CN115856975A - Underwater target accurate positioning resolving method based on Beidou floating platform - Google Patents
Underwater target accurate positioning resolving method based on Beidou floating platform Download PDFInfo
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Abstract
The invention discloses an underwater target accurate positioning resolving method based on Beidou floating platforms. The technical scheme of the invention can realize accurate measurement of underwater sound rays under complex hydrological conditions, complete clock synchronization and underwater sound delay measurement of the water surface buoy and the underwater target, simultaneously support various positioning modes such as synchronous positioning, asynchronous positioning, passive positioning and the like, select different positioning modes according to actual conditions and meet the positioning and navigation requirements of underwater users.
Description
Technical Field
The invention belongs to the field of underwater positioning, and particularly relates to an underwater target accurate positioning resolving method based on a Beidou floating platform.
Background
The basic principle of Beidou positioning is that the distance between a satellite with a known position and a user receiver is measured, and then the specific position of the receiver can be determined by integrating data of a plurality of satellites. The Beidou second-generation positioning system adopts passive positioning, and a satellite system can continuously transmit navigation messages. When a user receives the navigation message, the satellite time is extracted and compared with the clock of the user to obtain the distance between the satellite and the user, and the distance is corrected by utilizing information such as ionospheric delay correction, atmospheric refraction correction and the like in the navigation message. Because the clock used by the user receiver and the satellite-borne clock cannot be always synchronous, except for the three-dimensional coordinates x, y and z of the user, delta t, namely the time difference between the satellite and the receiver, is used as an unknown number, and then 4 equations formed by 4 satellite signals are used for solving the unknown number to obtain the target position. The Beidou positioning can meet the positioning requirements of land and water surface users, but for underwater users, because satellite signals cannot penetrate through the water surface, the existing satellite navigation technology is difficult to realize direct application in water.
The basic principle of long-baseline underwater acoustic positioning is that a question-answering machine on a measured underwater target is used for sending inquiry signals to transponders with known positions, the response signals of the transponders are received, a resolving equation is listed through signal propagation delay difference and technologies such as hyperbolic positioning or trilateral positioning, and finally the three-dimensional position coordinates of a measured carrier are determined. Under ideal conditions, the accurate position of the target can be obtained by long-baseline underwater acoustic positioning, but because of the problem of sound ray bending caused by sound velocity gradient existing in the depth direction underwater, a larger positioning error is caused by directly utilizing an acoustic ranging method to calculate the slant distance, and the underwater target is difficult to be accurately positioned directly.
Disclosure of Invention
Aiming at the problems that Beidou positioning is difficult to be used for positioning an underwater target, long-baseline underwater acoustic distance measurement is influenced by factors such as sound velocity gradient and the like, and the distance measurement error is large, the invention provides an underwater target accurate positioning calculation method based on a Beidou floating platform, which solves the problems of underwater acoustic ray accurate measurement, positioning error correction and the like under complex hydrological conditions, establishes an underwater acoustic synchronous positioning and asynchronous positioning model, and realizes accurate positioning calculation of the position of an underwater user.
The specific technical scheme for realizing the purpose of the invention is as follows:
an underwater target accurate positioning resolving method based on a Beidou floating platform comprises the following steps:
step 1, accurately measuring underwater sound rays under complex hydrological conditions, and correcting the sound rays;
step 2, performing underwater acoustic ranging, and determining distance information between the underwater target and each floating platform;
step 3, acquiring the time position of each floating platform based on Beidou cluster positioning;
and 4, determining accurate position information of the underwater target based on the underwater acoustic ranging information and the position information.
Compared with the prior art, the invention has the beneficial effects that:
(1) The method constructs an underwater target accurate positioning resolving method based on the Beidou floating platform, supports various positioning modes such as synchronous positioning, asynchronous positioning and passive positioning, can select different positioning modes according to actual conditions, and meets the positioning and navigation requirements of underwater users;
(2) The underwater sound line time delay measurement method can realize accurate measurement of the underwater sound line under the complex hydrological condition, complete clock synchronization and underwater sound time delay measurement of the water surface buoy and the underwater target, and can complete position calculation of the underwater user based on synchronous time delay positioning or asynchronous time delay positioning.
Drawings
FIG. 1 is a flow chart of steps of an underwater target accurate positioning resolving method based on a Beidou floating platform.
Fig. 2 is a schematic diagram illustrating the principle of performing underwater acoustic ranging based on synchronous positioning in the present invention.
Fig. 3 is a schematic diagram of the principle of underwater acoustic ranging based on asynchronous positioning in the present invention.
Fig. 4 is a schematic diagram of the principle of underwater acoustic ranging based on passive positioning in the present invention.
Detailed Description
An underwater target accurate positioning resolving method based on a Beidou floating platform comprises the following steps:
step 1, accurately measuring underwater sound rays under complex hydrological conditions, and correcting sound rays, specifically:
and (3) by utilizing an average sound velocity method, according to the field measurement result of the sound velocity profile, regarding the propagation velocity of the sound velocity in the layer of water from the sound source to the receiving depth as a constant value, averagely selecting a plurality of test points on a vertical line, and carrying out weighted average on the sound velocity to obtain the sound velocity approximate value of the region.
Step 2, performing underwater acoustic ranging, and determining distance information between the underwater target and each floating platform, wherein the method specifically comprises the following steps:
the underwater acoustic ranging method is characterized by comprising the following steps of performing underwater acoustic ranging according to the positioning mode of an underwater target, and if the positioning mode of the underwater target is a synchronous positioning mode, performing underwater acoustic ranging based on synchronous positioning, specifically:
synchronous ranging requires stable clock synchronization at the two ends of signal receiving and transmitting, the transmitting end transmits a signal carrying clock information, and the receiving end multiplies the sound velocity by the difference between the receiving time and the transmitting time to obtain distance information. The underwater target transmits a signal carrying clock information based on an underwater sound positioning terminal, each floating platform receives the signal through underwater sound, and the distance information between each floating platform and the underwater target is obtained by multiplying the difference between the receiving time and the transmitting time by the corrected sound velocity:
D n ＝v sound ·t n
Wherein D is n Representing the distance, v, of the nth floating platform from the underwater target Sound Representing the acoustic velocity, t, of the region n Representing the time difference between the time of receipt of the signal and the time of transmission of the signal by the nth floating platform.
If the underwater target is positioned in an asynchronous positioning mode, performing underwater acoustic ranging based on the asynchronous positioning, specifically:
asynchronous distance measurement does not need clock synchronization at the two ends of signal receiving and transmitting, but utilizes response time, sound velocity and space relative position information at the two sides of the signal receiving and transmitting to calculate the distance between the two ends of the signal receiving and transmitting.
The first floating platform sends the information t carrying the emission time to the underwater target in an underwater acoustic communication mode 1 Of the underwater target at t 2 The communication signal is received at the moment of time, and at t 3 Time broadcast transmitting a carrier t 1 、t 2 、t 3 And each floating platform sequentially receives the signals according to the number sequence, and determines the distance information between the floating platform and the underwater target based on the time of receiving the signals:
wherein D is n Represents the distance, t, of the nth floating platform from the underwater target n+3 Representing the time of receipt of the signal, v, by the nth floating platform Sound Representing the speed of sound in this region.
If the underwater target is located passively, performing underwater acoustic ranging based on passive location, specifically:
the passive ranging method only has the advantages that one end transmits signals, the other end passively receives signals, and the distance from the transmitting end to the receiving end is estimated according to information such as time delay difference and reference coordinates of the signals received by the receiving end and the sound wave propagation speed.
The n floating platforms respectively transmit a communication signal carrying self transmitting time information and position by using an underwater acoustic communication mode, the underwater target respectively receives the n communication signals, and the distance information between the underwater target and each buoy node is respectively obtained by using the difference between receiving and transmitting moments and combining sound velocity:
D n ＝v sound ·(t′ n -t n )
Wherein D is n Represents the distance, t, of the nth floating platform from the underwater target n Representing the time, t 'at which the nth floating platform transmits the signal' n Representing the time, v, at which the underwater target receives n floating platform signals Sound Representing the speed of sound in this region.
Step 3, acquiring the time position of each floating platform based on Beidou cluster positioning;
step 4, determining accurate position information of the underwater target based on the underwater acoustic ranging information and the position information, which specifically comprises the following steps:
determining a positioning model of the underwater target according to a positioning mode of the underwater target, and calculating the accurate position of the underwater target by combining the ranging information obtained in the step 2 and the position information of the floating platform determined in the step 3;
specifically, the method comprises the following steps: when the positioning mode of the underwater target is a synchronous positioning mode or a passive positioning mode, determining the accurate position of the underwater target based on a synchronous time delay positioning model to solve:
(x i -x s ) 2 +(y i -y s ) 2 +(z i -z s ) 2 ＝D i 2 ,i＝1,2,3,...,n
wherein (x) i ,y i ,z i ) Represents the spatial position of floating platform No. i, (x) s ,y s ,z s ) Representing the spatial position of the underwater object to be measured, D i Representing the distance between the No. i floating platform and the underwater target to be detected;
constructing a nonlinear equation set by using the time delay data of n pairs of floating platforms, and (x) s ,y s ,z s ) Solving is carried out;
when the positioning mode of the underwater target is an asynchronous positioning mode, determining the accurate position of the underwater target based on an asynchronous time delay positioning model to solve:
firstly, selecting a No. 1 floating platform as a reference buoy:
wherein (x) j ,y j ,z j ) Represents the spatial position of floating platform No. j (x) s ,y s ,z s ) Representing the spatial position of the underwater object to be measured, D j Representing floating platform No. j and waitingMeasuring the distance of an underwater target;
delay data based on n-1 pairs of floating platforms, pair (x) s ,y s ,z s ) And (6) solving.
The present invention will be further described with reference to the following examples.
Examples
With reference to fig. 1, a method for resolving the precise positioning of an underwater target based on a Beidou floating platform comprises the following steps:
step 1, accurately measuring underwater sound rays under complex hydrological conditions, and correcting sound rays, specifically:
and (3) by utilizing an average sound velocity method, according to the field measurement result of the sound velocity profile, regarding the propagation velocity of the sound velocity in the layer of water from the sound source to the receiving depth as a constant value, averagely selecting a plurality of test points on a vertical line, and carrying out weighted average on the sound velocity to obtain the sound velocity approximate value of the region.
Step 2, performing underwater acoustic ranging, and determining distance information between the underwater target and each floating platform, wherein the method specifically comprises the following steps:
the underwater acoustic ranging method is characterized by comprising the following steps of performing underwater acoustic ranging according to the positioning mode of an underwater target, and if the positioning mode of the underwater target is a synchronous positioning mode, performing the underwater acoustic ranging based on the synchronous positioning, specifically:
the synchronous ranging requires that two ends of a signal receiving and transmitting end have stable clock synchronization, a transmitting end transmits a signal carrying clock information, and a receiving end multiplies the sound velocity by the difference between the receiving time and the transmitting time to obtain distance information. The underwater target transmits a signal carrying clock information based on an underwater sound positioning terminal, each floating platform receives the signal through underwater sound, and distance information between each floating platform and the underwater target is obtained by multiplying the difference between the receiving time and the transmitting time by the corrected sound velocity:
D n ＝v sound ·t n
Wherein D is n Representing the distance, v, of the nth floating platform from the underwater target Sound of Representing the acoustic velocity, t, of the region n Representing the time difference between the time of receipt of the signal and the time of transmission of the signal by the nth floating platform.
With reference to fig. 2, taking four floating platforms as an example, a target node 0 transmits a communication signal carrying time information of t0 at time t0 by using an underwater acoustic communication mode, beacon nodes 1, 2, 3, and 4 receive the communication signal at times t1, t2, t3, and t4, respectively, and 4 beacon nodes obtain distance information D1, D2, D3, and D4 from the target node 0 according to a difference between the receiving time and the transmitting time and by combining with a sound velocity C.
If the underwater target is positioned in an asynchronous positioning mode, performing underwater acoustic ranging based on the asynchronous positioning, specifically:
asynchronous distance measurement does not need clock synchronization at the two ends of signal receiving and transmitting, and the distance between the two ends of the signal receiving and transmitting is calculated by using the response time, the sound velocity and the space relative position information at the two sides of the signal receiving and transmitting.
The first floating platform sends information t carrying emission time to an underwater target in an underwater acoustic communication mode 1 Of underwater targets at t 2 A communication signal is received at a time t 3 Time of day broadcast transmission a carrier t 1 、t 2 、t 3 And each floating platform sequentially receives the signals according to the number sequence and determines the distance information between the floating platform and the underwater target based on the time of the received signals:
wherein D is n Represents the distance, t, of the nth floating platform from the underwater target n+3 Representing the time the nth floating platform receives the signal and the vsound represents the speed of sound in this region.
With reference to fig. 3, taking four floating platforms as an example, a beacon node 1 transmits a communication signal carrying time information of t1 to a target node 0 at time t1 by using an underwater acoustic communication manner, the target node 0 receives the communication signal at time t2, and broadcasts and transmits a communication signal carrying time information of t1, t2, and t3 at time t3, 4 beacon nodes receive the signal at times t4, t5, t6, and t7, respectively, and a half of a difference between a transceiving time difference of the beacon node 1 and a transceiving time difference of the target node 0 is multiplied by a sound velocity C, so as to obtain a distance D1 between the channel beacon node 1 and the target node 0;
since the time between the buoy nodes is highly synchronized, the time difference between (t 5-t 1) - (t 3-t 2) is the time of the communication signal from the beacon node 1 to the target node 0 and then to the beacon node 2, the time difference is multiplied by the sound velocity C to obtain the sum of the distance between the beacon node 1 and the target node 0 and the distance between the beacon node 2 and the target node 0, the distance D2 between the beacon node 2 and the target node 0 can be obtained by subtracting the previously obtained D1 from the sum of the distances, and by analogy, the distances D3 and D4 between the beacon nodes 3 and 4 and the target node 0 can be obtained.
If the underwater target is located passively, performing underwater acoustic ranging based on passive location, specifically:
the passive ranging method only has one end for transmitting and the other end for passively receiving signals, and estimates the distance from the transmitting end to the receiving end by combining the sound wave propagation speed according to the information of time delay difference, reference coordinates and the like of the signals received by the receiving end.
The n floating platforms respectively transmit a communication signal carrying self transmitting time information and position by using an underwater acoustic communication mode, the underwater target respectively receives the n communication signals, and the distance information between the underwater target and each buoy node is respectively obtained by using the difference between receiving and transmitting moments and combining sound velocity:
D n ＝v sound ·(t′ n -t n )
Wherein D is n Represents the distance, t, of the nth floating platform from the underwater target n Representing the time, t ', at which the nth floating platform transmitted the signal' n Representing the time, v, at which the underwater target receives n floating platform signals Sound of Representing the speed of sound in this region.
With reference to fig. 4, taking four floating platforms as an example, beacon nodes 1, 2, 3, and 4 respectively transmit a communication signal carrying their own transmission time information and position at times t1, t2, t3, and t4 by using an underwater acoustic communication method, a target node 0 receives 4 communication signals at times t1', t2', t3', and t4', and the target node can respectively obtain distance information D1, D2, D3, and D4 from the beacon node according to a difference between the reception time and the transmission time and in combination with a sound velocity C.
Step 3, acquiring the time position of each floating platform based on Beidou cluster positioning;
step 4, determining accurate position information of the underwater target based on the underwater acoustic ranging information and the position information, specifically:
determining a positioning model of the underwater target according to a positioning mode of the underwater target, and calculating the accurate position of the underwater target by combining the ranging information obtained in the step 2 and the position information of the floating platform determined in the step 3;
specifically, the method comprises the following steps: when the positioning mode of the underwater target is a synchronous positioning mode or a passive positioning mode, determining the accurate position of the underwater target based on a synchronous time delay positioning model to solve:
the synchronous time delay positioning principle is that according to the measured time of signal pulse reaching buoy, the spherical intersection model is used to measure the target position. The beacon of the measured target transmits a group of double CW pulses at each synchronization zero point, the i-th array element measures the arrival time t of the ranging pulse relative to the synchronization zero point i This is called synchronous delay. According to the spherical intersection principle:
(x i -x s ) 2 +(y i -y s ) 2 +(z i -z s ) 2 ＝D i 2 ,i＝1,2,3,...,n
wherein (x) i ,y i ,z i ) Represents the spatial position of floating platform No. i, (x) s ,y s ,z s ) Representing the spatial position of the underwater object to be measured, D i Representing the distance between the No. i floating platform and the underwater target to be detected;
constructing a nonlinear equation set by using the time delay data of n pairs of floating platforms, and (x) s ,y s ,z s ) Solving is carried out;
when the positioning mode of the underwater target is an asynchronous positioning mode, determining the accurate position of the underwater target based on an asynchronous time delay positioning model to solve:
(x i -x s ) 2 +(y i -y s ) 2 +(z i -z s ) 2 ＝c 2 (t i -Δt s ) 2 i＝1,2,3,...,n
wherein, Δ t s The unknown quantity represents the time synchronization error of the beacon clock and the positioning system clock of the measured target. Since the positioning system operates in a synchronous manner according to the GPS clock, it means that the Δ t of all buoys s Are all equal;
firstly, a No. 1 floating platform is selected as a reference buoy, and the formula can be changed into that:
wherein (x) j ,y j ,z j ) Represents the spatial position of floating platform number j (x) s ,y s ,z s ) Representing the spatial position of the underwater object to be measured, D j Representing the distance between the jth floating platform and the underwater target to be detected;
delay data based on n-1 pairs of floating platforms, pair (x) s ,y s ,z s ) And (6) solving.
The asynchronous positioning principle utilizes the distance difference from a sound source to 2 array elements, and the actual equivalence is reflected as time delay difference, so the asynchronous positioning principle is also called as a hyperboloid intersection model.
The method for accurately positioning and resolving the underwater target based on the Beidou floating platform, which is constructed by the invention, completes the clock synchronization and underwater sound delay measurement of the water surface buoy and the underwater target on the basis of realizing the accurate measurement of the underwater sound ray under the complex hydrological condition, can provide high-precision positioning navigation service for underwater users, and realizes the underwater extension of the domestic Beidou positioning.
The foregoing embodiments illustrate and describe the general principles and principal features of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed.
Claims (8)
1. The method for accurately positioning and resolving the underwater target based on the Beidou floating platform is characterized by comprising the following steps of:
step 1, accurately measuring underwater sound rays under complex hydrological conditions, and correcting the sound rays;
step 2, performing underwater acoustic ranging, and determining distance information between the underwater target and each floating platform;
step 3, acquiring the time position of each floating platform based on Beidou cluster positioning;
and 4, determining accurate position information of the underwater target based on the underwater acoustic ranging information and the position information.
2. The Beidou floating platform-based underwater target precise positioning and resolving method according to claim 1, characterized in that the sound ray correction in the step 1 utilizes an average sound velocity method, the propagation velocity of the sound velocity in the layer of water from the sound source to the receiving depth is regarded as a constant value, a plurality of test points are selected on a vertical line in an average manner, and the sound velocity is weighted and averaged to obtain the sound velocity approximate value of the region.
3. The Beidou floating platform based underwater target precise positioning and resolving method according to claim 1, characterized in that the underwater acoustic ranging in the step 2 specifically comprises:
performing underwater acoustic ranging according to the positioning mode of the underwater target, and performing underwater acoustic ranging based on synchronous positioning if the positioning mode of the underwater target is the synchronous positioning mode;
if the underwater target is positioned in an asynchronous positioning mode, performing underwater acoustic ranging based on the asynchronous positioning;
and if the underwater target is positioned in a passive positioning mode, performing underwater acoustic ranging based on the passive positioning.
4. The Beidou floating platform based underwater target precise positioning and resolving method according to claim 3 is characterized in that underwater acoustic ranging is carried out based on synchronous positioning, and specifically comprises the following steps:
the underwater target transmits a signal carrying clock information based on an underwater sound positioning terminal, each floating platform receives the signal through underwater sound, and distance information between each floating platform and the underwater target is obtained by multiplying the difference between the receiving time and the transmitting time by the corrected sound velocity:
D n ＝v sound ·t n
Wherein D is n Representing the distance, v, of the nth floating platform from the underwater target Sound Representing the acoustic velocity, t, of the region n Representing the time difference between the time of receipt of the signal and the time of transmission of the signal by the nth floating platform.
5. The Beidou floating platform based underwater target precise positioning and resolving method according to claim 3 is characterized in that underwater acoustic ranging is carried out based on asynchronous positioning, and specifically comprises the following steps:
the first floating platform sends the information t carrying the emission time to the underwater target in an underwater acoustic communication mode 1 Of underwater targets at t 2 At the moment of time a communication signal is received and at t 3 Time broadcast transmitting a carrier t 1 、t 2 、t 3 And each floating platform sequentially receives the signals according to the number sequence and determines the distance information between the floating platform and the underwater target based on the time of the received signals:
wherein D is n Represents the distance, t, of the nth floating platform from the underwater target n+3 Representing the time of receipt of the signal, v, by the nth floating platform Sound Representing the speed of sound in this region.
6. The Beidou floating platform based underwater target precise positioning and resolving method according to claim 3 is characterized in that underwater acoustic ranging is carried out based on passive positioning, and specifically comprises the following steps:
the n floating platforms respectively transmit a communication signal carrying self transmitting time information and position by using an underwater acoustic communication mode, the underwater target respectively receives the n communication signals, and the distance information between the underwater target and each buoy node is respectively obtained by using the difference between receiving and transmitting moments and combining sound velocity:
D n ＝v sound ·(t′ n -t n )
Wherein D is n Represents the distance, t, of the nth floating platform from the underwater target n Representing the time, t ', at which the nth floating platform transmitted the signal' n Representing the time, v, at which the underwater target receives n floating platform signals Sound of Representing the speed of sound in this region.
7. The Beidou floating platform based underwater target precise positioning and resolving method according to claim 3, characterized in that the determining of the precise position information of the underwater target in the step 4 specifically comprises:
and (3) determining a positioning model of the underwater target according to the positioning mode of the underwater target, and calculating the accurate position of the underwater target by combining the ranging information obtained in the step (2) and the position information of the floating platform determined in the step (3).
8. The Beidou floating platform based underwater target precise positioning and resolving method according to claim 7 is characterized in that when the underwater target is positioned in a synchronous positioning mode or a passive positioning mode, the precise position of the underwater target is determined based on a synchronous delay positioning model to resolve:
wherein (x) i ,y i ,z i ) Represents the spatial position of floating platform No. i, (x) s ,y s ,z s ) Representing the spatial position of the underwater object to be measured, D i Representing the distance between the No. i floating platform and the underwater target to be detected;
constructing a non-floating platform by using time delay data of n pairs of floating platformsLinear system of equations, pair (x) s ,y s ,z s ) Solving is carried out;
when the underwater target is positioned in an asynchronous positioning mode, determining the accurate position of the underwater target based on an asynchronous time delay positioning model to solve:
firstly, selecting a No. 1 floating platform as a reference buoy:
wherein (x) j ,y j ,z j ) Represents the spatial position of floating platform No. j (x) s ,y s ,z s ) Representing the spatial position of the underwater object to be measured, D j Representing the distance between the jth floating platform and the underwater target to be detected;
delay data based on n-1 pairs of floating platforms, pair (x) s ,y s ,z s ) And (6) solving.
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| CN118033542A (en) * | 2024-02-19 | 2024-05-14 | 哈尔滨工程大学 | Sound velocity reconstruction method, system and device for deep sea bistatic background and storage medium |
| CN118329011A (en) * | 2024-06-12 | 2024-07-12 | 中国科学院上海高等研究院 | Positioning navigation device and method for underwater robot |
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| CN118033542A (en) * | 2024-02-19 | 2024-05-14 | 哈尔滨工程大学 | Sound velocity reconstruction method, system and device for deep sea bistatic background and storage medium |
| CN118329011A (en) * | 2024-06-12 | 2024-07-12 | 中国科学院上海高等研究院 | Positioning navigation device and method for underwater robot |
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