Hydrophone-Assisted Underwater Robot Positioning Without Mapping
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Solution Overview
Problem
Current underwater robot mapping methods require extensive travel and data collection, leading to time-consuming and inaccurate positioning due to environmental disturbances, especially in large underwater areas.
Innovation Solution
An underwater robot positioning method that calculates positioning coordinates independently of mapping by using hydrophones and underwater acoustic communication modules to determine spacing distances based on time stamps, allowing for real-time positioning updates and correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If underwater mapping is performed by controlling robots to travel through each point and continuously scan the environment, then mapping data can be collected, but the process becomes time-consuming and costly, especially in large underwater areas
Solution Approach 1:
The patent extracts the positioning function from the mapping process. Instead of requiring complete environmental mapping for positioning, the system uses acoustic signals between robots and base stations to directly determine positions. This separates positioning from mapping, allowing positioning to occur independently and much faster than traditional mapping-based methods.
Solution Approach 2:
The patent introduces acoustic signals as an intermediary for positioning. Rather than relying on visual or tactile sensing requiring physical proximity and scanning, acoustic signals propagate through water to carry positioning information between robots and base stations, enabling remote and rapid position determination without physical travel to each location.
2Measurement precision
If underwater mapping is performed to achieve accurate positioning, then positioning accuracy can be improved, but environmental factors such as terrain and water flows reduce mapping accuracy and result in inaccurate positioning
Solution Approach 1:
The patent replaces the mechanical scanning and mapping system with an acoustic field-based positioning system. Instead of physically traveling and scanning the environment to build maps, robots use acoustic signal exchange with base stations to determine positions. This substitution eliminates the vulnerability to environmental disturbances that affect physical mapping, as acoustic timing measurements are not influenced by terrain or water flow conditions.
Solution Approach 2:
Acoustic signals serve as an intermediary that is insensitive to environmental disturbances. The time-of-flight measurements of acoustic signals between robots and base stations provide positioning information that is not affected by terrain variations or water flows, which do not alter the speed of sound in water or the timing of signal propagation.
3Measurement precision
If underwater mapping is performed to enable positioning, then positioning can be achieved, but the operational complexity and cost increase significantly
Solution Approach 1:
The patent extracts the essential positioning function from the complex mapping process. By using acoustic time-of-flight measurements between robots and base stations, the system obtains positioning information directly without requiring the complex processes of environmental scanning, feature extraction, map construction, and map matching that characterize traditional mapping-based positioning.
Solution Approach 2:
The positioning system is self-sufficient and does not require the resource-intensive mapping process. Each robot independently determines its position through acoustic signal exchange with base stations, using simple time stamp comparisons. This self-service positioning eliminates the need for centralized map construction and processing, significantly reducing system complexity and operational costs.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and efficient underwater robot positioning without the need for continuous mapping, reducing operational complexity and cost while enhancing accuracy and resilience to environmental interference.
Implementation Method 1
receiving at least one second time stamp when the positioning response is received by the positioning base station, wherein the at least one second time stamp includes a third time stamp when at least one hydrophone receives the positioning response and a fourth time stamp when an underwater acoustic communication module receives the positioning response
Implementation Method 2
determining spacing distances of the underwater robot with respect to the hydrophone and the underwater acoustic communication module according to the first time stamp and the second time stamp
Implementation Method 3
calculating the spacing distances according to the underwater acoustic wave signal propagation speed, the redundant time duration and the time difference
Data Source
AI summary
The present application relates to the technical field of underwater robot sensing, and in particular, to an underwater robot positioning method, an underwater positioning system, and a readable storage medium. The method includes: when a positioning request sent by a positioning base station is received, acquiring a positioning request receiving moment for receiving the positioning request, and sending a positioning response to the positioning base station; receiving a positioning response receiving moment sent by the positioning base station; according to the positioning request receiving moment and the positioning response receiving moment, determining spacing distances of an underwater robot with respect to a hydrophone and an underwater acoustic communication module; and, according to the spacing distances and position information of the positioning base station, updating positioning information of the underwater robot.