Underwater positioning communication navigation device

Abstract

This utility model relates to the field of underwater positioning, providing an underwater positioning, communication, and navigation device, including an underwater acoustic array, a surface processor, and a transponder. The underwater acoustic array is used to transmit interrogation signals to the transponder and to receive positioning feedback signals generated by the transponder upon triggering the interrogation signals. The transponder is disposed on the target object to be located, and is used to receive the interrogation signals transmitted by the underwater acoustic array, and to generate positioning feedback signals based on the coordinates of the target object upon triggering the interrogation signals. The surface processor is electrically connected to the underwater acoustic array and is used to locate the target object based on the positioning feedback signals. This invention addresses the shortcomings of related technologies in underwater positioning and navigation, which suffer from low accuracy or high cost, failing to meet application requirements. The solution presented in this application has a simpler structure and higher positioning accuracy.

Description

Technical Field

[0001] This utility model relates to the field of underwater positioning technology, and in particular to an underwater positioning, communication and navigation device. Background Technology

[0002] In seawater, electromagnetic waves suffer significant propagation loss, making long-distance transmission impossible. Currently, sound waves remain the only effective carrier for long-distance underwater information transmission. In both commercial and civilian sectors, underwater acoustic communication technology is used in numerous applications, such as remote control of offshore oil development equipment, marine environmental monitoring, communication between divers, and the transfer of scientific data from seabed platforms. Underwater acoustic communication suffers from low carrier frequencies and narrow usable bandwidth. To overcome the challenges of shallow-water acoustic communication technology, extensive research has been conducted both domestically and internationally, resulting in numerous effective solutions. Research on underwater acoustic communication equipment often integrates knowledge from acoustics, marine physics, electronics, and signal processing.

[0003] Traditional underwater positioning and navigation equipment requires the pre-deployment of multiple transducer elements as receivers or transponders on a seabed (or surface) carrier, with the lines connecting these elements forming the baseline. Based on the length of the acoustic positioning system's baseline, it can traditionally be categorized into three types: Ultra-Short Baseline (USBL), Short Baseline (SBL), and Long Baseline (LBL). However, each method has its drawbacks. For example, USBL has lower accuracy, requires extensive calibration, and has a shorter operating range, failing to meet the requirements for high-precision navigation and positioning over long distances in the deep sea. SBL systems are simple in structure but also require significant calibration. LBL offers higher accuracy, but baseline deployment and retrieval are difficult and costly, making it unsuitable for most applications. Utility Model Content

[0004] This utility model provides an underwater positioning, communication and navigation device to solve the defects of low accuracy or high cost in underwater positioning and navigation in related technologies, which cannot meet the application requirements. The solution of this application has a simpler structure and higher positioning accuracy.

[0005] This utility model provides an underwater positioning, communication and navigation device, including an underwater acoustic array, a surface processor and a transponder;

[0006] The underwater acoustic array is used to transmit interrogation signals to the transponder and to receive positioning feedback signals generated by the transponder in response to the interrogation signals.

[0007] The transponder is disposed on the target object to be located, and is used to receive the interrogation signal sent by the underwater acoustic array, and to generate a positioning feedback signal based on the coordinate position of the target object when triggered by the interrogation signal.

[0008] The surface treatment unit is electrically connected to the underwater acoustic array and is used to locate the target object based on the positioning feedback signal;

[0009] The underwater acoustic array includes several receiving elements and at least one transmitting element;

[0010] The transmitting array element is used to transmit an interrogation signal to the transponder;

[0011] The receiving array element is used to receive the positioning feedback signal generated by the transponder under the triggering of the interrogation signal, and to send the positioning feedback signal to the water treatment machine;

[0012] The water treatment machine includes a digital signal processing module;

[0013] The digital signal processing module is used to locate the target object based on the positioning feedback signal.

[0014] According to the underwater positioning, communication and navigation device provided by this utility model, the receiving array element includes four components;

[0015] The four receiving array elements form a regular triangular pyramid structure.

[0016] According to the underwater positioning, communication and navigation device provided by this utility model, the receiving array element includes four components;

[0017] The four receiving array elements are arranged in a line at equal intervals.

[0018] According to the underwater positioning, communication and navigation device provided by this utility model, the underwater processing unit further includes a power amplifier circuit and a signal conditioning circuit;

[0019] The power amplifier circuit is used to power the interrogation signal and then send the interrogation signal to the transmitting array element.

[0020] The signal conditioning circuit is used to amplify and filter the positioning feedback signal received by the receiving array element before sending it to the digital signal processing module.

[0021] In the underwater positioning, communication, and navigation device provided by this utility model, an interrogation signal can be sent to the transponder via an underwater acoustic array. After receiving the interrogation signal, the transponder can generate a positioning feedback signal triggered by the interrogation signal. Since the transponder is set on the target object to be located, the positioning feedback signal fed back by the transponder can reflect the current position signal of the target object. This positioning feedback signal can be received by the underwater acoustic array, and then the surface processor connected to the underwater acoustic array can perform signal processing on the positioning feedback signal to locate the target object. It can be seen that the structure of the above underwater positioning, communication, and navigation device is relatively simple and can achieve a good positioning effect. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is one of the structural schematic diagrams of the underwater positioning, communication and navigation device provided in this embodiment of the utility model;

[0024] Figure 2 This is the second structural schematic diagram of the underwater positioning, communication and navigation device provided in this embodiment of the utility model;

[0025] Figure 3 This is the third structural schematic diagram of the underwater positioning, communication, and navigation device provided in this embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the water treatment machine provided in this embodiment of the utility model;

[0027] Figure 5 This is one of the schematic diagrams illustrating the underwater positioning and communication principle provided in this embodiment of the utility model;

[0028] Figure 6 This is the second schematic diagram of the underwater positioning and communication principle provided in this embodiment of the utility model;

[0029] Figure 7 This is a flowchart illustrating the underwater positioning, communication, and navigation method provided in this embodiment of the present invention.

[0030] Figure 8 This is a schematic diagram of the physical structure of the electronic device provided in this embodiment of the utility model. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] Early underwater acoustic communication equipment mostly used analog modulation systems, which were not resistant to complex underwater acoustic channel distortions and had low transmission power utilization, limiting the performance of underwater acoustic communication systems. Around 1970, with the rapid development of signal processing technology, underwater acoustic communication technology began to transition from analog modulation to digital modulation technology. Among these, Amplitude Shift Keying (ASK), Frequency Shift Keying (FSK), and Phase Shift Keying (PSK) were widely used as digital modulation techniques for underwater acoustic communication during this period. Before 1980, underwater acoustic communication mainly relied on incoherent communication technology. Since then, communication methods with faster transmission rates, stronger performance, and higher bandwidth utilization have been continuously proposed, such as spread spectrum communication technology, vector communication technology, OFDM communication technology, and multi-carrier communication technology. These technologies have been continuously applied to various new underwater communication equipment, promoting the vigorous development of the underwater acoustic communication industry. In 2000, Byung. Chul Kim of Polytech University in the United States achieved an underwater acoustic communication system with a transmission rate of up to 3584 bps using OFDM technology. In 2005, Mandar et al. from Singapore conducted experiments on OFDM technology in a marine environment, achieving communication over 350 meters with a bit error rate of only 10⁻⁴. Currently in China, some universities and research institutes are engaged in research on underwater acoustic communication technology, and after years of effort, they have made various advancements in this field. In 2003, the underwater acoustic communication research group at Xi'an Jiaotong University successfully developed an underwater voice prototype. In 2004, Ma Wen, Huang Jianguo, and others used MFSK communication technology to achieve long-distance underwater acoustic communication of tens of kilometers at a communication rate of 4 bits / s. In 2007, Zhu Tong, Sang Enfang, and others at Harbin Engineering University designed OFDM underwater acoustic communication technology, achieving a communication system with a very low bit error rate and a communication distance of approximately 7 km. In 2014, the University of Science and Technology of China used OFDM communication technology to realize an underwater acoustic communication system with a communication rate of up to 3.3kbps.

[0033] High-precision underwater navigation and positioning technology is one of the core technologies of underwater vehicle systems, providing real-time information on the vehicle's spatial position, attitude, velocity, time, and other motion status. Currently, underwater vehicle navigation and positioning mainly employs inertial navigation systems, acoustic correlation or Doppler log technology, combined with manual calculation to determine its position. Inertial navigation technology is autonomous, stable, and highly stealthy, but the error accumulates over time due to the double integration of acceleration over time. Acoustic correlation or Doppler logs, by actively emitting acoustic signals, pose a risk of revealing the underwater position of the vehicle. To overcome the shortcomings of inertial navigation systems, a combined navigation system with inertial navigation as the main component is generally considered. The most common approach is for the vehicle to surface and periodically correct inertial errors using external radio navigation information and satellite navigation information. However, electromagnetic waves attenuate rapidly underwater, making them unsuitable as a carrier of navigation information at great depths over long distances, and surfacing also wastes the system's kinetic energy. Underwater navigation and positioning can be achieved using sound waves. Underwater platforms do not need to surface to calibrate navigation errors, and can maintain deep diving for a long time. It has the advantages of high navigation accuracy, no accumulation of errors over time, and good concealment.

[0034] Based on this, the present application provides a device for underwater positioning and navigation based on sound waves, as shown below.

[0035] Figure 1 This is one of the structural schematic diagrams of the underwater positioning, communication and navigation device provided in this embodiment of the utility model.

[0036] Figure 2 This is the second structural schematic diagram of the underwater positioning, communication, and navigation device provided in this embodiment of the present invention.

[0037] like Figure 1 and Figure 2 As shown, this embodiment provides an underwater positioning, communication and navigation device, including an underwater acoustic array, a surface processor and a transponder;

[0038] The underwater acoustic array is used to transmit interrogation signals to the transponder and to receive positioning feedback signals generated by the transponder in response to the interrogation signals.

[0039] The transponder is disposed on the target object to be located, and is used to receive the interrogation signal sent by the underwater acoustic array, and to generate a positioning feedback signal based on the coordinate position of the target object when triggered by the interrogation signal.

[0040] The surface treatment unit is electrically connected to the underwater acoustic array and is used to locate the target object based on the positioning feedback signal.

[0041] In an exemplary embodiment, the underwater acoustic array includes a plurality of receiving elements and at least one transmitting element;

[0042] The transmitting array element is used to transmit an interrogation signal to the transponder;

[0043] The receiving array element is used to receive the positioning feedback signal generated by the transponder under the triggering of the interrogation signal, and to send the positioning feedback signal to the surface treatment machine.

[0044] In practical applications, the receiving array consists of four elements, forming a regular triangular pyramid structure. Specifically, three receiving elements form an equilateral triangle at the base, and the fourth element is located directly above the base, forming the pyramid. The transmitting element is positioned at the center of the base. This structure provides a large base coverage area and extends vertically, making it suitable for use in medium-depth waters. It can meet both horizontal and vertical positioning needs, such as navigation of underwater vehicles in medium-depth waters.

[0045] The four receiving elements can also be arranged in a line at equal intervals, with the transmitting elements located on the perpendicular bisector of the line and at a certain distance from it. This structure is simple to deploy and has high positioning accuracy in the horizontal direction, but relatively weaker accuracy in the vertical direction. It is suitable for underwater target positioning in narrow waters with high horizontal positioning requirements, such as rivers and straits.

[0046] The four receiving elements can also form a dual-plane cross structure, where the four receiving elements are divided into two groups, with each group of two elements forming a cross in two mutually perpendicular planes, and the transmitting element located on the intersection line of the two planes. This structure can form a good positioning baseline in both perpendicular planes, making it suitable for use in complex underwater terrain and capable of detecting targets from different directions, such as searching for missing persons in underwater reef areas.

[0047] In this application, the relative position of the target object is determined by four receiving array elements. Then, the absolute position of the target object is determined by combining the positions determined by the four receiving array elements. The reason for using four receiving array elements is to introduce redundant information, improve the stability and accuracy of the positioning solution, and avoid the problem of unsolvable equations due to errors such as sound speed fluctuations and propagation time measurement deviations. Specifically, if only three receiving array elements are used, deployment errors may cause the three elements to be unexpectedly coplanar (or nearly coplanar), directly leading to positioning failure. Using four receiving array elements arranged in a "spatial cube shape" structure can physically avoid the coplanarity problem: the four elements form a non-coplanar three-dimensional spatial distribution, ensuring that the positioning equation always has a unique solution, thus guaranteeing the feasibility of positioning from a hardware structure perspective.

[0048] Figure 3 This is the third structural schematic diagram of the underwater positioning, communication, and navigation device provided in this embodiment of the present invention.

[0049] like Figure 3 As shown, the transmitting element of an underwater acoustic array can be equipped with a transmitting transducer, and the receiving element can be equipped with a receiving transducer. Specifically, the core function of the transmitting element is to convert electrical signals into acoustic signals through the transmitting transducer and transmit them into the underwater acoustic channel. The core function of the receiving element is to convert the acoustic signals in the underwater acoustic channel into electrical signals through the receiving transducer and then transmit them to the subsequent processing module.

[0050] An array element typically includes a transducer and associated signal processing components (such as drive circuits and conditioning circuits), which are connected by a rigid structure to form an integrated unit (e.g., "The array used in this system requires a rigid connection structure for easy placement and movement"). The transducer is the key component in the array element that realizes energy conversion (electro-acoustic / acoustic-electrical).

[0051] In summary, the transducer is the core functional component of the array element, while the array element is the integrated unit of the transducer and its supporting circuits and structures. Together, they complete the task of transmitting and receiving acoustic signals.

[0052] Figure 4 This is a schematic diagram of the structure of the water treatment machine provided in this embodiment of the utility model.

[0053] In an exemplary embodiment, such as Figure 4 As shown, the water treatment machine includes a digital signal processing module;

[0054] The digital signal processing module is used to locate the target object based on the positioning feedback signal.

[0055] In an exemplary embodiment, the water treatment machine further includes a power amplifier circuit and a signal conditioning circuit;

[0056] The power amplifier circuit is used to power the interrogation signal and then send the interrogation signal to the transmitting array element.

[0057] The signal conditioning circuit is used to amplify and filter the positioning feedback signal received by the receiving array element before sending it to the digital signal processing module.

[0058] The communication principle of the underwater positioning, communication, and navigation device provided in this application can be as follows: Figure 5 and Figure 6 As shown, Frequency Shift Keying (FSK) is a modulation method that uses a carrier frequency that varies with the digital signal. For example, the principle of binary frequency shift keying (2FSK) is to select two frequency points f1 and f2, representing 0 or 1 of a single bit of binary information, and to concatenate carriers of different frequencies in the time domain according to this rule. Multi-ary frequency shift keying (MFSK) can take multiple possible carrier frequency values. If an MFSK system is m-ary, then the number of bits k that a single MFSK symbol can transmit satisfies the relationship 2^k = m.

[0059] The positioning acoustic array consists of four receiving elements and one transmitting element. Due to design requirements, the array used in this system needs a rigid connection structure for easy deployment and relocation. The transducers used in the array elements are omnidirectional, with a flat frequency response within the passband, enabling omnidirectional transmission and reception of broadband acoustic signals.

[0060] As can be seen from the positioning equation, when the array elements are located on the same plane, the positioning equation has no solution and the target position cannot be calculated. When the positions of the array elements form a spatial cube shape, theoretically, the multiple spatial planes represented by the propagation time of multiple received signals intersect at a point. Therefore, the positioning equation can be derived to calculate the target position.

[0061] The positioning equations include the following formulas:

[0062] (x i -x) 2 +(y i -y) 2 +(z i -z) 2 =(c(t) i -t)) 2

[0063] (x i -x) 2 +(y i -y) 2 +(z i -z) 2 =(ct i ) 2

[0064]

[0065]

[0066] X = [x, y, x] T

[0067] Where, x i y i , z i Let x, y, and z be the coordinates of the array elements, x1, x2, x3, and x4 be the x-axis coordinates of the receiving array elements, y1, y2, y3, and y4 be the y-axis coordinates of the receiving array elements, and z1, z2, z3, and z4 be the z-axis coordinates of the receiving array elements. Let A be the coefficient matrix, B be the constant vector, X be the unknown vector, c be the speed of sound, and t be the constant vector. i Let t be the time it takes for the acoustic signal to travel from the target object to the i-th receiving element. i -t represents the time difference of signal propagation.

[0068] The above positioning equations are based on the structure of underwater positioning acoustic arrays. The essence of these equations is a mathematical model established through the spatial distance relationship between the target and each receiving array element. The structure of the acoustic array (number of elements, spatial coordinate distribution, whether they are coplanar, etc.) directly determines the number, form, and solvability of the equations. Specifically:

[0069] The number of array elements determines the number of equations. Each receiving array element can provide an equation based on "distance from the target to the array element = speed of sound × propagation time" (the distance formula is the spatial distance formula in the three-dimensional rectangular coordinate system: Ri2=(x-xi)2+(y-yi)2+(z-zi)2, where (xi, yi, zi) are the array element coordinates, (x, y, z) are the target coordinates, and Ri is the distance).

[0070] The spatial distribution of array elements determines the solvability of the equations. If the array elements are coplanar (e.g., in the same plane), the spatial spheres (or planes) corresponding to multiple distance equations may not have a unique intersection point, resulting in no solution to the equations. If the array elements are non-coplanar three-dimensional distributions (e.g., spatial cubes, triangular pyramids, etc.), the equations can form a unique solution.

[0071] The underwater positioning, communication and navigation method provided by this utility model is described below. The underwater positioning, communication and navigation method described below can be referred to in correspondence with the underwater positioning, communication and navigation device described above.

[0072] Figure 7 This is a flowchart illustrating the underwater positioning, communication, and navigation method provided in this embodiment of the present invention.

[0073] like Figure 7 As shown, the underwater positioning, communication, and navigation method provided in this application includes:

[0074] Step 701: Receive a positioning feedback signal, wherein the positioning feedback signal is generated by the target object to be located when triggered by an interrogation signal;

[0075] Step 702: Locate the target object based on the positioning feedback signal.

[0076] In an exemplary embodiment, the positioning of the target object based on the positioning feedback signal conforms to the following formula:

[0077] (x i -x) 2 +(y i -y) 2 +(z i -z) 2 =(c(t) i -t)) 2

[0078] (x i -x)2 +(y i -y) 2 +(z i -z) 2 =(ct i ) 2

[0079]

[0080] AX = B

[0081]

[0082] X = [x, y, x] T

[0083] Where, x i y i , z i Let x, y, and z be the coordinates of the array elements, x1, x2, x3, and x4 be the x-axis coordinates of the receiving array elements, y1, y2, y3, and y4 be the y-axis coordinates of the receiving array elements, and z1, z2, z3, and z4 be the z-axis coordinates of the receiving array elements. Let A be the coefficient matrix, B be the constant vector, X be the unknown vector, c be the speed of sound, and t be the constant vector. i Let t be the time it takes for the acoustic signal to travel from the target object to the i-th receiving element. i -t represents the time difference of signal propagation.

[0084] The specific implementation method of the underwater positioning, communication and navigation method provided in this embodiment can be implemented with reference to the above embodiment, and will not be repeated here.

[0085] Figure 8 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute an underwater positioning, communication, and navigation method, which includes:

[0086] Receive a positioning feedback signal, wherein the positioning feedback signal is generated by the target object to be located when triggered by an interrogation signal;

[0087] The target object is located based on the positioning feedback signal.

[0088] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this utility model, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this utility model. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] On the other hand, this utility model also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the underwater positioning, communication, and navigation methods provided by the above-mentioned methods, which include:

[0090] Receive a positioning feedback signal, wherein the positioning feedback signal is generated by the target object to be located when triggered by an interrogation signal;

[0091] The target object is located based on the positioning feedback signal.

[0092] Furthermore, this utility model also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the underwater positioning, communication, and navigation methods provided by the aforementioned methods, the method comprising:

[0093] Receive a positioning feedback signal, wherein the positioning feedback signal is generated by the target object to be located when triggered by an interrogation signal;

[0094] The target object is located based on the positioning feedback signal.

[0095] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An underwater positioning, communication, and navigation device, characterized in that, Includes underwater acoustic arrays, surface processing units, and transponders; The underwater acoustic array is used to transmit interrogation signals to the transponder and to receive positioning feedback signals generated by the transponder in response to the interrogation signals. The transponder is disposed on the target object to be located, and is used to receive the interrogation signal sent by the underwater acoustic array, and to generate a positioning feedback signal based on the coordinate position of the target object when triggered by the interrogation signal. The surface treatment unit is electrically connected to the underwater acoustic array and is used to locate the target object based on the positioning feedback signal; The underwater acoustic array includes several receiving elements and at least one transmitting element; The transmitting array element is used to transmit an interrogation signal to the transponder; The receiving array element is used to receive the positioning feedback signal generated by the transponder under the triggering of the interrogation signal, and to send the positioning feedback signal to the water treatment machine; The water treatment machine includes a digital signal processing module; The digital signal processing module is used to locate the target object based on the positioning feedback signal.

2. The underwater positioning, communication, and navigation device according to claim 1, characterized in that, The receiving array elements include four; The four receiving array elements form a regular triangular pyramid structure.

3. The underwater positioning, communication, and navigation device according to claim 1, characterized in that, The receiving array elements include four; The four receiving array elements are arranged in a line at equal intervals.

4. The underwater positioning, communication, and navigation device according to claim 1, characterized in that, The water treatment machine also includes a power amplifier circuit and a signal conditioning circuit; The power amplifier circuit is used to power the interrogation signal and then send the interrogation signal to the transmitting array element. The signal conditioning circuit is used to amplify and filter the positioning feedback signal received by the receiving array element before sending it to the digital signal processing module.

Images