7 results about "Ultra-short baseline" patented technology

According to the portable ultra-short baseline transducer array and the underwater acoustic positioning system provided by the invention, the transmitting performance of the transmitting part is adjusted by utilizing the sound reflecting baffle, the mounting, positioning and watertightness of the transducer array are realized, and the transducer array can be used for the portable underwater acoustic positioning system. The portable ultra-short baseline transducer array comprises a sound reflecting baffle, a transmitting ceramic circular ring, a receiving ceramic circular ring, a receiving fixing frame and a receiving top cover plate, one end of the transmitting ceramic circular ring is coaxially arranged on the sound reflecting baffle through an insulating washer, and the other end of the transmitting ceramic circular ring is coaxially arranged with the receiving fixing frame; a plurality of receiving ceramic circular rings are distributed on the surface of the receiving fixing frame in an array manner; therefore, a transducer array main body structure is formed; a watertight layer is arranged outside the transducer array main body structure; and the bottom surface of the sound reflecting baffle is exposed out of the watertight layer and is provided with a wire outlet hole and a positioning mounting structure.

This invention discloses an underwater transponder location calibration method based on a triangulation-optimized Gauss-Newton algorithm. First, based on triangulation, initial values ​​are selected for iteration. Three suitable primitive positions are chosen based on distances between primitives to construct a triangularly divided region. The optimal initial values ​​of the Gauss-Newton iterative model are found by iteratively analyzing the divided region. Second, the transponder position is calculated using the Gauss-Newton algorithm. Finally, information anomaly handling based on a cost function is implemented: a cost function is introduced on top of the Gauss-Newton iterative algorithm to calculate the weight matrix of measurement information. Weighted processing is then used to resolve interference from abnormal information during the iteration process. This invention can solve the problem of poor positioning accuracy in ultra-short baseline systems caused by inaccurate transponder positions, enabling rapid and accurate acquisition of underwater transponder position information and further improving the positioning accuracy of ultra-short baseline systems.

This invention provides a dual-antenna GNSS high-precision attitude and orientation method and system suitable for compact platforms, belonging to the field of GNSS navigation technology. The method includes: constructing a priori baseline vector using the carrier attitude information provided by the inertial navigation system and the baseline length of the dual antennas; establishing a linear constraint equation between the priori baseline vector and the baseline vector to be estimated; simultaneously solving the linear constraint equation with the GNSS linearized observation equation to construct a joint observation equation; solving the joint observation equation using the least squares method to obtain an ambiguity floating-point solution, and fixing the ambiguity of the ambiguity floating-point solution to obtain a solution for the baseline vector to be estimated; and calculating the pitch and heading angles of the carrier based on the solution for the baseline vector to be estimated. This invention achieves high-precision attitude and orientation using dual-antenna GNSS by establishing a linear constraint equation based on the prior baseline vector and simultaneously solving it with the GNSS linearized observation equation, improving the accuracy and continuity of attitude and orientation in ultra-short baseline scenarios.

The application belongs to the technical field of underwater equipment and artificial intelligence, and discloses a kind of intelligent underwater submersible heat charging method, to solve the problems of low charging efficiency, underwater navigation difficulty and insufficient safety guarantee of existing underwater submersible. The method is long-distance positioning to underwater heat source and underwater volcano through GPS signal when sailing on water surface, mid-distance positioning is carried out through inertial navigation, sonar signal and charging capacity of thermal power generation plate during diving process, precise short-distance positioning is carried out through ultra-short baseline positioning system, inertial navigation system, doppler sonar speed measurement system and charging capacity of thermal power generation plate at the position of underwater heat source and underwater volcano during slow sailing charging process, the optimal path of obstacle avoidance energy consumption is planned based on cost function, and the thermal power generation plate converts the thermal energy of underwater heat source into electric energy to charge the battery. The application realizes accurate perception of underwater thermal environment, significantly improves underwater navigation efficiency and charging safety, and prolongs the endurance time of submersible.

This application discloses a satellite-ground integrated PPP-RTK enhanced positioning combined broadcast service system, relating to the field of navigation and positioning system technology, including a data processing center, a reference station network, an edge computing node cluster, satellite-based broadcast links, ground-based broadcast links, and user terminals. This application dynamically allocates satellite-based and ground-based links through an intelligent collaborative broadcast engine module, achieving high availability service with no blind spots across the entire domain. It particularly ensures continuous centimeter-level positioning in remote areas and high-speed mobile scenarios. Furthermore, it introduces an edge computing node cluster to generate localized refined atmospheric corrections, improving atmospheric error suppression to near the effect of ultra-short baseline RTK, significantly improving positioning accuracy and fixation success rate in urban canyons and complex weather conditions. Additionally, it employs a layered adaptive data encapsulation protocol, broadcasting on demand according to user scenarios, greatly optimizing network bandwidth resource utilization efficiency while ensuring performance.

The invention discloses an AUV ultra-short baseline false solution elimination method and system based on an association conflict graph, and relates to the technical field of underwater acoustic positioning and autonomous underwater vehicle navigation. According to the method, a peak-solution correlation and solution-solution conflict graph structure is constructed, a candidate solution competition relation under multipath interference is explicitly and computationally generated, a direct path consistency score is generated by utilizing graph diffusion network learning, and finally, a unique reliable solution or an unavailable identifier is preferentially output under conflict constraint, so that the consistency of the direct path is ensured. Therefore, traceable and high-reliability elimination of false solutions is realized under the condition of single epoch of shallow water of a port, and the safety of a USBL positioning result and the reliability of navigation fusion are effectively improved.

This invention belongs to the field of deep-sea exploration technology and relates to a laser guidance method and system for deep-sea equipment. The method includes: remotely locating an underwater vehicle or docking device based on acoustic signals emitted by an ultra-short baseline positioning beacon on the landing equipment, enabling the underwater vehicle or docking device to enter a preliminary target area; activating an active optical guidance module on the landing equipment to emit visible light signals carrying preset spatial structure and encoding information; searching for and capturing visible light signals within the preliminary target area using an image acquisition device on the underwater vehicle or docking device; performing real-time image decoding to obtain the identification code and geometric features of the projected image of the landing equipment; and based on this and the acquired imaging parameters, obtaining the definite three-dimensional spatial position of the underwater vehicle relative to the landing equipment. This invention solves the problem of 1 / 100 directional drift error in the deep sea and achieves high-precision three-dimensional positioning of the base equipment.