34 results about "Underwater acoustic positioning system" patented technology

A method for determining the position of an underwater device includes placement of a plurality of station keeping devices on or below the surface of the water in known positions. A device to locate is provided for placement below the surface of the water, and the device to locate and the station keeping devices are provided with a synchronized time base and a common acoustic pulse time schedule. Each station keeping device sends an acoustic pulse at a time according to the common acoustic pulse schedule. The device to locate receives pulses sent by the station keeping devices and calculates a distance between itself and each station keeping device based upon the time that the acoustic pulse is sent and the time that the pulse is received. The device to locate then calculates its position based upon the distances between the device to locate and the station keeping devices. Systems and devices are also disclosed.

The invention discloses a water surface automatic tracking and monitoring system for an underwater vehicle. The water surface automatic tracking and monitoring system comprises a shore-based display and control center, a wireless network communication system, an unmanned ship tracking platform and an underwater acoustic positioning system, wherein the shore-based display and control center performs two-way communication with an unmanned ship platform through a wireless network; an unmanned ship obtains a relative position of the autonomous underwater vehicle through the ultra-short base line underwater acoustic positioning system, and the autonomous underwater vehicle is tracked by operating a controller; meanwhile, status information of the underwater vehicle is transmitted to the shore-based display and control center, and further tracking type monitoring of the autonomous underwater vehicle is realized. According to the water surface automatic tracking and monitoring system disclosed by the invention, positioning and tracking control of the unmanned ship to the underwater vehicle are realized by combined use of wireless network communication, the ultra-short base line positioning system and a satellite positioning system, and tracking data are transmitted to workers on a shore, so that high-precision real-time tracking and on-shore remote monitoring of the underwater vehicleare realized.

The invention discloses an LBL / MINS integrated navigation system and a navigation information fusion method thereof. The integrated navigation system comprises a long-base-line underwater acoustic positioning system (LBL) and a micro-inertial navigation system (MINS). Data fusion is performed on positioning information of the two systems through an extended Kalman filter, and an optimal navigation and positioning result is output; meanwhile, the extended Kalman filter feeds output positioning error information back to positioning error models of the two systems so that the positioning error models of the two systems can be corrected according to the positioning error information, and positioning information with the accuracy higher than that of positioning information obtained by any single navigation method can be obtained; based on the float type LBL, a least-square support vector machine is adopted for correcting the positioning error model of the MINS, and in an area without underwater acoustic signal blockage, error compensation is performed on navigation information of the MINS through the corrected positioning error model of the MINS. The defect that the positioning accuracy of a traditional MINS fluctuates along with time is overcome, and the navigation and positioning accuracy of the integrated navigation system is guaranteed.

The invention discloses an underwater multipurpose robot propelled by bionic undulating fins. The underwater multipurpose robot comprises a head, a middle, a tail, a left bionic undulating fin propelling mechanism and a right bionic undulating fin propelling mechanism which are arranged in sequence. The bionic undulating fin propelling mechanisms on the left side and the right side with a cam swing arm driving structure as the core are adopted for driving the fin strips to drive the flexible fin faces to generate continuous undulating deformation, the fin strips act with water to generate advancing thrust, through cooperation with a sinking and floating adjusting mechanism in the middle, multi-dimensional movement such as straight moving, turning and floating and diving of the underwater robot can be achieved, and good maneuverability is achieved. Meanwhile, the sensing flow field speed data and the self orientation data can be obtained according to an ultrasonic Doppler current meterarranged at the head part and a USBL underwater acoustic positioning system; motion of the underwater robot is planned, the underwater robot is selected to operate on a channel with constant flow velocity and small flow resistance, the underwater robot has the capacity of sensing and reducing underwater surge interference in advance, and the underwater robot has good reliability and robustness.

The invention discloses a deep diving manned submersible integrated navigation method based on DR / USBL. The method comprises the following steps: (1) performing real-time recursive calculation by utilizing attitude angle information provided by an attitude sensor carried on a manned submersible and ground speed information provided by a Doppler log to obtain position information, thereby forming aset of autonomous dead reckoning system DR; (2) positioning the manned submersible by using an ultra-short baseline USBL array mounted at the bottom of a water surface support mother ship, and designing an online data cleaning scheme to process outliers and missing values in USBL source data so as to obtain continuous and consistent position data; and (3) designing a Kalman filter, effectively fusing the dead reckoning system DR and the ultra-short baseline underwater acoustic positioning system USBL, and constructing a DR / USBL integrated navigation system, thereby obtaining a near-seabed integrated navigation result of which the positioning error is not accumulated along with time. According to the method, the problems of USBL positioning data loss and jump point and DR positioning erroraccumulation along with time are solved, and near-seabed high-precision navigation positioning of the deep diving manned submersible can be realized.

The invention discloses a signal designing and processing method for a high-precision underwater acoustic positioning system. The method faces the requirements of marine scientific investigation, exploration, operation, security and protection and the like on underwater multi-user and high-precision positioning and navigation, and the method comprises two steps of signal design and signal processing. In a signal design process, a direct spread spectrum sequence is adopted to design a signal. A designed signal is transmitted through a transmitting circuit and a transducer of the long baseline acoustic positioning system. In the signal processing process, a reference direct spread spectrum sequence which is the same as that in the signal design process is adopted for processing. Doppler frequency shift and code phase can be obtained at the same time. The transmitting moment of the signal is accurately estimated, and high distance measurement precision can be ensured. Due to the fact thatsignals are designed through the direct spread spectrum sequence technology, different beacons are distinguished through the autocorrelation and cross-correlation characteristics of direct spread spectrum sequence codes, the underwater robot can work in a one-way positioning mode that only beacon signals are received and processed, and the problem that the number of users of a traditional long-baseline underwater acoustic system is limited is solved.

The invention relates to a sound ray correction method, in particular to application of a sound ray correction algorithm based on a spatial scale to a long baseline underwater acoustic positioning system. By knowing the depths of a transponder and an underwater target, according to the vertical distance simplification principle, the sound velocity profile is simplified, redundant repeated data which can generate interference are abandoned, data which are obvious in change and have calculation value are reserved, calculation iteration of sound ray correction is greatly reduced, rapid simplification operation is achieved, and the data processing efficiency of sound ray tracking is obviously improved. The simplified sound velocity profile is layered on the spatial scale, and the non-uniform spatial distribution of seawater is further considered, so that the method is more in line with the actual scene.

The invention provides an active and passive compatible underwater acoustic positioning system. The active and passive compatible underwater acoustic positioning system comprises four subsurface buoynetworking devices and one subsurface buoy positioning terminal, the subsurface buoy networking device and the subsurface buoy positioning terminal each comprise a subsurface buoy and a battery pack,and the subsurface buoys are fixedly connected with the corresponding battery packs. Each subsurface buoy comprises an electronic cabin, a transmitting-receiving combined underwater acoustic transducer and a depth meter, the transmitting-receiving combined underwater acoustic transducer and the depth meter are located at the two ends of the electronic cabin respectively, the transmitting-receivingcombined underwater acoustic transducer is configured to transmit and receive 7-11 kHz underwater acoustic signals, and the depth meter is configured to obtain depth information of the subsurface buoy. The submerged buoy networking device further comprises buoys. According to the system, the active positioning requirement during autonomous sounding of the underwater target and the passive positioning requirement during concealed non-sounding are met at the same time by one system, multiple communication modes are adopted, multiple requirements of connectivity, economy and the like of the system and a shore-based system can be met, and when the system is deployed in the offshore area, an economic wireless communication mode can be adopted to communicate with the shore-based system; when the system is deployed in medium and high seas, the system can communicate with a shore base in a satellite communication mode.

The invention provides an underwater acoustic positioning system and method. As a depth sensor is arranged at a signal transmitting end, depth information is embedded in an underwater acoustic signaland is transmitted. The underwater acoustic signal containing the depth information is received by an area array transducer and a single array element transducer respectively, the slope distance information is tested by using the single array element transducer, and the azimuth of a to-be-positioned target is determined by using the directional characteristics of the area array transducer. The depth information in the underwater acoustic signal is extracted, the azimuth and the slope distance information are then combined to determine the complete position information of the to-be-positioned target, the position shift of the area array transducer is determined by a gyroscope, the complete position information of the to-be-positioned target is converted according to the position shift, theposition of the target can be accurately positioned, the positioning accuracy is improved, and the cost can also be reduced.

The invention discloses an underwater navigation positioning method and system based on SINS / LBL tight integration. The problem that in the prior art, the underwater navigation positioning error convergence speed is low is solved. The invention provides the underwater navigation positioning method based on SINS / LBL tight integration. The system based on the method comprises a strapdown inertial navigation system, a long-baseline underwater acoustic positioning system, a pressure sensor and a data processing unit. Slope distance difference, slope distance rate difference and depth value outputby the strapdown inertial navigation system are subtracted from slope distance difference and slope distance rate difference output by the long-baseline underwater acoustic positioning system and submersible vehicle depth measured by the pressure sensor respectively and then are subjected to Kalman filtering, and navigation error estimation values output by filtering are fed back to correct the strapdown inertial navigation system. According to the method disclosed by the invention, the strapdown inertial navigation system and the long-baseline underwater acoustic positioning system are tightly combined by utilizing the difference of the slant range difference and the difference of the slant range rate difference, so that the navigation positioning precision of an underwater vehicle is effectively improved.

The invention discloses a dam face detection underwater robot system based on collaborative operation of multiple acoustic devices. The underwater acoustic positioning system comprises underwater acoustic positioning equipment, a main control cabin, a battery cabin connected to the main control cabin, an underwater propeller installed in the main control cabin and the battery cabin, an underwater robot body frame connected to the main control cabin and the battery cabin, and underwater acoustic detection equipment installed on the underwater robot body frame. The underwater acoustic positioning equipment comprises an underwater acoustic positioning sound production device mounted on a buoyancy panel of the underwater robot and an underwater acoustic positioning sound receiving device connected to the shore-based console and arranged in water; the underwater acoustic positioning device and the underwater acoustic detection device are both in modular design and both have a complete buoyancy state. And an energy storage module is arranged in the battery cabin. According to the invention, the underwater acoustic positioning device and the underwater acoustic detection device are integrated in the underwater robot system for cooperative operation, so that the purpose of efficient dam surface detection is achieved.

The invention provides an underwater acoustic sensor network deep sea target positioning method based on glancing angle sound ray correction; under the condition that the sound velocity profile and the glancing angle of a node receiving end are known, the accurate horizontal distance between the node and the target can be obtained, and then the target positioning accuracy is improved. According to the method, the technical problem that a time-based distance measurement method and a traditional sound ray correction method cannot be used under the condition that a sensor node and a target clock are asynchronous is solved, the influence of sound ray bending on distance measurement and target positioning is corrected, and the target positioning precision is obviously improved; the glancing-angle-based sound ray correction method can be used for deep-sea target positioning of an underwater acoustic sensor network and can also be used for deep-sea target positioning of other underwater acoustic positioning systems.

The invention discloses an underwater target positioning method based on an improved arrival frequency difference. The method comprises the following steps: step 1, acquiring time delay difference information and frequency difference information required by calculation from an input signal; step 2, establishing a resolving equation of a target position according to the obtained time delay difference and frequency difference information; according to the obtained information, establishing a time delay difference relation equation and a frequency difference relation equation of the underwater maneuvering platform and the target at two different positions to form a positioning calculation equation set; and step 3, solving the equation by adopting a Newton iteration method, and if the solved result does not meet the iteration precision requirement, repeatedly carrying out cyclic solving until the solved precision requirement is met, thereby finally finishing the positioning precision calculation. According to the invention, a traditional frequency difference satellite positioning method is improved, so that the method can be applied to underwater acoustic positioning occasions, the positioning precision of an underwater acoustic positioning system is effectively improved, and the software and hardware design difficulty is reduced.

The invention relates to a multifunctional deploying and retracting cabin for a modularized underwater intelligent equipment platform, and belongs to the field of underwater unmanned equipment. The system is composed of a cabin body, a cabin door, an empennage, a hanging ring, a photoelectric composite towing cable, a watertight photoelectric interface, a sliding rail, a ballast lead block, an underwater acoustic communication system and an underwater acoustic positioning system. The cabin body adopts an open type structural design, and all sensors and actuators of the modularized underwater intelligent equipment platform can work normally in the cabin body. According to the multifunctional deploying and retracting cabin, laying and recovery of the modular underwater intelligent equipment platform can be carried out, the modular underwater intelligent equipment platform can be assisted to realize switching between an autonomous cruise measurement mode and a fish dragging measurement mode, and the system has the advantages of high recovery and laying automation degree, prolongation of underwater working time of the modular underwater intelligent equipment platform, reduction of maintenance and use cost and the like; the modular underwater intelligent equipment platform can be helped to quickly complete role conversion according to task requirements, and the systematization and intelligence of the modular underwater intelligent unmanned equipment system are greatly improved.

The invention relates to the technical field of gas leakage monitoring, in particular to equipment for detecting the seafloor natural gas hydrate exploitation gas delivery pipeline leakage. The equipment for detecting the seafloor natural gas hydrate exploitation gas delivery pipeline leakage comprises a seafloor track, a deep diving robot and an underwater acoustic positioning system, wherein theseafloor track is fixedly arranged on a seafloor gas delivery pipeline and extends along the seafloor gas delivery pipeline; multiple electric supply stations are distributed by the side of the seafloor track at equal intervals; an electric supply unit, a guiding module, an obstacle detection module, an obstacle removal module, a pushing module, a control module and a methane sensor are arrangedon the deep diving robot; and the guiding module, the obstacle detection module, the obstacle removal module, the pushing module, the control module and the methane sensor are electrically connected with the electric supply unit. According to the equipment, the leakage position of the seafloor gas delivery pipeline can be directly positioned, and image data of the pipeline damage situation can beprovided for working personnel.

The invention discloses a three-dimensional positioning method for an underwater fixed target based on multi-hypothesis depth. The method comprises the following steps of establishing a coordinate system and storing current moment-relevant information; screening current moment information and historical information through a threshold condition to match the current moment information and the historical information into pairs, listing an equation, and solving the equation to obtain a result; carrying out moving average on an equation result of the same depth; using a moving average result to eliminate values that are inconsistent with the assumed depth and corresponding positioning results, and detecting whether a new measurement value exists; when the new measurement value exists, repeating the above processes; and when the new measurement value does not exist, then ending the positioning. An underwater acoustic positioning system is a system for positioning a target under a certain reference system by ranging or direction-finding underwater targets, and in different target environments, different positioning methods are used.

The invention relates to a sound ray correction method, in particular to a sound ray correction method based on an ultra-short baseline underwater acoustic positioning system, which comprises the following steps: acquiring data of conductivity S, temperature T and depth D of seawater at different depths, calculating to obtain sound velocity at the corresponding depth, and drawing a sound velocity profile; performing cubic spline interpolation on the sound velocity profile obtained by calculation by using an interp1 function in Matlab, and increasing data density; performing equal-depth layering on the sound velocity profile, and classifying 5m into one layer; the grazing angle of each layer of sound rays, the sound velocity gradient of each layer, the sound velocity of each layer, the corrected sound ray horizontal distance and the sound ray propagation time delay are calculated and solved through an improved sound ray tracking algorithm based on quadratic polynomial fitting; according to the obtained sound ray propagation time delay and the measurement time delay estimated by the system signal processing equipment, the difference value between the sound ray propagation time delay and the measurement time delay is calculated; and judging whether the delay difference meets a set approximation degree requirement or not, and deciding to stop exiting or continue iteration.

The invention provides an underwater pipeline positioning method and device, and belongs to the technical field of pipeline positioning. Based on the accurate first coordinate of a base station, through positioning and correction of the positioning device, an accurate fourth coordinate of any first target point on the water surface is obtained. The positioning device is weak in signal underwater and cannot be directly used for positioning; the positioning device moves underwater by taking the first target point as a starting point, the displacement is recorded; and when the positioning device moves to a riverbed right above any second target point on the pipeline, the coordinate of the positioning device is obtained through the fourth coordinate and the displacement; the accurate coordinate of each second target point is obtained by combining the height difference between the positioning device and each second target point; the plurality of second target points are marked on the pipeline, and the route of the underwater pipeline is obtained based on the accurate coordinate of each second target point; and compared with a route measured by using a traditional DGPS location technique or underwater acoustic positioning systems, the route is high in precision, and the requirement of underwater high-precision positioning can be met.

The invention discloses a water surface automatic tracking and monitoring system for an underwater vehicle. The water surface automatic tracking and monitoring system comprises a shore-based display and control center, a wireless network communication system, an unmanned ship tracking platform and an underwater acoustic positioning system, wherein the shore-based display and control center performs two-way communication with an unmanned ship platform through a wireless network; an unmanned ship obtains a relative position of the autonomous underwater vehicle through the ultra-short base line underwater acoustic positioning system, and the autonomous underwater vehicle is tracked by operating a controller; meanwhile, status information of the underwater vehicle is transmitted to the shore-based display and control center, and further tracking type monitoring of the autonomous underwater vehicle is realized. According to the water surface automatic tracking and monitoring system disclosed by the invention, positioning and tracking control of the unmanned ship to the underwater vehicle are realized by combined use of wireless network communication, the ultra-short base line positioning system and a satellite positioning system, and tracking data are transmitted to workers on a shore, so that high-precision real-time tracking and on-shore remote monitoring of the underwater vehicleare realized.

The invention provides an underwater robot attitude estimation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the first position information of acoustic beacons in a reference coordinate system, and arranging a plurality of underwater acoustic positioning systems comprising the acoustic beacons and transducers in the reference coordinate system; second position information of the acoustic beacon relative to the energy converter is measured through the energy converter, then third position information of the acoustic beacon relative to the underwater robot is obtained, and the energy converter is installed on the underwater robot; according to the first position information and the third position information, a first transformation matrix of transformation from the reference coordinate system to a robot body coordinate system is obtained; and calculating the attitude information of the underwater robot relative to the reference coordinate system at the current moment according to the first transformation matrix and the Euler angle relation matrix of the underwater robot relative to the reference coordinate system. According to the invention, the acoustic beacons are installed in different reference coordinate systems, so that the attitude information of the underwater robot relative to different reference coordinate systems can be accurately measured.

The invention discloses a portable deck unit which comprises a case, a case panel installed in the case and an internal structure connected with the case panel. The portable deck unit is characterized in that an indicating lamp and interfaces are arranged on the case panel respectively; and the internal structure comprises a signal processing board, a control processing board connected to the signal processing board, a hard disc and a transmitting circuit board. The portable deck unit has the characteristics of rich interfaces, powerful visualization function and the like, can be applied to a long baseline underwater acoustic positioning system, transmit the interrogating signal at fixed time, and fulfill the inquiry and response ranging function by being matched with an acoustic release transponder, thereby realizing the positioning and the navigation to the underwater targets.

The invention provides a retracting and releasing device for an underwater acoustic positioning system. The retracting and releasing device comprises a winch, an acoustic probe guide cylinder, an acoustic probe lifting rod and an acoustic probe, the acoustic probe is arranged at the bottom end of the acoustic probe lifting rod, the top end of the acoustic probe lifting rod is connected with the winch, the acoustic probe guide cylinder is fixed in a ship body, and the bottom of the acoustic probe guide cylinder is connected with a bottom plate of the ship body and communicated with the outside of the ship body. The acoustic probe lifting rod axially moves in the acoustic probe guide cylinder, and the acoustic probe can extend out of the ship body. According to the retracting and releasing device of the underwater acoustic positioning system, the acoustic probe lifting rod is retracted and released through the winch, the acoustic probe lifting rod ascends and descends along the acoustic probe guide cylinder, retracting and releasing are flexible, meanwhile, the movement track is stable, shaking and collision are avoided, and the damage risk is avoided; and meanwhile, the structure is simple, the failure rate is low, maintenance is convenient, the manufacturing cost is low, and economical efficiency is good.

The invention relates to the technical field of gas leakage monitoring, in particular to a device for detecting the leakage of a gas transmission pipeline for subsea natural gas hydrate exploitation, comprising a subsea track, a deep submersible robot and an underwater acoustic positioning system. The subsea track is fixedly installed on the seabed gas transportation The pipeline extends along the submarine gas pipeline. There are multiple power supply stations equally spaced on the side of the submarine track. The submersible robot is equipped with a power supply unit, a guidance module, an obstacle detection module, an obstacle clearance module, a propulsion module, and a control module. Module and methane sensor; the guidance module, obstacle detection module, obstacle clearance module, propulsion module, control module and methane sensor are all electrically connected with the power supply unit; the device can directly locate the location of the leakage of the submarine gas transmission pipeline, and can provide the staff with Image data for broken pipes.

The present invention provides an active-passive compatible underwater acoustic positioning system, which includes 4 submersible locator networking equipment and 1 submersible locator positioning terminal; both the submersible locator networking equipment and the submersible locator positioning terminal include a submersible locator and a battery pack, so the The submersible mark is fixedly connected to the battery pack; the submersible mark includes an electronic cabin, a transceiver and combined underwater acoustic transducer and a depth gauge respectively located at both ends of the electronic cabin, and the transceiver combined underwater acoustic transducer is configured to transmit and receive 7- 11kHz underwater acoustic signal, and the depth gauge is configured to obtain the depth information of the submerged buoy; the submarine buoy networking equipment also includes a buoy. The present invention simultaneously satisfies the active positioning requirements when the underwater target autonomously emits sound and the passive positioning requirements when the underwater target does not emit sound simultaneously in one set of systems, adopts a variety of communication methods, and can meet the connectivity, economy, etc. between the system and the shore-based system. When deployed in the offshore, economical wireless communication can be used to communicate with the shore base; when deployed in the COSCO Sea, satellite communication can be used to communicate with the shore base.