send calibration signals to the submarine vehicle at a fixed period; S3: the submarine-borne ultra-short baseline system receives the calibration signals from the two seabed reference systems; The submarine-borne ultra-short baseline system collects the attitude data of the submarine vehicle during the sailing; and ​ S4: The submarine-borne ultra-short baseline subsystem calculates the ultra-short baseline installation angle calibration value according to the attitude data of the submersible and the received calibration signals, including: a first installation angle calibration value, a second installation angle calibration value and a third installation angle calibration value; S5: The submarine-borne ultra-short baseline installation angle is calibrated according to the ultra-short baseline installation angle calibration value.

5. The method of calibrating the installation bias angle of a latent load USBL according to claim 4, wherein, The two seabed reference subsystems in S1 are arranged at a distance of d on the seabed; The preset track of the submersible to be calibrated in S2 is a square track, wherein the side length of the square track is L, and L≤d; During the navigation, the submarine-borne ultra-short baseline subsystem sends a wake-up signal to the seabed; after receiving the wake-up signal, the two seabed reference subsystems reply calibration signals to the submersible at a fixed period; the specific process is as follows: The acoustic array of the submarine-borne ultra-short baseline subsystem sends a wake-up signal to the seabed, and the wake-up signal is a double-frequency frequency-shift keying signal; The acoustic transceiver of the two seabed reference subsystems receives the wake-up signal sent by the submarine-borne ultra-short baseline subsystem, and after successfully receiving the wake-up signal, replies calibration signals to the submersible at a fixed period; The calibration signal is a direct sequence spread spectrum signal using different pseudo-random codes.

6. The method of calibrating the installation angle of a LBL USBL of claim 5, wherein, In S3, the submarine-borne ultra-short baseline subsystem receives the calibration signals from the two seabed reference subsystems; The submarine-borne ultra-short baseline subsystem collects the attitude data of the submersible during navigation; the specific process is as follows: The acoustic array of the submarine-borne ultra-short baseline subsystem receives the calibration signals from the two seabed reference subsystems; The submarine-borne ultra-short baseline subsystem's compass collects the attitude data of the submersible during navigation; In S4, the submarine-borne ultra-short baseline subsystem calculates the ultra-short baseline installation angle calibration value according to the attitude data of the submersible and the received calibration signals; the specific process is as follows: S4.1: The calibration signals received by the acoustic array of the two seabed reference subsystems are transmitted to the signal processing box, and the attitude data of the submersible during navigation received by the compass are transmitted to the signal processing box; S4.2: The signal processing box calculates and processes the received calibration signals and the attitude data of the submersible to obtain the ultra-short baseline installation angle calibration value.

7. The method of calibrating the installation angle of a LBL USBL of claim 6, wherein, In S4.2, the signal processing box calculates and processes the received calibration signals and the attitude data of the submersible to obtain the ultra-short baseline installation angle calibration value; the specific process is as follows: S4.2.1: Obtain the coordinates of the two seabed reference subsystems in the array coordinate system based on the received calibration signal. The following location data; the origin of the coordinate system of the array is located at the geometric center of the acoustic array, the x-axis, the y-axis and the z-axis respectively point to the front, right and up directions of the acoustic array;​ S4.2.2: converting position data of the two seafloor reference subsystems in a geodetic coordinate system to a vehicle coordinate system according to attitude data of the submersible ​​​ The origin of the carrier coordinate system is located at the geometric center of the compass, the x-axis, the y-axis and the z-axis point in the forward, right and upward directions of the compass, respectively;​ the geodetic coordinate system axis, axis and the axes respectively point in the directions north, east and sky.​ S4.2.3: Constructing a submerged payload ultra-short baseline installation bias angle calibration model from position data of the two seabed reference subsystems in the array coordinate system and position data of the two seabed reference subsystems in the carrier coordinate system S4.2.4: Determining the installation bias angle of the submerged payload ultra-short baseline from the calibration model​ S4.2.4: The submarine-borne ultra-short baseline installation angle calibration model is processed by matrix decomposition to obtain a first installation angle observation equation, a second installation angle observation equation and a third installation angle observation equation; S4.2.5: The first installation angle observation equation, the second installation angle observation equation and the third installation angle observation equation are iteratively solved using an alternating iterative estimation algorithm to obtain the ultra-short baseline installation angle calibration value.

8. The method of calibrating the installation angle of a LBL USBL of claim 7, wherein, The position data of the two seabed reference subsystems in the base array coordinate system and the position data of the two seabed reference subsystems in the carrier coordinate system are used to construct a submerged load ultra-short baseline installation angle calibration model, which is expressed by a formula as follows: ； wherein, represents the position of the first seafloor reference subsystem in the geodetic coordinate system , represents the position of the second seafloor reference subsystem in the geodetic coordinate system ; and represent the positions of both in the base coordinate system ; representative carrier coordinate system conversion to geodetic coordinate system rotation matrix; representative base coordinate system conversion to carrier coordinate system the rotation matrix, which is expressed in formula as: ； ； wherein, denotes a first installation offset angle, denotes a second installation offset angle, denotes a third installation offset angle, denotes a rotation matrix corresponding to the first installation offset angle, denotes a rotation matrix corresponding to the second installation offset angle, denotes a rotation matrix corresponding to the third installation offset angle.

9. The method of calibrating the installation bias angle of a LBL-USB claimed in claim 8, wherein, In S4.2.4, the submarine-borne ultra-short baseline installation angle calibration model is processed by matrix decomposition to obtain a first installation angle observation equation, a second installation angle observation equation and a third installation angle observation equation; The specific process is as follows: The first installation angle observation equation is represented by the formula as follows: ； ； ； wherein denotes the transpose of , denotes the carrier coordinate system , denotes the base coordinate system ; represents a rotation matrix converting from the earth coordinate system to the carrier coordinate system to the carrier coordinate system The second installation angle observation equation is represented by the formula as follows: ； ； ； wherein denotes the transpose of , denotes the carrier coordinate system the observation vector corresponding to the second installation bias angle, denotes the base coordinate system the observation vector corresponding to the second installation bias angle; The third installation angle observation equation is represented by the formula as follows: ； ； ； wherein denotes the transpose of , denotes the carrier coordinate system the observation vector corresponding to the third installation bias angle, denotes the base coordinate system the observation vector corresponding to the third installation bias angle.

10. The method of calibrating the installation bias angle of a LBL-USB of claim 9, wherein, The S4.2.5 uses an alternating iterative estimation algorithm to iteratively solve the first installation angle observation equation, the second installation angle observation equation and the third installation angle observation equation to obtain the ultra-short baseline installation angle calibration value, and the specific process is: S4.2.5.1: regarding the second installation angle and the third installation angle as constants, the first installation angle observation equation is used to estimate the first installation angle to obtain the estimation result of the first installation angle; S4.2.5.2: regarding the first installation angle and the third installation angle as constants, the second installation angle observation equation is used to estimate the second installation angle to obtain the estimation result of the second installation angle; S4.2.5.3: regarding the first installation angle and the second installation angle as constants, the third installation angle observation equation is used to estimate the third installation angle to obtain the estimation result of the third installation angle; S4.2.5.4: steps S4.2.5.1 to S4.2.5.3 are repeated, when the estimation result of the first installation angle, the estimation result of the second installation angle and the estimation result of the third installation angle all converge, the iteration is stopped, and the finally obtained estimation result of the first installation angle, the estimation result of the second installation angle and the estimation result of the third installation angle are taken as the first installation angle calibration value, the second installation angle calibration value and the third installation angle calibration value.

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