22 results about "Underwater acoustic positioning system" patented technology

The invention provides a control method, device and equipment for a high-precision simple underwater acoustic positioning system, and the method comprises the steps: controlling a first target structure to transmit an original positioning signal according to a preset positioning period, so as to enable a second target structure to receive a target positioning signal; receiving a target positioning signal; doppler estimation is carried out based on the target positioning signal uploaded by each reference transmit-receive structure so as to carry out motion compensation on an initial time delay value corresponding to the current positioning period; and based on the relative layer thickness between the reference transmit-receive structure array and the beacon transmit-receive structure array, performing sound velocity compensation on the initial time delay value corresponding to the current positioning period to obtain a target time delay value, and according to the target time delay value and the calibrated target position information corresponding to each reference transmit-receive structure, combining adjustment improvement based on additional speed and ranging constraint, and resolving a target positioning result corresponding to each beacon transmit-receive structure in the beacon transmit-receive structure array. According to the invention, the underwater acoustic positioning precision can be obviously improved.

To enable high-accuracy calibration, reduction of calibration time, and suppression of increases in power consumption, size, and mass of acoustic lighthouses even when a large number of acoustic lighthouses are installed in deep sea.SOLUTION: An offshore signal processing device 10 transmits and receives acoustic signals to and from a master lighthouse 20, acquires three-dimensional absolute coordinates of the master lighthouse 20 by acoustic positioning, and notifies the master lighthouse 20 of the three-dimensional absolute coordinates. The master lighthouse 20 transmits and receives acoustic signals to and from slave lighthouses 30a, 30b, acquires three-dimensional relative coordinates of the slave lighthouses 30a, 30b by acoustic positioning, and acquires three-dimensional absolute coordinates of the slave lighthouses 30a, 30b from the three-dimensional relative coordinates and its own three-dimensional absolute coordinates notified from the signal processing device 10.SELECTED DRAWING: Figure 1

The underwater acoustic positioning system comprises a center node, a transmitting node group, and a receiving node group. The transmitting node group comprises at least three transmitting nodes which are separately arranged and are connected with each other and the center node. The receiving node group comprises at least one receiving node which is connected with one transmitting node and the center node. The underwater acoustic positioning system and method can complete self-positioning by transmitting a first acoustic signal through the transmitting node group, and the center node can calculate accurate coordinates of each transmitting node based on a time difference data set. The receiving node can calculate a target position in combination with the coordinate information and a time difference data set related to an underwater target, so as to effectively offset the interference caused by a complex marine environment and guarantee the positioning accuracy. When some nodes fail, the non-failed nodes can still maintain the basic signal transmitting, receiving and data transmission functions.

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 provides an underwater positioning system and method based on a mobile base line, and belongs to the technical field of underwater positioning, the scheme adopts a positioning strategy of a mobile base station, and breaks through the limitation that a traditional underwater sound positioning system depends on the layout of a fixed base station; according to the scheme, real-time time synchronization between the water surface base station and the underwater to-be-positioned target is realized through a Beidou signal and an internet access module, the synchronization method provides an effective solution for the problem that a traditional GNSS and an inertial navigation system fail underwater, the ultrasonic distance measurement calculation process is simplified, and the positioning accuracy is improved. The demand on computing resources and the dependence on complex environment monitoring are reduced, so that the accuracy and practicability of positioning are improved; finally, according to the scheme, multiple measurement data and relative pose changes are integrated by introducing a pose map optimization method, and higher-precision positioning is achieved.

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 invention discloses a shipborne transceiver used in an underwater acoustic positioning system and the underwater acoustic positioning system, and relates to the field of offshore oil exploration, the shipborne transceiver comprises a processing unit, a receiving unit, a transmitting unit and a transceiver device; the processing unit comprises a processor and a peripheral circuit thereof; the receiving unit comprises a function selection module, a receiver, a frequency selection module and an analog-digital conversion circuit; the function selection module is used for changing the working environment of the shipborne transceiver and receiving a signal of the transponder through the transceiver; the frequency selection module is used for performing frequency selection processing on the received signal when the received signal is a narrowband signal; the transmitting unit is used for driving the transceiver to transmit signals; the transceiver includes a wireless coil for use in an overwater environment and a transducer for use in an underwater environment. Through two communication modes of electromagnetic induction and underwater sound and corresponding hardware circuits, the shipborne transceiver can well meet the interaction requirements with the transponder in various use scenes.

The invention relates to the technical field of ocean pipeline laying, in particular to an ocean pipeline laying tower angle self-adaptive adjustment and ground contact point accurate control method, which adopts a wave sensor and an ocean current meter to monitor ocean environment parameters in real time, and uses a pre-stored mathematical model to calculate an ideal angle of a J-shaped laying tower according to the ocean environment parameters. The angle of a J-shaped laying tower is adjusted through a hydraulic driving system, meanwhile, the position of a grounding point is positioned through a differential ultra-short baseline USBL underwater acoustic positioning system, the transverse movement of a pipe laying ship and the pipeline laying speed are dynamically controlled according to the deviation between the position and the target position, and therefore accurate control over the pipeline grounding point in a seabed target area is achieved. The method is mainly used for laying deep sea oil and gas pipelines and has the advantages of being high in laying precision, high in speed and the like.

The present invention belongs to the field of underwater target navigation and positioning, and discloses a method for evaluating the accuracy of an underwater acoustic positioning system for irregular offshore stations. The specific steps are: 1) setting initial conditions, selecting a single-point, trajectory, or regional evaluation mode, and establishing theoretical values ​​for the positions of the target to be measured and the long-baseline array elements; 2) field information collection and analysis, combining measurement equipment and offshore information to estimate station site errors and ranging errors, and obtaining an estimated maximum effective range through a pull-off test; 3) accuracy simulation evaluation, using the Monte Carlo method to generate station site positions and slant range measurements with errors, performing error transfer simulation and parameter solution under effective range constraints, and performing accuracy estimation using the root mean square error as an indicator. This method has the characteristics of good adaptability to complex and irregular offshore stations, accurate error transfer reproduction, and a wide range of application scenarios, and can provide technical support for high-quality positioning and measurement of underwater targets.

The invention discloses an underwater vehicle cooperative navigation and positioning method and device based on multi-hop relay and dynamic error compensation, and relates to the technical field of underwater vehicle cooperative navigation and positioning, and the method comprises the following steps: providing a double-hop cooperative architecture: a hierarchical positioning mode of a main platform-relay AUV-remote AUV (operation AUV or reconnaissance AUV); relative positioning is carried out between the main platform and the relay AUV through the ultra-short baseline underwater acoustic positioning system; cooperative positioning is carried out between the relay AUV and the long-distance AUV through an underwater acoustic communication pure distance measurement mode; by establishing an underwater acoustic positioning full-error model (covering time, lever arm, sound velocity disturbance and the like) and utilizing EKF to dynamically correct a positioning result, meter-scale positioning precision in a 100km range is realized. According to the invention, high-precision cooperative positioning of the main platform on the long-distance AUV can be realized.

The invention relates to an anti-interference underwater acoustic positioning system and method, and the system comprises a fixed reference network which comprises at least three fixedly-arranged acoustic transducers and is used for transmitting multi-frequency acoustic signals; the mobile positioning target comprises at least one movable acoustic transducer and is used for receiving the multi-frequency acoustic signals transmitted by the fixed reference network; the central processing module is respectively in communication connection with the acoustic transducers in the fixed reference network and the mobile positioning target and is used for controlling each acoustic transducer; adaptive cascade filtering processing is carried out on the multi-frequency acoustic signals received by the mobile positioning target; calculating a signal arrival time difference between the movable acoustic transducer and each fixedly arranged acoustic transducer based on the filtered signal; and based on the signal arrival time difference, three-dimensional position information of the mobile positioning target is obtained through calculation. Compared with the prior art, high-precision three-dimensional position information can be stably output in a dynamic impurity interference environment.

The invention belongs to the technical field of ships, and discloses a polar scientific investigation mother ship which comprises a ship body, the ship body comprises a main deck, a ship bow and a ship stern, the ship bow and the ship stern are oppositely arranged, a first icebreaking part is arranged in the middle of the ship bow, and a second icebreaking part is arranged in the middle of the ship stern; the ship body is provided with an escape channel, and a first heating piece is arranged on the inner wall face of the escape channel. A lifting acoustic equipment cabin is arranged below the main deck of the ship body, and an omnidirectional horizontal sonar, a foresight obstacle avoidance sonar, an underwater acoustic communication system and an underwater acoustic positioning system are arranged in the lifting acoustic equipment cabin; the ship body is provided with a liquid tank below the main deck, and a second heating piece is arranged in the liquid tank. According to the polar region scientific investigation mother ship, the polar region icebreaking performance, the navigation safety and the cold resistance are effectively improved.

The present invention provides a method, device and equipment for estimating the speed of an underwater target based on an underwater acoustic positioning system. Based on the positioning acoustic signals transmitted by the target moving acoustic beacon and the positioning acoustic signals received by the underwater reference array elements, the time delay result and the signal transmission time interval are determined; based on the time delay result and the signal transmission time interval, the prior information of the target Doppler is determined; the phase difference integer ambiguity is solved by using the prior information of the target Doppler and the signal transmission time interval to determine the initial Doppler estimate value; if the initial Doppler estimate value does not meet the preset decision feedback threshold, the initial Doppler estimate value is corrected by using the prior information of the target Doppler to obtain the current target Doppler estimate value, and then the underwater target speed estimate result is determined. The present invention can accurately estimate the motion speed of an underwater dynamic target, provide Doppler information for real-time motion compensation of the underwater acoustic positioning system, and thus improve the underwater acoustic positioning accuracy.

The invention provides an underwater acoustic positioning system and an underwater acoustic positioning method. The underwater acoustic positioning system comprises a central node; the transmitting node group comprises at least three transmitting nodes which are separately arranged and are in communication connection with one another, and each transmitting node is connected with the central node; the receiving node group comprises at least one receiving node, and each receiving node is correspondingly connected with one transmitting node and is in communication connection with the central node. According to the underwater acoustic positioning system and the underwater acoustic positioning method disclosed by the invention, the transmitting node group transmits the first acoustic signal to complete self-positioning, the center node calculates the precise coordinate of each transmitting node based on the time difference data set, and the receiving node calculates the target position in combination with the coordinate information and the arrival time difference data set related to the underwater target. Interference caused by a complex marine environment can be effectively counteracted, and the positioning precision is guaranteed; when a part of nodes have failure faults, the non-failure nodes can still maintain basic signal transmitting, receiving and data transmission functions.

The invention provides an underwater target speed estimation method, device and equipment based on an underwater acoustic positioning system, and the method comprises the steps: determining a time delay result and a signal transmission time interval based on a positioning acoustic signal transmitted by a target moving acoustic beacon and a positioning acoustic signal received by an underwater reference array element; target Doppler prior information is determined based on the time delay result and the signal transmission time interval; solving a phase difference integer ambiguity by using target Doppler prior information and a signal transmission time interval so as to determine an initial Doppler estimated value; and if the initial Doppler estimation value does not meet a preset decision feedback threshold, correcting the initial Doppler estimation value by using target Doppler prior information to obtain a current target Doppler estimation value, and further determining an underwater target speed estimation result. The motion speed of the underwater dynamic target can be accurately estimated, Doppler information is provided for an underwater acoustic positioning system in real time for motion compensation, and therefore the underwater acoustic positioning precision is improved.

The present invention provides a control method, device, and apparatus for a high-precision, simple underwater acoustic positioning system, comprising: controlling a first target structure to transmit an original positioning signal according to a preset positioning cycle so that a second target structure receives the target positioning signal; receiving the target positioning signal; performing Doppler estimation based on the target positioning signal uploaded by each reference transceiver structure to perform motion compensation on the initial time delay value corresponding to the current positioning cycle; and performing sound velocity compensation on the initial time delay value corresponding to the current positioning cycle based on the relative layer thickness between the reference transceiver structure array and the beacon transceiver structure array to obtain a target time delay value; and calculating the target positioning result corresponding to each beacon transceiver structure in the beacon transceiver structure array based on the target time delay value and the target position information corresponding to each reference transceiver structure obtained by calibration, combined with an adjustment improvement based on additional velocity and ranging constraints. The present invention can significantly improve underwater acoustic positioning accuracy.

The invention relates to the technical field of underwater positioning, and relates to a mobile underwater acoustic positioning system and a reference network laying method, and the method comprises the steps: laying an acoustic control network array composed of four mobile base points in a water area to be measured; an underwater target to be positioned is controlled to emit a sound wave signal with a set frequency, and the sound wave emission moment is recorded; the base points receive the sound wave signals and record respective head wave arrival time; measuring and acquiring the three-dimensional coordinates of each mobile base point hydrophone in real time at the arrival time of the head wave; and calculating the linear distance between the underwater target and each hydrophone according to the emission time, the head wave arrival time and the sound velocity in water, and calculating the three-dimensional coordinate of the underwater target based on a spherical intersection algorithm. According to the invention, rapid and flexible deployment and real-time high-precision coordinate self-testing of the positioning array are realized.

The application discloses a water-borne body motion state estimation method and system based on a water acoustic positioning system, and the method comprises the following steps: acquiring an initial motion state of the water-borne body; the initial motion state comprises the speed, position of the water-borne body at an initial moment and the observation distance between the base array of the water acoustic positioning system and the water-borne body; taking the speed and position of the water-borne body as state variables and the observation distance as an observation variable, a state transition equation and an observation equation of an adaptive cubature Kalman filter algorithm are constructed; the observation distance of the water-borne body is acquired in real time, and the motion state of the water-borne body is estimated through the adaptive cubature Kalman filter algorithm. The application improves the adaptive cubature Kalman filter algorithm, realizes the estimation of unknown noises such as process noise variance and observation noise variance, weakens the impact of the uncertainty of noise statistical characteristics on the Kalman filter, effectively eliminates the water acoustic positioning outliers, and can improve the motion state estimation precision of the water-borne body.

The invention discloses a distributed three-dimensional underwater acoustic positioning system and method based on a curved body array. The system comprises a distributed optical fiber hydrophone and a sensing optical cable. According to the invention, a distributed optical fiber hydrophone is combined with a single sensing optical cable which naturally sinks to the bottom, a certain number of sensing units which are distributed along the optical cable at certain intervals and can be flexibly selected are utilized to construct a three-dimensional curve type body array detection sound field, and a mapping relation between the sound field and each position of the sensing optical cable is reconstructed. The array signal processing method can realize three-dimensional positioning of a single or multiple underwater sound target sources at the same time, has the advantages of simple layout, low cost, large range, high precision, good positioning robustness and the like, can solve the underwater environment problems of high optical cable array layout requirements, array time varying and the like, and is beneficial to further promotion of development of underwater sound target monitoring.

The present invention discloses a shipboard transceiver and a hydroacoustic positioning system for use in a hydroacoustic positioning system, and relates to the field of marine oil exploration. The shipboard transceiver comprises a processing unit, a receiving unit, a transmitting unit, and a transceiver device. The processing unit comprises a processor and its peripheral circuits. The receiving unit comprises a function selection module, a receiver, a frequency selection module, and an analog-to-digital conversion circuit. The function selection module is used to change the working environment of the shipboard transceiver and receive transponder signals through the transceiver device. The frequency selection module is used to perform frequency selection processing on the received signal when the received signal is a narrowband signal. The transmitting unit is used to drive the transceiver device to transmit signals. The transceiver device comprises a wireless coil for use in an above-water environment and a transducer for use in an underwater environment. The present invention utilizes electromagnetic induction and hydroacoustic communication methods and corresponding hardware circuits to enable the shipboard transceiver to effectively meet the interaction requirements with the transponder in various usage scenarios.

The invention belongs to the field of underwater target navigation and positioning, and discloses a precision evaluation method of an underwater acoustic positioning system for irregular offshore station distribution, which comprises the following specific steps of: 1) setting initial conditions, selecting a single-point, track or region evaluation mode, and establishing theoretical values of array element positions of a target to be measured and a long baseline measurement array; 2) collecting and analyzing field information, estimating a station address error and a distance measurement error in combination with measurement equipment and offshore collected information, and obtaining an estimated maximum operating distance through a pull distance test; and 3) precision simulation evaluation: generating a site position with an error and a slope distance measurement value by using a Monte Carlo method, carrying out error transfer simulation and parameter solving under the action distance constraint condition, and carrying out precision estimation by taking a root-mean-square error as an index. The method has the advantages of being good in adaptability to complex and irregular offshore station distribution, accurate in error transmission and reproduction, wide in application scene and the like, and can provide technical support for underwater target high-quality positioning measurement.

The invention discloses an underwater acoustic positioning system and method for a seabed magnetotelluric instrument in an arctic ice region, and belongs to the technical field of underwater positioning, the system comprises shipborne equipment and underwater equipment, the shipborne equipment is arranged on a scientific investigation ship, and the underwater equipment is arranged on the seabed magnetotelluric instrument; the shipborne equipment comprises an underwater sound deck unit, a ship bottom visual array and an underwater upward visual array; the underwater equipment comprises an underwater beacon which can be switched between an upper view mode and a lower view mode; the underwater sound deck unit is used for sending a control instruction to the underwater beacon and receiving position information; the ship bottom view array is installed at the bottom of a scientific investigation ship body and communicates with the underwater beacons in the upper view mode. The underwater upward-looking array is connected with the scientific investigation ship body through a cable and can be put in a sea area to communicate with the underwater beacon in the downward-looking mode. According to the invention, underwater acoustic positioning of the subglacial instrument can be realized, the salvage efficiency of the subglacial seabed magnetotelluric instrument is greatly improved, and the instrument data safety is ensured.