CN102495420B - Underwater object precision positioning system and method - Google Patents
Underwater object precision positioning system and method Download PDFInfo
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- CN102495420B CN102495420B CN 201110416084 CN201110416084A CN102495420B CN 102495420 B CN102495420 B CN 102495420B CN 201110416084 CN201110416084 CN 201110416084 CN 201110416084 A CN201110416084 A CN 201110416084A CN 102495420 B CN102495420 B CN 102495420B
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Abstract
The invention discloses an underwater object precision positioning system and a method. The system comprises a mother ship, a computer with a plurality of serial ports, a desk computer, an ultra short base line positioning system, a differential GPS (global positioning system), a compass, an ROV (remote-operated vehicle) system, a forward-looking sonar camera, a low-illuminance black and white video camera, an attitude indicator and a temperature-salinity depth profiling instrument. A shore-based transceiver, an ROV water surface system unit and the like of the ultra-short base line positioning system are carried by the mother ship, and underwater system units such as a transponder of the ultra-short base line positioning system, the forward-looking sonar camera and the like are carried by an ROV submersible vehicle, so that the underwater object precision positioning system is formed. By the aid of acoustic positioning between the shore-based transceiver and the transponder of the ultra-short base line positioning system and acoustic positioning of forward-looking sonar, the shortcoming that an existing underwater GPS positioning system only can position an object carried with an acoustic response device in a water area is overcome, and longitude and latitude coordinates of an optional unknown object in an optional water area can be positioned in a WGS (world geodetic system) 84 ellipsoidal coordinate system in real time.
Description
Technical field
The present invention relates to GPS field of locating technology under water, be specifically related to a kind of underwater object precision positioning system and method.
Background technology
At present, people do not obtain considerable progress to the exploration of the ocean of occupation of land ball surface area more than 70% compared to the exploration to space, and one of the main reasons is exactly that " visual field " is narrow.Therefore electromagnetic wave is a kind of radiated wave, can propagate in air and vacuum, and he is again the known the fastest material of velocity of propagation, is therefore to survey in universe and the relying on of transmission of information; In the ocean, the main carriers of detection and transmission of information is sound wave, and sound wave is a kind of mechanical wave, relies on medium to propagate, and its transmission capacity in the ocean is very strong, can reach up to ten thousand nautical miles, and the distance of the lower propagation of its frequency is far away, but resolution is also lower.
The motion of seawater is very complicated, comprise laminar flow between ocean current, wave, morning and evening tides, interior ripple, storm-surge current, sea water layer and turbulent flow etc., when ship in danger from the process that the water surface disappears, be subjected to the combined action of various factors, can there be very large drift in the relative water surface distress position of ship in danger, and therefore the accurate location of target in danger is most important for successfully searching and rescuing under water.Existing underwater positioning system, be broadly divided into acoustic positioning system, GPS and laser acoustic remote sensing system three major types under water: laser acoustic remote sensing system is Emission Lasers aloft, utilize the sound wave of laser and water free surface interaction generation as underwater sound source, utilize again sensor to receive the acoustical signal of submarine target reflection or scattering aloft, transmitter and receiver all can be loaded on helicopter, as a kind of new technological means, degree of ripeness is compared a certain distance in addition with two kinds of performance and other; Acoustic positioning system need to arrange acoustic array, base length according to basic matrix is divided into: long baseline positioning system, short baseline positioning system and ultra short baseline locating system, bearing accuracy successively reduces, but system consists of and operates also successive reduction and convenient, can determine measured target with respect to the position of basic matrix, be a kind of relative location; GPS is the co-located system that GPS and acoustic positioning system combine under water, it be utilize underwater sound relative positioning technology with the high-precision fixed capability of the GPS water surface to extending under water, the device of diving being dived in work deeply just can directly obtain the geodesic latitude and longitude coordinates of self, is a kind of absolute location.
Existing GPS under water mainly contains two kinds: a kind of is the long baseline jellyfish of employing system, can trace and monitor and Kinematic Positioning submarine target on sea, littoral land or aircraft, bearing accuracy is high, but demarcate complicated and only can to certain fixedly the submarine target that is loaded with the acoustics answering device in the waters position; Another kind is to adopt the lash ship realization of layout ultra-short baseline bank base transceiver and GPS to the location of submarine target, this system's maneuverability, but also must be loaded with the acoustics answering device on localizing objects.
Summary of the invention
Be to solve the problems referred to above that prior art exists, the object of the present invention is to provide a kind of can real-time detection and obtain underwater object precision positioning system and the method for the latitude and longitude coordinates of unknown object under the WGS84 ellipsoidal coordinates in any waters.
To achieve these goals, technical scheme of the present invention is as follows:
A kind of underwater object precision positioning system comprises lash ship, many serial ports computing machine, desk-top computer, ultra short baseline locating system, differential GPS, compass, ROV system, Forward-looking Sonar camera, low-light (level) B/W camera, attitude instrument and thermohaline deep profile instrument; Described ROV system comprises that maximum working depth is dive device, ROV control module, ROV power supply unit, ROV handheld control unit, 15 cun high definition TFT displays, video superimpose module, optical Fiber Closures and be wound with the optical fiber umbilical cord hand winch of 500 meters long optical fibers umbilical cables of the ROV of 300m; Described ROV is the underwater remote-control aircraft;
The described ROV device of diving comprises four horizontal propellers, vertical pusher, flux gate compass, integrated Solid State angular-rate sensor, pressure gauge, altitude gauge, the LED illuminating lamps that two 75 watts of light intensity are adjustable and the tilt-top that can rotate in ± 90 °;
Carry Forward-looking Sonar camera, low-light (level) B/W camera and ultra-short baseline transponder on the latent device of described ROV;
Described ultra short baseline locating system comprises ultra-short baseline bank base transceiver and ultra-short baseline transponder, and ultra-short baseline bank base transceiver is installed on lash ship, and the ultra-short baseline transponder is installed on the latent device of ROV;
Described differential GPS comprises GPS base station, GPS rover station and GPS linking up station, and the GPS rover station is positioned on lash ship, and GPS base station and GPS linking up station are looked the measurement situation and be positioned on other ships or the land;
Described many serial ports computing machine, desk-top computer, ultra-short baseline bank base transceiver, GPS rover station, compass, attitude instrument, ROV control module, ROV power supply unit, ROV handheld control unit, 15 cun high definition TFT displays, video superimpose module, optical Fiber Closures and the optical fiber umbilical cord hand winch that is wound with 500 meters long optical fibers umbilical cables all are positioned on lash ship;
Described thermohaline deep profile instrument is fixed in the centre of stainless steel protection frame, is the self-tolerant mode of operation, and described stainless steel protection frame is invested in the lash ship surrounding waters before ROV dives the device entry.
A kind of submarine target accurate positioning method by the collaborative latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates that obtain of ultra short baseline locating system, Forward-looking Sonar camera and differential GPS, specifically comprises the following steps:
A, ultra short baseline locating system and the compass and the differential GPS that are positioned on lash ship are worked in coordination with the latitude and longitude coordinates of ultra-short baseline transponder under the WGS84 ellipsoidal coordinates on the latent device of acquisition ROV, and the acquisition methods of this latitude and longitude coordinates comprises the steps:
A1, installation low-light (level) B/W camera, Forward-looking Sonar camera, ultra short baseline locating system, compass and differential GPS;
A11, the low-light (level) B/W camera is fixed on is positioned at ROV and dives on the tilt-top at place, device front end centre position, its output is sent to dive junction box on device of ROV through wire, is sent to successively video superimpose module and the optical Fiber Closure that is positioned on lash ship by the optical fiber umbilical cables;
A12, in the middle of ROV dives the device front end tilt-top below the Forward-looking Sonar camera is installed, keep a fixed angle between the sonar capsule of Forward-looking Sonar camera and surface level, its output is sent to dive junction box on device of ROV through wire, is sent to successively video superimpose module and optical Fiber Closure on lash ship by the optical fiber umbilical cables;
A13, ultra-short baseline transponder probe is fixed in ROV up dives on device, and 8 pin connectors of its tail end plug with the power supply plug, to start ultra-short baseline transponder internal electric source;
A14, use lead and buoyant mass trim to guarantee the latent stress equalization of device each several part in water of ROV, make gravity equal buoyancy;
A15, ultra-short baseline bank base transceiver is fixed in downward approximately 1m place, lash ship bottom surface, the horizontal coordinates of ultra-short baseline bank base transceiver is parallel with the lash ship bottom surface, and consistent with ultra-short baseline transponder its x axle of collaborative adjustment and lash ship stem direction, if inconsistent recording offset angle;
A16, the differential GPS rover station is positioned over the position that is easy to receive signal on lash ship, antenna is short as far as possible, and accurately measures the differential GPS rover station compared to the grid deviation of ultra-short baseline bank base transceiver surface level; Differential GPS base station and differential GPS linking up station are placed on place wire connecting communication, perhaps differential GPS base station and differential GPS linking up station are divided to be put in two places and to utilize wireless telecommunications to increase the communication distance of GPS rover station and GPS base station;
A17, compass is placed on level place on lash ship, the axis of adjusting compass is parallel with the axis of ship, and compass front end sensing lash ship stem direction;
A18, the attitude instrument is placed on level place on lash ship, the pitch orientation of adjusting the attitude instrument is consistent with lash ship stem direction;
A2, the latitude and longitude coordinates of output ultra-short baseline transponder under the WGS84 ellipsoidal coordinates;
A21, the thermohaline deep profile instrument that will be fixed on the stainless steel protection frame preset sampling interval by software, before measuring, it is thrown in into marine, the acoustic velocity value autostore that obtains is within it in the non-volatile FLASH of section, and read by software, and input ultra short baseline locating system software is in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A22, with the drift angle input ultra short baseline locating system software of the x axle of ultra-short baseline transponder and lash ship stem direction, in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A23, with the differential GPS rover station at the two-dimensional coordinate of ultra-short baseline bank base transceiver horizontal coordinates projection place input ultra short baseline locating system software in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
The mounted angle of B, imaging, sonar and surface level according to measured target in the Forward-looking Sonar camera, and the flux gate compass on the latent device of ROV and the Output rusults of integrated Solid State angular-rate sensor, the coordinate of collaborative output measured target under the ultra-short baseline transponder on the device of diving take ROV as the east northeast ground station center right-angle coordinate in horizon of true origin is, the output intent of this coordinate comprises the steps:
B1, obtain measured target with respect to oblique distance and the position angle of the sonar capsule of Forward-looking Sonar camera from the sonar image of Forward-looking Sonar camera collection;
B11, employing morphology opening operation carry out denoising to sonar image;
B12, employing level set method are extracted the measured target profile;
B13, employing have the not bending moment of position, yardstick and rotational invariance the provincial characteristics in profile are added up;
B14, employing Support Vector Machine are identified measured target, judge that whether measured target is by being paid close attention to measured target: if, turn step B15, again the new images that obtains is processed otherwise return to step B11;
B15, on the image that the Forward-looking Sonar camera gathers a selected measured target picture point, mouse pointer is placed in this position, can directly obtain this measured target picture point with respect to oblique distance and the position angle of Forward-looking Sonar camera sonar capsule, be measured target with respect to oblique distance and the position angle of Forward-looking Sonar camera sonar capsule;
B2, the output measured target three-dimensional coordinate under the ultra-short baseline transponder on the device of diving take ROV as the east northeast ground station center right-angle coordinate in horizon of true origin is;
B21, according to oblique distance and the position angle of measured target with respect to Forward-looking Sonar camera sonar capsule, the output three-dimensional coordinate of measured target under Forward-looking Sonar camera coordinate system;
B22, according to the mounted angle of Forward-looking Sonar camera and surface level, the Output rusults of integrated Solid State angular-rate sensor, and the sonar capsule of Forward-looking Sonar camera and the relative position of ultra-short baseline transponder, measured target is transformed to the three-dimensional coordinate of measured target under the ROV take the ultra-short baseline transponder as true origin dives the device coordinate system at the three-dimensional coordinate under Forward-looking Sonar camera coordinate system through the rotation translation;
B23, according to the dive Output rusults of the flux gate compass on device of ROV, the three-dimensional coordinate rotational transform of measured target under the ROV take the ultra-short baseline transponder as true origin dives the device coordinate system is the three-dimensional coordinate of measured target under the east northeast ground station center right-angle coordinate in horizon take the ultra-short baseline transponder as true origin is;
C, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates, can try to achieve as follows:
C1, calculate measured target with respect to the variable quantity of ultra-short baseline transponder latitude and longitude coordinates under the WGS84 ellipsoidal coordinates on the latent device of ROV;
If the three-dimensional coordinate of described measured target under the east northeast ground station center right-angle coordinate in horizon system take the ultra-short baseline transponder as true origin is output as north orientation x, east orientation y, the earth's core to z, and the latitude and longitude coordinates output under the WGS84 ellipsoidal coordinates of ultra-short baseline transponder is respectively lon1, lat1, earth radius is R, and measured target is respectively with respect to the longitude and latitude deviation of ultra-short baseline transponder:
C2, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates;
By ultra-short baseline transponder latitude and longitude coordinates lon1, lat1 under the WGS84 ellipsoidal coordinates, reach measured target with respect to longitude and latitude deviation delta lon, the Δ lat of ultra-short baseline transponder, the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates is:
lon＝lon1+Δlon
lat＝lat1+Δlat。
Compared with prior art, beneficial effect of the present invention is as follows:
1, the present invention adopts a lash ship to carry the bank base transceiver of ultra short baseline locating system, compass, differential GPS, the transponder of the water surface system unit of main control equipment and the latent device lift-launch of a ROV ultra short baseline locating system, the underwater object precision positioning system of the submarine system cell formation of Forward-looking Sonar camera and other information detection equipment, the acoustics location of the bank base transceiver of collaborative ultra short baseline locating system and the location of the acoustics between transponder and Forward-looking Sonar camera, the GPS location technology is extended under water from the water surface, thereby realize the real-time location of the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates under water.
2, the present invention adopts the alliteration of ultra short baseline locating system, Forward-looking Sonar camera system to learn the locator meams of positioning system and GPS combination, overcome the limitation that the locator meams that in the past adopts the baseline monophone to learn positioning system and GPS combination only can position the target that is loaded with the acoustics answering device in the waters, realize the real-time location to the latitude and longitude coordinates of any unknown object under the WGS84 ellipsoidal coordinates in any waters, and had good maneuverability.
3, ROV of the present invention dives on device except carrying the acoustics positioning equipments such as Forward-looking Sonar camera and ultra-short baseline transponder, has also carried the low-light (level) B/W camera, to realize the closely observation to measured target.
4, the present invention adopts successively to the Forward-looking Sonar image that obtains that morphology denoising, level set profile are extracted, disposal routes such as bending moment statistics, Support Vector Machine classification not, realize the interior high precision identification to measured target of medium-long range distance of the detection of a target approaching, improved operating efficiency.
5, experimental results show that, the present invention's its bearing accuracy in depth of water 117m, the horizontal radius in bottom surface are the effective range of 220m can reach 5m, at this moment, the EFFECTIVE RANGE of sonar is less than 50m, ROV dive the moving range of device at ultra-short baseline bank base transceiver centered by vertical direction ± 60 ° of solid angles within.
Description of drawings
3, the total accompanying drawing of the present invention, wherein:
Fig. 1 is underwater object precision positioning system device schematic diagram;
Fig. 2 is the underwater object precision positioning system structured flowchart;
Fig. 3 is the underwater object precision positioning system signal flow graph.
in figure: 1, lash ship, 2, the thermohaline deep profile instrument, 3, ultra-short baseline bank base transceiver, 4, the attitude instrument, 5, compass, 6, differential GPS, 7, the ROV control module, 8, the ROV power supply unit, 9, the ROV handheld control unit, 10, the ROV display unit, 11, optical fiber umbilical cord hand winch, 12, the optical fiber umbilical cables, 13, many serial ports computing machine, 14, desk-top computer, 15, the ROV device of diving, 16, the ultra-short baseline transponder, 17, the Forward-looking Sonar camera, 18, tilt-top, 19, the low-light (level) B/W camera, 20, two LED light sources, 21, flux gate compass, 22, the integrated Solid State angular-rate sensor, 23, pressure gauge, 24, altitude gauge, 25, the video superimpose module, 26, optical Fiber Closure.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing:
At the hull bottom of lash ship 1, Tracklink 1500 ultra-short baseline bank base transceivers 3 are installed, are settled required auxiliary, the correcting devices of ultra short baseline locating system work such as STD22 type digital compass 5, IGS-TR4 differential GPS 6 rover stations of CDL Minitilt attitude instrument 4, German An Xiusi company at the horizontal level on lash ship 1 deck; Settle ROV control module 7, ROV power supply unit 8, ROV handheld control unit 9 on lash ship 1 deck, be used for showing and be arranged on ROV dive high definition TFTROV display unit 10, and ROV power supply, control and display unit such as optical fiber umbilical cord hand winch 11 that is wound with 500 meters long optical fibers umbilical cables 12 of the video image that OE15-102 low-light (level) B/W camera 19 on device 15 tilt-tops 18 gathers; Many serial ports computing machine 13 of settling on lash ship 1 deck and desk-top computer 14 are to be used for real-time positioning calculation.On ROV dives device 15, the acoustic information detecting devicess such as Tracklink 1500 ultra-short baseline transponders 16, Blueview P450E-15 Forward-looking Sonar camera 17 are installed; Flux gate compass 21, integrated Solid State angular-rate sensor 22, pressure gauge 23, altitude gauge 24 etc. are used for the information collecting device of latent device 15 navigation of ROV; Reach the two LED light sources 20 that are used for 19 work of low-light (level) B/W camera.System architecture diagram of the present invention as shown in Figure 2, lash ship 1, the bank base transceiver of Tracklink 1500 ultra short baseline locating systems of settling on lash ship 1, compass 5, differential GPS 6, ROV power supply, control and display unit form water surface system unit; The ROV acoustic information detecting devices that device 15, ROV are dived and carried on device 15 of diving is used for the information collecting device of navigation, and optical observation apparatus forms the submarine system unit.information transmission channels between water surface system unit and submarine system unit has two, one is the wireless sound communication, one is wired optical fiber umbilical cables 12, during work, its signal conveying flow as shown in Figure 3, be arranged on the ultra short baseline locating system of ultra-short baseline bank base transceiver 3 ultra-short baseline transponder 16 formations on ROV dives device 15 with lift-launch on lash ship 1 according to the acoustics positioning principle, at compass 5, differential GPS 6 rover stations and alignment unit thermohaline deep profile instrument 2, under the collaborative work of attitude instrument 4 each equipment such as grade, by the latitude and longitude coordinates of ultra-short baseline transponder 16 under the WGS84 ellipsoidal coordinates on the latent device 15 of TrackLink software output ROV that is arranged on many serial ports computing machine 13.the flux gate compass 21 of lift-launch on ROV dives device 15, integrated Solid State angular-rate sensor 22, pressure gauge 23, altitude gauge 24, the information exchange that low-light (level) B/W camera 19 and Forward-looking Sonar camera 17 gathers is crossed the ROV inner junction box of device 15 of diving and is sent into successively video superimpose module 25 on lash ship 1 with the form of optical fiber information through optical fiber umbilical cables 12, optical Fiber Closure 26 outputs, the video information of low-light (level) B/W camera 19 is first told, after be converted to electric signal, after this electric signal is sent into ROV control module 7, course with the latent device 15 of ROV, attitude, the degree of depth, send into the demonstration of high definition TFT display after the stack of sea floor height information, the information of Forward-looking Sonar camera 17 is sent into desk-top computer 14 through netting twine, navigation information on the latent device 15 of ROV is delivered to ROV control module 7 through ROV power supply unit 8.ROV handheld control unit 9 is in the lump sent into optical Fiber Closure 26 with control signal through ROV power supply unit 8 and 500V d. c. voltage signal as man-machine interface on the other hand, realize that electric signal is to the conversion of light signal, send into dive power supply unit on device 15 of ROV through video superimpose module 25, optical fiber umbilical cables 12 successively, wherein power supply signal is converted into 48V DC voltage and other signal and is sent to dive junction box on device 15 of ROV, then divides each equipment of giving on the device of diving and node to be used for Power supply and control.the sonar image of 14 pairs of collections of desk-top computer carries out denoising, profile extracts, characteristic statistics, after pattern-recognitions etc. are processed, if be judged to be measured target, extract measured target with respect to oblique distance and the orientation of sonar capsule from sonar image, send into many serial ports computing machine 13, attitude with the latent device 15 of the ROV that is sent by ROV control module 7, the course, the degree of depth and Forward-looking Sonar camera 17 determine jointly that with the installation angle of surface level measured target is with respect to the latitude and longitude coordinates variable quantity of ultra-short baseline transponder 16 under the WGS84 ellipsoidal coordinates on the latent device 15 of ROV, diving with the ROV of TrackLink software output, the latitude and longitude coordinates value of ultra-short baseline transponder 16 under the WGS84 ellipsoidal coordinates superposes on device 15 again, the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates can be asked.
In sum, job step of the present invention is as follows:
At first, place all instrument and equipments, and line.If can not adjust the direction of the x axle of ultra-short baseline bank base transceiver 3 and stem in the same way, but a little angle of cut is arranged; If differential GPS 6 rover stations and ultra-short baseline transponder 16 have deviation in the horizontal direction; If the coordinate plane of the plane of attitude instrument 4 present positions and ultra-short baseline bank base transceiver 3 is not parallel, pitch orientation and its x axle have deviation, and its axle of rolling direction and y has deviation; All need as initial deviation input TrackLink software to revise the location output of ultra short baseline locating system.The current velocity of sound of working sea area is measured by the thermohaline deep profile instrument 2 that is operated under the molar formula before ROV dives device 15 entry, and input TrackLink software is to revise output.The sonar capsule of Forward-looking Sonar camera 17 and the angle of surface level need record to be used for positioning calculation etc.;
Secondly, bring in working sea area, start all hardware devices and software, ROV device 15 entry of diving are debugged each system works normal;
Again, ultra short baseline locating system and 17 collaborative works of Forward-looking Sonar camera are located when realizing to the undersea detection target high-precision real under the WGS84 ellipsoidal coordinates.
Claims (1)
1. the localization method of a underwater object precision positioning system, described positioning system comprise lash ship (1), many serial ports computing machine (13), desk-top computer (14), ultra short baseline locating system, differential GPS (6), compass (5), ROV system, Forward-looking Sonar camera (17), low-light (level) B/W camera (19), attitude instrument (4) and thermohaline deep profile instrument (2); Described ROV system comprises that maximum working depth is dive device (15), ROV control module (7), ROV power supply unit (8), ROV handheld control unit (9), 15 cun high definition TFT displays, video superimpose module (25), optical Fiber Closures (26) and be wound with the optical fiber umbilical cord hand winch (11) of 500 meters long optical fibers umbilical cables (12) of the ROV of 300m; Described ROV is the underwater remote-control aircraft;
The described ROV device (15) of diving comprises four horizontal propellers, vertical pusher, flux gate compass (21), integrated Solid State angular-rate sensor (22), pressure gauge (23), altitude gauge (24), the LED illuminating lamps that two 75 watts of light intensity are adjustable and the tilt-top (18) that can rotate in ± 90 °;
Described ROV upper Forward-looking Sonar camera (17), low-light (level) B/W camera (19) and the ultra-short baseline transponder (16) of carrying of device (15) of diving;
Described ultra short baseline locating system comprises ultra-short baseline bank base transceiver (3) and ultra-short baseline transponder (16), and ultra-short baseline bank base transceiver (3) is installed on lash ship (1), and ultra-short baseline transponder (16) is installed on the latent device (15) of ROV;
Described differential GPS (6) comprises GPS base station, GPS rover station and GPS linking up station, and the GPS rover station is positioned on lash ship (1), and GPS base station and GPS linking up station are looked the measurement situation and be positioned on other ships or the land;
Described many serial ports computing machine (13), desk-top computer (14), ultra-short baseline bank base transceiver (3), GPS rover station, compass (5), attitude instrument (4), ROV control module (7), ROV power supply unit (8), ROV handheld control unit (9), 15 cun high definition TFT displays, video superimpose module (25), optical Fiber Closures (26) and the optical fiber umbilical cord hand winch (11) that is wound with 500 meters long optical fibers umbilical cables (12) all are positioned on lash ship (1);
Described thermohaline deep profile instrument (2) is fixed in the centre of stainless steel protection frame, is the self-tolerant mode of operation, and described stainless steel protection frame is invested in lash ship (1) surrounding waters before ROV dives device (15) entry;
It is characterized in that: described localization method specifically comprises the following steps by the collaborative latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates that obtain of ultra short baseline locating system, Forward-looking Sonar camera (17) and differential GPS (6):
A, ultra short baseline locating system and the compass (5) and the differential GPS (6) that are positioned on lash ship (1) are worked in coordination with the upper latitude and longitude coordinates of ultra-short baseline transponder (16) under the WGS84 ellipsoidal coordinates of the latent device (15) of acquisition ROV, the acquisition methods of this latitude and longitude coordinates comprises the steps:
A1, installation low-light (level) B/W camera (19), Forward-looking Sonar camera (17), ultra short baseline locating system, compass (5) and differential GPS (6);
A11, low-light (level) B/W camera (19) is fixed on is positioned at ROV and dives on the tilt-top (18) at place, device (15) front end centre position, its output is sent to dive junction box on device (15) of ROV through wire, is sent to successively video superimpose module (25) and the optical Fiber Closure (26) that is positioned on lash ship (1) by optical fiber umbilical cables (12);
A12, Forward-looking Sonar camera (17) is installed in the below of tilt-top (18) in the middle of ROV dives device (15) front end, keep a fixed angle between the sonar capsule of Forward-looking Sonar camera (17) and surface level, its output is sent to dive junction box on device (15) of ROV through wire, is sent to successively video superimpose module (25) and optical Fiber Closure (26) on lash ship (1) by optical fiber umbilical cables (12);
A13, ultra-short baseline transponder (16) probe is fixed in ROV up dives on device (15), and 8 pin connectors of its tail end plug with the power supply plug, to start ultra-short baseline transponder (16) internal electric source;
A14, use lead and buoyant mass trim to guarantee the latent stress equalization of device (15) each several part in water of ROV, make gravity equal buoyancy;
A15, ultra-short baseline bank base transceiver (3) is fixed in downward approximately 1m place, lash ship (1) bottom surface, the horizontal coordinates of ultra-short baseline bank base transceiver (3) is parallel with lash ship (1) bottom surface, and consistent with x axle and lash ship (1) the stem direction of ultra-short baseline transponder (16) collaborative adjustment ultra-short baseline bank base transceiver (3), if inconsistent recording offset angle;
A16, differential GPS (6) rover station is positioned over the position that is easy to receive signal on lash ship (1), antenna is short as far as possible, and accurately measures differential GPS (6) rover station compared to the grid deviation of ultra-short baseline bank base transceiver (3) surface level; Differential GPS (6) base station and differential GPS (6) linking up station are placed on place wire connecting communication, perhaps differential GPS (6) base station and differential GPS (6) linking up station are divided to be put in two places and to utilize wireless telecommunications to increase the communication distance of GPS rover station and GPS base station;
A17, compass (5) is placed on level place on lash ship (1), the axis of adjusting compass (5) is parallel with the axis of ship, and compass (5) front end sensing lash ship (1) stem direction;
A18, attitude instrument (4) is placed on level place on lash ship (1), the pitch orientation of adjusting attitude instrument (4) is consistent with lash ship (1) stem direction;
A2, the latitude and longitude coordinates of output ultra-short baseline transponder (16) under the WGS84 ellipsoidal coordinates;
A21, the thermohaline deep profile instrument (2) that will be fixed on the stainless steel protection frame preset sampling interval by software, before measuring, it is thrown in into marine, the acoustic velocity value autostore that obtains is within it in the non-volatile FLASH of section, and read by software, and input ultra short baseline locating system software is in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A22, with the drift angle input ultra short baseline locating system software of the x axle of ultra-short baseline transponder (16) and lash ship (1) stem direction, in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
A23, with differential GPS (6) rover station at the two-dimensional coordinate of ultra-short baseline bank base transceiver (3) horizontal coordinates projection place input ultra short baseline locating system software in order to revise the latitude and longitude coordinates value of ultra short baseline locating system transponder under the WGS84 ellipsoidal coordinates;
B, according to the mounted angle of imaging, sonar and the surface level of measured target in Forward-looking Sonar camera (17), and the flux gate compass (21) on the latent device (15) of ROV and the Output rusults of integrated Solid State angular-rate sensor (22), the coordinate of collaborative output measured target under the ultra-short baseline transponder (16) on the device (15) of diving take ROV for the east northeast ground station center right-angle coordinate in horizon of true origin is, the output intent of this coordinate comprises the steps:
B1, obtain measured target with respect to oblique distance and the position angle of the sonar capsule of Forward-looking Sonar camera (17) from the sonar image that Forward-looking Sonar camera (17) gathers;
B11, employing morphology opening operation carry out denoising to sonar image;
B12, employing level set method are extracted the measured target profile;
B13, employing have the not bending moment of position, yardstick and rotational invariance the provincial characteristics in profile are added up;
B14, employing Support Vector Machine are identified measured target, judge that whether measured target is by being paid close attention to measured target: if, turn step B15, again the new images that obtains is processed otherwise return to step B11;
B15, on the image that Forward-looking Sonar camera (17) gathers a selected measured target picture point, mouse pointer is placed in this position, can directly obtain this measured target picture point with respect to oblique distance and the position angle of Forward-looking Sonar camera (17) sonar capsule, be measured target with respect to oblique distance and the position angle of Forward-looking Sonar camera (17) sonar capsule;
B2, the output measured target three-dimensional coordinate under the ultra-short baseline transponder (16) on the device (15) of diving take ROV for the east northeast ground station center right-angle coordinate in horizon of true origin is;
B21, according to oblique distance and the position angle of measured target with respect to Forward-looking Sonar camera (17) sonar capsule, the output three-dimensional coordinate of measured target under Forward-looking Sonar camera (17) coordinate system;
B22, the mounted angle according to Forward-looking Sonar camera (17) and surface level, the Output rusults of integrated Solid State angular-rate sensor (22), and the sonar capsule of Forward-looking Sonar camera (17) and the relative position of ultra-short baseline transponder (16), measured target is transformed to the three-dimensional coordinate of measured target under the ROV take ultra-short baseline transponder (16) as true origin dives device (15) coordinate system at the three-dimensional coordinate under Forward-looking Sonar camera (17) coordinate system through the rotation translation;
B23, according to the dive Output rusults of the flux gate compass (21) on device (15) of ROV, the three-dimensional coordinate rotational transform of measured target under the ROV take ultra-short baseline transponder (16) as true origin dives device (15) coordinate system is the three-dimensional coordinate of measured target under the east northeast ground station center right-angle coordinate in horizon take ultra-short baseline transponder (16) as true origin is;
C, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates, can try to achieve as follows:
C1, calculate measured target with respect to the variable quantity of the upper ultra-short baseline transponder (16) of the latent device of ROV (15) latitude and longitude coordinates under the WGS84 ellipsoidal coordinates;
If the three-dimensional coordinate of described measured target under the east northeast ground station center right-angle coordinate in horizon system take ultra-short baseline transponder (16) as true origin is output as north orientation x, east orientation y, the earth's core to z, and ultra-short baseline transponder (16) latitude and longitude coordinates output under the WGS84 ellipsoidal coordinates is respectively lon1, lat1, earth radius is R, and measured target is respectively with respect to the longitude and latitude deviation of ultra-short baseline transponder (16):
C2, the latitude and longitude coordinates of calculating measured target under the WGS84 ellipsoidal coordinates;
By ultra-short baseline transponder (16) latitude and longitude coordinates lon1, lat1 under the WGS84 ellipsoidal coordinates, reach measured target with respect to longitude and latitude deviation △ lon, the △ lat of ultra-short baseline transponder (16), the latitude and longitude coordinates of measured target under the WGS84 ellipsoidal coordinates is:
lon＝lon1+Δlon
lat＝lat1+Δlat。
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