77 results about "Ultra-short baseline" patented technology

The invention discloses a heterogeneous sensor fusion method and system for dynamic covariance optimization, and the method comprises the steps: constructing a multi-source heterogeneous sensor network which comprises an underwater inertial navigation unit, a Doppler velocity sensor, an ultra-short baseline positioning system, a submarine topography matching device and a geomagnetic gradient detector; the method comprises the following steps: designing a distributed integrated navigation system by adopting a hierarchical fusion architecture, establishing a sensor confidence coefficient dynamic evaluation model based on online estimated error covariance matrix eigenvalue analysis, carrying out state prediction on a local filter level by applying Kalman filtering, and then carrying out measurement updating by adopting a novel variational Bayesian algorithm; a sensor autonomous switching and adaptive weighted dual-mode adjustment mechanism is developed on the main filter level, and self-healing improvement of navigation precision in a non-stationary environment is realized, so that the problems of dynamic reliability evaluation and fusion efficiency optimization in underwater multi-sensor multi-source navigation are solved.

The invention discloses a submersible integrated navigation adaptive calibration method based on multi-source confidence evaluation, belongs to the technical field of underwater navigation and data processing, is used for submersible integrated navigation, and comprises the following steps: establishing a confidence evaluation model of a multi-dimensional ultra-short baseline positioning system; a comprehensive confidence index is dynamically calculated through signal quality, geometric accuracy factor quality, environmental parameters and data sequence stability, Kalman filtering observation weight is adaptively adjusted based on the comprehensive confidence index, and a three-level decision mechanism is designed to replace manual judgment. The intelligent fusion of the positioning data of the ultra-short baseline positioning system is realized, the human participation degree is reduced, the navigation and positioning autonomy of the submersible is improved, and the underwater operation efficiency of the submersible is further improved.

A split type AUV system comprises an autonomous underwater robot system and a buoy system, the autonomous underwater robot system comprises an electric control sealed cabin, a multi-beam imaging sonar module, a magnetic attraction fixing device, a visual positioning module, an ultra-short baseline USBL transponder beacon, a single-beam sonar module, a depth module, an underwater laser range finder, a battery sealed cabin and a driving unit; the buoy system comprises an ultra-short base line USBL beacon, a floating platform, a cable reel motor, a cable reel, a satellite positioning module, a buoy system electric control cabin, a side scan sonar, an Aruco two-dimensional code plate, a driving unit, a permanent magnet block and a battery cabin; the invention aims to provide an underwater navigation positioning system of a split type AUV (Autonomous Underwater Vehicle), which assists in acquiring the accurate position of an underwater robot.

The invention discloses an ultra-short baseline positioning method based on a binary short baseline, and belongs to the technical field of underwater acoustic target navigation positioning. The method comprises the following steps: S1, designing a spread spectrum underwater acoustic communication signal for underwater acoustic communication between an ultra-short baseline transceiver and a transponder; s2, solving ultra-short baseline time delay information by adopting a frequency domain correlation method, and obtaining high-precision time delay information through an interpolation method; s3, two sets of transceivers with known positions are installed at the ship end at a preset interval distance, and the two sets of transceivers form a binary short baseline framework; installing at least one group of transponders at the mobile terminal, and obtaining the distance information of the two groups of transceivers and the transponders and the initial position information of the mobile terminal; and S4, based on the two groups of distance information and the initial position information, performing binary short baseline positioning calculation by adopting an iterative optimization algorithm to obtain high-precision position information of the mobile terminal. The ultra-short baseline positioning method based on the binary short baseline is high in positioning precision and high in stability, and can still realize high-precision target positioning in a low signal-to-noise ratio environment.

The invention belongs to the technical field of navigation, and discloses an inertial navigation method and system based on dual modes and a medium, the dual modes comprise a first navigation mode and a second navigation mode, the first navigation mode adopts a first combined navigation mode formed by combining an inertial unit with an ultra-short baseline acoustic positioning unit and a Doppler velocity measurement unit, and the second navigation mode adopts a second combined navigation mode formed by combining an ultra-short baseline acoustic positioning unit and a Doppler velocity measurement unit. The navigation mode II adopts a second combined navigation mode of combining an inertial unit and a geomagnetic measurement unit. The method comprises the following steps: acquiring the depth of the submersible at the current position; and updating the current position of the submersible in real time by adopting the navigation mode I and / or the navigation mode II according to the depth of the submersible at the current position. The method has high positioning accuracy.

The invention provides an ultra-short baseline calibration method, device and system, and belongs to the technical field of underwater acoustic measurement, and the ultra-short baseline calibration method comprises the following steps: according to an antenna phase center position, a carrier instantaneous attitude, a distance and azimuth information at each observation moment, and installation parameters of an ultra-short baseline acoustic transducer relative to an inertial navigation system, carrying out calibration on the ultra-short baseline; establishing a distance equation between the ultra-short baseline acoustic transducer and the ultra-short baseline acoustic beacon at each observation moment; establishing a residual equation of each distance equation; and solving the residual equation through a nonlinear least square method to obtain installation parameters. According to the method, the installation parameters of the ultra-short baseline acoustic beacon can be efficiently and accurately calibrated, and the problems that beacon laying and recycling operation is complex, cost is high, the operation period is long, efficiency is low, and the beacon is prone to drifting due to the influence of ocean currents are effectively solved.

The invention discloses a real-time positioning system and method of an underwater glider and the underwater glider, and belongs to the technical field of underwater detection equipment. The real-time positioning system comprises an acoustic positioning system, an inertial navigation unit, an electromagnetic ocean current meter and a control unit. The acoustic positioning system is composed of an ultra-short baseline range finder electronic cabin and an ultra-short baseline electroacoustic transducer and used for emitting acoustic signals and carrying out underwater position calculation through a tracking ship. The inertial navigation unit comprises a gyroscope, an accelerometer and a magnetometer; the electromagnetic ocean current meter is used for acquiring ocean current speed data; and the control unit is used for receiving and fusing data of the acoustic positioning system, the inertial navigation unit and the electromagnetic current meter, and optimizing real-time position estimation of the underwater glider through a fusion algorithm based on Kalman filtering. According to the system, the path and the track of the underwater glider for executing the observation task can be accurately obtained, and the ocean observation and detection accuracy is greatly improved.

The present application relates to the technical field of ultra-short baseline direction measurement data processing, and particularly relates to a direction estimation method of a multi-element stereo hydrophone array. The method approximates sound waves as plane waves and establishes a mathematical relationship between time difference of arrival (TDOA) and a direction vector, takes TDOA as an observation value, calculates a direction vector estimation value according to a weighted least square method, then calculates the equivalent weight of the observation value according to an equivalent weight function, further replaces the original observation value weight array with an equivalent weight array, and recalculates the direction vector according to the weighted least square method, iteratively calculates the equivalent weight and the direction vector, until the difference between the direction vectors of two consecutive times is less than a manually set threshold, and the direction vector is output as the direction of the multi-element stereo hydrophone array. The present application can weaken the influence of the sound ray bending which is not considered in the direction estimation function model, and consider the influence of the array element spacing and the target direction on the direction estimation, thereby improving the accuracy and reliability of the direction estimation of the multi-element stereo hydrophone array.

The invention relates to the technical field of ocean unmanned monitoring and searching, in particular to an ocean searching and underwater monitoring system based on an underwater small robot and a working method of the ocean searching and underwater monitoring system. The underwater robot is used as a core operation carrier, wireless communication, acoustic detection, a dual-module intrinsic safety type battery and an intelligent obstacle avoidance technology are integrated, and comprehensive upgrading of underwater searching and monitoring operation is realized: potential safety hazards of underwater operation of personnel are eliminated, cable dragging interference of a traditional cable control mode is avoided, and limitation of navigation duration and operation distance is broken through; and long-time low-noise monitoring is realized through a dual-module battery design, accurate target detection and autonomous obstacle avoidance are realized by combining acoustic information acquisition and an ultra-short baseline positioning system, and the navigation safety is improved. According to the invention, the intelligence, high efficiency and reliability of underwater unmanned monitoring and searching operation can be obviously improved, and the method has prominent practical value and popularization prospect.

The invention discloses a post-processing method and device for AUV positioning data, a medium and a program product. The method comprises the following steps: acquiring a first measuring point sequence and a second measuring point sequence of the AUV; wherein the first measuring point sequence is a positioning data set determined by a strapdown inertial navigation system, and the second measuring point sequence is a positioning data set determined by an ultra-short baseline underwater positioning system; performing jump point deletion on the second measuring point sequence, performing trajectory fitting, and determining a virtual control point based on a fitting trajectory; constructing a measurement section based on two adjacent virtual control points, and matching the measurement section with each first measurement point in the first measurement point sequence according to time; and for each measurement section, correcting the first measurement point in the measurement section according to the virtual control point to obtain a corrected measurement point, and determining a correction track of the AUV based on each corrected measurement point. According to the technical scheme, the correction of the AUV positioning data is realized by constructing the virtual control point, and the precision of the AUV positioning data is improved, so that the accuracy and applicability of an underwater task are met.

According to the method for searching the underwater object by using the ultra-short baseline of the L-shaped co-prime array, a ship or an aircraft travels and is berthed in a water surface area near the underwater object or on the water surface area, a coordinate system is established by taking a certain point of the ship or the aircraft as a coordinate origin, a base station is arranged on the origin, N + M-2 array elements are respectively arranged on an X axis and a Y axis, N and M are both prime numbers, and M is a prime number; the included angle between the underwater object and the X axis is alpha, the included angle between the underwater object and the Y axis is beta, the included angle between the underwater object and the Z axis is psi, the position of the underwater object in a coordinate system is (X, Y, Z), and the method for searching the underwater object by using the ultra-short baseline of the L-shaped co-prime array comprises the following steps: transmitting and receiving acoustic signals; determining a distance; constructing a received signal model; determining an incident angle to obtain alpha, beta and psi; calculating the position of the underwater object: X = Rcos alpha; y is equal to Rcos beta; according to the invention, the large aperture of the sparse array and the advantages of small array size and convenient installation of the ultra-short baseline positioning system are fully utilized.

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.

The invention relates to an underwater multi-source autonomous navigation digital twinning and semi-physical simulation test system and method, which are suitable for development and algorithm verification of a multi-source autonomous navigation system of underwater unmanned platforms such as an unmanned underwater vehicle. According to the system, a semi-physical simulation architecture is adopted, and a physical inertial measurement unit (IMU), a three-axis turntable and a computer simulation module are combined; signal simulation, motion scene simulation, sensor error and environmental noise injection, multi-source navigation information fusion and precision evaluation of sensors such as an inertial navigation system, a Doppler log, an ultra-short baseline positioning system and a satellite navigation system are realized. The platform has the simulation capability of two typical underwater scenes of mooring and motion, supports verification of multiple combined navigation modes, can simulate complex underwater acoustic environments such as Gaussian and non-Gaussian noise and abnormal outliers, and provides a highly reliable and high-precision semi-physical simulation verification environment for development and completeness evaluation of an underwater multi-source autonomous navigation algorithm.

The application provides a multi-parameter joint calibration method based on graph optimization of inertial and ultra-short baseline, applies the graph optimization technology to the multi-parameter joint calibration of inertial / ultra-short baseline, and the whole process comprises the following steps: establishing a multi-error parameter state model, constructing a multi-error parameter calibration factor, calculating based on a nonlinear optimization problem of an incremental interval balance, and finally obtaining accurate multi-error parameters. Compared with the prior art, the application can simultaneously estimate the responder position error, the rod arm error and the installation angle error, sufficiently utilizes historical observation data, solves the nonlinear problem of the optimization equation through repeated iteration and relinearization, and has the advantages of high calibration precision and fast calibration speed.

The utility model relates to the technical field of submarine mining, in particular to a multi-vehicle collaborative deep-sea mining underwater positioning navigation system and a working method, which comprises wireless communication positioning equipment, a long baseline positioning assembly, an ultra-short baseline positioning assembly, a communication cable, an inertial navigation system and a Doppler flow velocity log, the long baseline positioning assembly comprises a long baseline positioning node, a long baseline positioning terminal and a long baseline resolving unit; the ultra-short baseline positioning assembly comprises an ultra-short baseline positioning array and an ultra-short baseline positioning terminal. The underwater comprehensive positioning and navigation system can be applied to underwater comprehensive positioning and navigation of a plurality of mining vehicles, conveying hoses, relay stations and conveying vertical pipes in a commercial mining system.

The invention discloses an ROV (Remote Operated Vehicle) towrope form sensing system based on a distributed grating fiber and an IMU (Inertial Measurement Unit) array, and belongs to the technical field of underwater engineering, marine survey and marine equipment. High-precision real-time sensing of the towing cable form in a complex underwater environment is achieved through cooperation of the four modules. The grating fiber module collects cable curvature to provide data for form reconstruction. The ROV actuation module realizes dynamic motion by dragging a towing cable, so that the cable generates a measurable physical form, and cable states under different operation conditions can be simulated; the IMU array module is used for accurately collecting attitude information of each node, fusing the attitude information with curvature data of the grating fiber, and calculating a three-dimensional space form of the towing cable in real time; the ultra-short baseline module provides stable space reference and correction data for cable form reconstruction. The system can perform high-precision and real-time towrope form sensing and analysis in a complex underwater environment, is suitable for ROV underwater operation, towrope monitoring and form research, has strong anti-interference capability and high data precision, and is suitable for various water depths and operation scenes.

The invention relates to an ultra-short baseline transmit-receive array horizontal directivity high-precision rapid measurement mechanism comprising a measurement positioning unit used for fixing an ultra-short baseline transmit-receive array and driving the ultra-short baseline transmit-receive array to rotate around a vertical axis so as to switch measurement positions of a plurality of hydrophones in a horizontal plane; the supporting and driving unit is used for vertically supporting and driving the measuring and positioning unit to rotate around a vertical axis; and the horizontal adjusting unit is connected to the upper part of the supporting and driving unit and is used for driving the whole measuring mechanism to translate in a horizontal plane, so that the center of the measured hydrophone is aligned with the reference axis of an external measuring system. According to the invention, the clamping of the transmitting-receiving array is convenient, the clamping time is saved, the measurement efficiency is improved, the labor intensity of measurement workers is reduced, the risk in the mounting and measurement process of the transmitting-receiving array is reduced, the measurement automation level is improved, and the measurement precision is improved.

The present invention discloses a time-domain array processing method for underwater acoustic single-carrier communication based on an ultra-short baseline array, which belongs to the field of underwater acoustic communication. Specifically, each array element in the ultra-short baseline array uses a copy-related frame synchronization technology to process the single-carrier signal received simultaneously and estimate the integer delay portion. Then, each array element refines the integer delay through a three-point interpolation method to accurately calculate the fractional delay. After the signal is down-converted, phase compensation is performed on the fractional delay. Next, each array element estimates its own signal-to-noise ratio and performs weighted processing, adaptively adjusting the weighting factor. Finally, the signals that have undergone delay compensation and weighted processing are added and combined, and a single-carrier time-domain equalization method is applied to eliminate multipath interference. A decision feedback equalizer (DFE) is used to equalize the signal to further improve the reliability of the signal. The present invention improves the accuracy of signal reception. The method is simple, has low complexity, and is suitable for practical applications.

The application relates to an ultra-short baseline positioning method based on statistical difference, and relates to the field of ocean engineering. The application is used to solve the problems of small effective positioning range of the existing ultra-short baseline underwater acoustic positioning system and low positioning precision when high-precision sound velocity information is lacked. The application comprises the following steps: obtaining a slant range R T of a positioning target, a coarse measurement result cos theta T and a coarse positioning result X T ; obtaining horizontal position utilization of a difference reference station in a base array coordinate system and X T ; obtaining a reference station I with the best positioning effect; obtaining a true slant range direction angle and a direct difference correction (Delta x, Delta y) T by using the geodetic coordinates of the reference station I; obtaining a positioning target relative difference correction coordinate X=(x, y) T in the base array coordinate system by using X T , R T and (Delta x, Delta y) T ; and converting X=(x, y) T into geodetic coordinates by using a conversion matrix from the base array coordinate system to the geodetic coordinate system, so as to obtain geodetic coordinates of the positioning target. The application is used for positioning a target by using an ultra-short baseline underwater acoustic positioning system.

The application discloses a kind of based on resampling ultra-short baseline underwater acoustic time delay estimation method, it is suitable for obtaining the time delay information of two different position hydrophones in ultra-short baseline positioning system.The underwater acoustic signal captured by the hydrophone is obtained after noise reduction filtering processing, and the carrier signal with single frequency band is obtained, and the single frequency sample is selected by short-time Fourier transform method, and the signal frequency is determined after analyzing multiple sampling points, and resampling is carried out;The signal after resampling is Fourier transformed again, so that the phase of the underwater acoustic signal captured by any hydrophone is obtained, and the phase difference is calculated, that is, the time delay of the signal between two hydrophones.The application has higher time delay estimation accuracy, smaller calculation amount, and can quickly complete the time delay information between the target signals collected by each hydrophone in the ultra-short baseline array, and the method does not need to know the specific waveform of target signal, and can be used for unknown waveform signal detection.

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

The application discloses a submersible combined navigation adaptive calibration method based on multi-source confidence evaluation, belongs to the technical field of underwater navigation and data processing, and is used for submersible combined navigation, and comprises the following steps: a multi-dimensional ultra-short baseline positioning system confidence evaluation model is established; a comprehensive confidence index is dynamically calculated through signal quality, geometric precision factor quality, environmental parameters and data sequence stability; the Kalman filter observation weight is adaptively adjusted based on the comprehensive confidence index; and a three-level decision mechanism is designed to replace artificial judgment. The application realizes intelligent fusion of the positioning data of the ultra-short baseline positioning system, reduces human participation, improves the autonomy of the submersible navigation and positioning, and further improves the underwater operation efficiency of the submersible.

The application discloses a kind of based on virtual transceiver matrix's ultra-short baseline positioning method, belong to underwater acoustic target navigation positioning technical field.Method is: ship end installs entity transceiver and obtains position information;Mobile terminal installs transponder and Doppler log, obtains the distance information of entity transceiver and transponder, the speed information of mobile terminal, solves the initial position information of transponder containing error;After multiple periodic ranging, the position of virtual transceiver is calculated, the position information of virtual transceiver matrix is obtained, and virtual transceiver matrix is constructed;The initial position information of transponder containing error is regarded as iterative initial value, high-precision position information of transponder is solved by using iterative suppression algorithm, and the real-time position information of mobile terminal is obtained.The ultra-short baseline positioning method based on virtual transceiver matrix provided by the application can realize high-precision positioning in low signal-to-noise ratio environment without adding new hardware.

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.

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.

The present application relates to the technical field of ultra-short baseline positioning, and particularly relates to an ultra-short baseline positioning method and system based on TDOA observation values and effective sound velocity, a spatial geometric distance mathematical relationship between a hydrophone and a sound source target is constructed according to a position vector of the hydrophone in a carrier coordinate system in a USBL system, and an ultra-short baseline TDOA observation equation is established, unknown parameters of the ultra-short baseline TDOA observation equation include an effective sound velocity parameter and a sound source position vector parameter; an effective sound velocity approximation value and a sound source position vector approximation value are brought into the ultra-short baseline TDOA observation equation to linearize the ultra-short baseline TDOA observation equation; the linearized ultra-short baseline TDOA observation equation is solved iteratively by using a least square method criterion, and final effective sound velocity and a sound source target position vector are obtained according to a solution result. The present application can be applied to a USBL system taking TDOA as original observation values, can avoid sound ray bending influence, has simple calculation principles, and can be embedded for use in a new type of USBL positioning system.

The utility model relates to an ultra-short base line underwater beacon searching and positioning device connected with a GNSS network and an underwater beacon positioning system, and the ultra-short base line underwater beacon searching and positioning device connected with the GNSS network can float in an approximate searching area through a water surface floating carrier. On one hand, sound signals sent by an underwater sound beacon are obtained through an ultra-short baseline sound array, the position of the underwater sound beacon relative to ultra-short baseline underwater beacon searching and positioning equipment is obtained, and position information of the ultra-short baseline underwater beacon searching and positioning equipment is obtained through a GNSS network positioning antenna; and obtaining the position of the underwater beacon based on the position information.

The invention relates to an underwater acoustic network assisted UUV formation positioning and navigation method, which comprises the following steps: (1) underwater acoustic network assisted UUV formation navigation and positioning overall design: in a navigation and positioning period, a navigator UUV emits a positioning ping signal, each follower UUV receives the ping signal and emits a positioning echo signal in a delayed manner, and each follower UUV receives the echo signal; the navigator UUV receives echo signals responded by all the follower UUVs through the ultra-short baseline array to carry out response distance measurement and ultra-short baseline direction finding, the GPS position of the navigator UUV output by inertial navigation equipment is integrated, geometric calculation is carried out to obtain the GPS position of each follower UUV, the navigator UUV broadcasts the GPS of the follower UUV through the underwater acoustic communication network node, and UUV formation navigation positioning is achieved. According to the invention, navigation and positioning of a plurality of follower UUVs can be realized, data transmission service among the UUVs can be provided, and the method has the advantages of low cost-effectiveness ratio, flexible use, high navigation efficiency, realization of positioning and navigation of a plurality of UUVs in a migratable area, and good practical value.

The invention discloses an ultra-short baseline positioning method based on a virtual transceiver array, and belongs to the technical field of underwater acoustic target navigation and positioning. The method comprises the steps that a ship end is provided with an entity transceiver and obtains position information; the mobile terminal is provided with a transponder and a Doppler log, obtains the distance information between the entity transceiver and the transponder and the speed information of the mobile terminal, and solves the error-containing initial position information of the transponder; after multiple times of periodic distance measurement, the position of the virtual transceiver is adopted and calculated, the position information of the virtual transceiver array is obtained, and the virtual transceiver array is constructed; and setting the error-containing initial position information of the transponder as an iteration initial value, substituting and solving the high-precision position information of the transponder by adopting an iteration suppression algorithm, and obtaining the real-time position information of the mobile terminal. According to the ultra-short baseline positioning method based on the virtual transceiver array provided by the invention, high-precision positioning in a low signal-to-noise ratio environment can be realized without newly adding hardware.

The ROV tow cable form perception system based on distributed grating fiber and IMU array belongs to the technical field of underwater engineering, ocean measurement and ocean equipment. Through the cooperation of four modules, high-precision real-time perception of the tow cable form in complex underwater environment is realized: the grating fiber module collects cable curvature data for form reconstruction; the ROV actuation module realizes dynamic movement by pulling the tow cable, so that the cable produces measurable physical form and can simulate the cable state under different operating conditions; the IMU array module is used to accurately collect the attitude information of each node, and the curvature data of the grating fiber are fused to calculate the three-dimensional space form of the tow cable in real time; the ultra-short baseline module provides a stable spatial reference and correction data for cable form reconstruction. The system can realize high-precision and real-time perception and analysis of the tow cable form in complex underwater environment, and is suitable for ROV underwater operation, tow cable monitoring and form research. It has strong anti-interference ability, high data precision and is suitable for various water depths and operating scenarios.