Ultra-short base line underwater beacon searching and positioning equipment and system connected with GNSS (Global Navigation Satellite System) network
By using an ultra-short baseline underwater beacon search and positioning device connected to a GNSS network, the device's location information is obtained through the GNSS network, and underwater acoustic beacon signals are received by an acoustic array. This solves the problems of positioning accuracy and communication range limitations of ultra-short baseline underwater positioning technology, and achieves high-precision underwater beacon positioning.
Patent Information
- Application Number
- CN202520174661.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-26
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-01-26
AI Technical Summary
Existing ultra-short baseline underwater positioning technology suffers from reduced positioning accuracy due to the influence of the mother ship's navigation trajectory, increased errors due to ocean noise and environmental changes, and limited communication range, which restricts its application.
Design an ultra-short baseline underwater beacon search and positioning device connected to a GNSS network, including an ultra-short baseline acoustic array, an electronic housing shell, a floating vehicle mounting and fixing structure, an internal circuit board, an internal battery, a GNSS network positioning antenna, and a communication antenna. The device uses the GNSS network to obtain the device's location information and combines the ultra-short baseline acoustic array to receive underwater acoustic beacon signals for positioning.
It improved positioning accuracy, reduced the impact of noise and environmental changes, expanded the communication range, and achieved high-precision underwater beacon positioning.
Smart Images
Figure CN223926609U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of electronic information and communication technology, and in particular to an ultra-short baseline underwater beacon search and positioning device and an underwater beacon positioning system that connects to a GNSS network. Background Technology
[0002] Sound waves are currently the most effective underwater long-distance information carrier. In water, only sound waves can propagate over long distances with minimal attenuation. Therefore, acoustic positioning systems utilize sound waves for underwater acoustic communication and simultaneous object location. Among existing technologies, ultra-short baseline (USBR) underwater positioning technology has advantages such as small array size, portability, and ease of use, allowing for positioning with a small number of hydrophones. This compact design enables the equipment to operate in locations with low flow and structural noise, thereby improving positioning accuracy. USBR underwater positioning technology has attracted increasing attention from engineers, but many problems remain. Traditional USBR underwater positioning methods are significantly affected by the mother ship's trajectory, greatly reducing positioning accuracy. Furthermore, the presence of ocean noise and changes in the working environment increase positioning errors, and the limited communication range restricts the application of USBR. Utility Model Content
[0003] This invention addresses the shortcomings of existing technologies by providing an ultra-short baseline underwater beacon search and positioning device and an underwater beacon positioning system that connects to a GNSS network.
[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:
[0005] An ultra-short baseline underwater beacon search and positioning device connected to a GNSS network includes an ultra-short baseline acoustic array, an electronic housing shell, a floating vehicle mounting and fixing structure, an internal circuit board, an internal battery, a GNSS network positioning antenna, and a communication antenna.
[0006] The floating vehicle mounting and fixing structure is fixed to the surface of the electronic tank shell. The electronic tank shell is equipped with the built-in circuit board and the built-in battery. The bottom of the electronic tank shell is equipped with the ultra-short baseline acoustic array. The top of the electronic tank shell is equipped with the GNSS network positioning antenna and the communication antenna. The GNSS network positioning antenna and the communication antenna are connected to the built-in circuit board. The ultra-short baseline acoustic array is connected to the built-in circuit board.
[0007] In one implementation, the communication antenna is a wireless communication antenna, a Bluetooth communication antenna, or a wired communication interface.
[0008] In one implementation, the built-in circuit board includes an inertial measurement unit, a fiber optic gyroscope, and a Doppler log.
[0009] In one embodiment, the electronic compartment housing is made of a waterproof and sealed specialized structure.
[0010] In one embodiment, the built-in circuit board and the built-in battery are placed vertically and arranged in parallel inside the electronic compartment housing.
[0011] In one implementation, the GNSS network positioning antenna and the communication antenna are placed opposite each other and parallel to each other.
[0012] In one implementation, the ultrashort baseline acoustic array includes multiple transducers of different lengths.
[0013] As one implementation method, the floating vehicle on the water surface is either an unmanned boat or a lifebuoy.
[0014] An underwater beacon positioning system includes an underwater acoustic beacon, a host computer operating device, a floating surface vehicle, and a corresponding ultra-short baseline underwater beacon search and positioning device connected to a GNSS network;
[0015] The floating vehicle is fixed to the floating vehicle mounting structure, so that the ultra-short baseline underwater beacon search and positioning device connected to the GNSS network is placed on the water surface. The ultra-short baseline acoustic array is submerged in the water, while the GNSS network positioning antenna and communication antenna are exposed above the water surface. The communication antenna is communicatively connected to the host computer operating device. The ultra-short baseline underwater beacon search and positioning device connected to the GNSS network acquires the acoustic signal emitted by the underwater acoustic beacon through the ultra-short baseline acoustic array. The acoustic signal is processed by the built-in circuit board and transmitted to the host computer operating device through the communication antenna. The host computer operating device performs positioning and navigation of the underwater acoustic beacon based on the processed acoustic signal, obtains the position information of the ultra-short baseline underwater beacon search and positioning device based on the GNSS network positioning antenna, and obtains the position of the underwater beacon based on the position information.
[0016] In one implementation, the number of ultra-short baseline underwater beacon search and positioning devices connected to the GNSS network is also multiple.
[0017] Beneficial effects:
[0018] This invention relates to an ultra-short baseline underwater beacon search and positioning device connected to a GNSS network. The device utilizes a floating surface vehicle to keep it afloat within a general search area. It acquires acoustic signals emitted by underwater acoustic beacons via an ultra-short baseline acoustic array to determine the beacon's position relative to the device. Furthermore, it uses a GNSS network positioning antenna to obtain the device's location information and determines the underwater beacon's position based on this information. Attached Figure Description
[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.
[0020] Figure 1 This is a schematic diagram of the ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to this utility model;
[0021] Figure 2 This is a structural schematic diagram of the underwater beacon positioning system of this utility model. Detailed Implementation
[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0023] An ultra-short baseline underwater beacon search and positioning device connected to a GNSS network, such as Figure 1 As shown, it includes an ultra-short baseline acoustic array 21, an electronic housing shell 22, a floating vehicle mounting and fixing structure 23, an internal circuit board 24, a GNSS network positioning antenna 25, a communication antenna 26, and an internal battery 27.
[0024] The floating vehicle mounting and fixing structure 23 is fixed to the middle of the surface of the electronic tank shell 22. The electronic tank shell 22 is equipped with the built-in circuit board 24 and the built-in waterproof battery 27. The built-in circuit board 24 and the built-in waterproof battery 27 are placed vertically and arranged in parallel. The bottom of the electronic tank shell 22 is equipped with the ultra-short baseline acoustic array 21. The top of the electronic tank shell 22 is equipped with the GNSS network positioning antenna 25 and the communication antenna 26. The GNSS network positioning antenna 25 and the communication antenna 26 are placed opposite each other and parallel to each other.
[0025] The floating vehicle mounting and fixing structure 23 is used to fix the ultra-short baseline underwater beacon search and positioning device in a floating vehicle such as an unmanned surface vessel (USV) or a lifebuoy, so that the USV-connected GNSS network-connected USV can float on the water surface. In this embodiment, the floating vehicle mounting and fixing structure 23 is a ring-shaped bayonet, so that the corresponding locking devices of the USV and lifebuoy cooperate with the floating vehicle mounting and fixing structure 23 to fix the USV in the USV, lifebuoy, or other floating vehicle.
[0026] Since the built-in circuit board 24 and the built-in waterproof battery 27 are placed vertically and arranged in parallel, it is beneficial to reduce the size of the electronic housing shell. Therefore, the electronic housing shell of this embodiment adopts a cylindrical structure. The ultra-short baseline acoustic array 21 is located at the bottom of the electronic housing shell 22, and the GNSS network positioning antenna 25 and communication antenna 26 are located at the top of the electronic housing shell 22. The floating vehicle is fixed in the middle of the electronic housing shell 22, thereby enabling the floating and normal operation of the ultra-short baseline underwater beacon search and positioning equipment.
[0027] Furthermore, the communication antenna is a wireless communication antenna or a Bluetooth communication antenna. The communication antenna is used to connect wirelessly with the host computer operating device, so that the host computer operating device can acquire sound signals and positioning information.
[0028] In other embodiments, the communication antenna may employ wired communication, and the ultra-short baseline underwater beacon search and positioning device connected to the GNSS network communicates with...
[0029] Furthermore, the built-in circuit board includes an inertial measurement unit, a fiber optic gyroscope, and a Doppler log, which process the received acoustic signals and calculate the underwater beacon position information using a Kalman filter algorithm.
[0030] Furthermore, the outer shell of the electronic compartment is made of a waterproof and sealed specialized structure.
[0031] Furthermore, the built-in battery is a waterproof battery.
[0032] Furthermore, the ultra-short baseline acoustic array includes multiple transducers of different lengths, which are used to acquire acoustic signals emitted by underwater acoustic beacons.
[0033] An underwater beacon positioning device, such as Figure 2 As shown, it includes an underwater acoustic beacon 1, an ultra-short baseline underwater beacon search and positioning device 2 connected to the GNSS network, a host computer operating device 3, and a floating vehicle 5.
[0034] The floating vehicle 5 is fixed to the floating vehicle mounting and fixing structure 23. The ultra-short baseline underwater beacon search and positioning device 2 connected to the GNSS network is placed on the water surface, so that the ultra-short baseline acoustic array 21 is submerged in the water. The GNSS network positioning antenna 25 and the communication antenna 26 are exposed on the water surface. The communication antenna 26 is wirelessly connected to the host computer operating device 3.
[0035] Furthermore, the underwater acoustic beacon 1 is pre-installed on the target to be tracked for periodically emitting acoustic signals so that the ultra-short baseline underwater beacon search and positioning device 2 can receive the acoustic signals and perform positioning.
[0036] In this embodiment, the floating vehicle 5 is a lifebuoy, and the ultra-short baseline underwater beacon search and positioning device 2 connected to the GNSS network is fixed inside the lifebuoy. This allows the ultra-short baseline underwater beacon search and positioning device to float on the water, and the lifebuoy surrounding the ultra-short baseline underwater beacon search and positioning device can prevent other surface or underwater objects from colliding with it.
[0037] Furthermore, the floating vehicle 5 also includes unmanned boats, floating balls, etc.
[0038] A method for implementing the ultra-short baseline underwater beacon search and positioning device connected to a GNSS network includes the following steps:
[0039] The underwater acoustic beacon 1 is placed on the target object for searching and positioning. The underwater beacon periodically emits acoustic signals. The ultra-short baseline acoustic array 21 is submerged in water to receive the acoustic signals. The acoustic signals are processed by the built-in circuit board 24 and then transmitted to the host computer operating device 3 through the communication antenna 26. The host computer operating device 3 performs positioning and navigation of the underwater acoustic beacon 1 based on the processed acoustic signals. The GNSS positioning satellite 4 obtains the position information of the ultra-short baseline underwater beacon search and positioning device 2 based on the GNSS network positioning antenna 25, and obtains the position of the underwater beacon based on the position information.
[0040] Furthermore, placing the underwater acoustic beacon on the search and positioning target also includes placing multiple underwater acoustic beacons on multiple search and positioning targets, and simultaneously positioning multiple underwater acoustic beacons.
[0041] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0042] In the description of this application, it should also be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0043] Attention all technical personnel: Although this utility model has been described according to the specific embodiments above, the inventive concept of this utility model is not limited to this utility model. Any modification that utilizes the inventive concept will be included within the scope of protection of this patent.
[0044] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.
Claims
1. An ultra-short baseline underwater beacon search and positioning device connected to a GNSS network, characterized in that, It includes an ultra-short baseline acoustic array, an electronic tank shell, a floating vehicle mounting and fixing structure, an internal circuit board, an internal battery, a GNSS network positioning antenna, and a communication antenna; The floating vehicle mounting and fixing structure is fixed to the surface of the electronic tank shell. The electronic tank shell is equipped with the built-in circuit board and the built-in battery. The bottom of the electronic tank shell is equipped with the ultra-short baseline acoustic array. The top of the electronic tank shell is equipped with the GNSS network positioning antenna and the communication antenna. The GNSS network positioning antenna and the communication antenna are connected to the built-in circuit board. The ultra-short baseline acoustic array is connected to the built-in circuit board.
2. The ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to claim 1, characterized in that, The communication antenna is a wireless communication antenna, a Bluetooth communication antenna, or a wired communication interface.
3. The ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to claim 1, characterized in that, The built-in circuit board includes an inertial measurement unit, a fiber optic gyroscope, and a Doppler log.
4. The ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to claim 1, characterized in that, The outer shell of the electronic compartment is made of a special waterproof and sealed structure.
5. The ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to claim 1, characterized in that, The built-in circuit board and the built-in battery are placed vertically and arranged in parallel inside the electronic compartment shell.
6. The ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to claim 1, characterized in that, The GNSS network positioning antenna and the communication antenna are placed opposite each other and parallel to each other.
7. The ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to claim 1, characterized in that, The ultrashort baseline acoustic array includes multiple transducers of different lengths.
8. The ultra-short baseline underwater beacon search and positioning device for connecting to a GNSS network according to claim 1, characterized in that, The floating vehicle mentioned is either an unmanned boat or a lifebuoy.
9. An underwater beacon positioning system, characterized in that, Includes underwater acoustic beacons, host computer operating equipment, floating surface vehicles, and ultra-short baseline underwater beacon search and positioning equipment for connecting to GNSS networks as described in any one of claims 1-8; The floating vehicle is fixed to the floating vehicle mounting structure, so that the ultra-short baseline underwater beacon search and positioning device connected to the GNSS network is placed on the water surface. The ultra-short baseline acoustic array is submerged in the water, while the GNSS network positioning antenna and communication antenna are exposed above the water surface. The communication antenna is communicatively connected to the host computer operating device. The ultra-short baseline underwater beacon search and positioning device connected to the GNSS network acquires the acoustic signal emitted by the underwater acoustic beacon through the ultra-short baseline acoustic array. The acoustic signal is processed by the built-in circuit board and transmitted to the host computer operating device through the communication antenna. The host computer operating device performs positioning and navigation of the underwater acoustic beacon based on the processed acoustic signal, obtains the position information of the ultra-short baseline underwater beacon search and positioning device based on the GNSS network positioning antenna, and obtains the position of the underwater beacon based on the position information.
10. The underwater beacon positioning system according to claim 9, characterized in that, The number of underwater acoustic beacons is multiple, and the number of ultra-short baseline underwater beacon search and positioning devices connected to the GNSS network is also multiple.