CN103543459B - A kind of combined navigation device and localization method realizing underwater towed-body location - Google Patents
A kind of combined navigation device and localization method realizing underwater towed-body location Download PDFInfo
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- CN103543459B CN103543459B CN201310421367.6A CN201310421367A CN103543459B CN 103543459 B CN103543459 B CN 103543459B CN 201310421367 A CN201310421367 A CN 201310421367A CN 103543459 B CN103543459 B CN 103543459B
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- short baseline
- battle array
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention belongs to technical field of navigation and positioning, be specifically related to a kind of combined navigation device and the localization method that realize underwater towed-body location.Comprise ultra-short baseline hydrolocation device, inertial navigator, programmable integrated process waterborne; Wherein said ultra-short baseline hydrolocation device comprises GPS device, acoustic marker, ultra-short baseline primitive battle array; This guider is used for lash ship, underwater towed-body, lash ship is provided with the support of a vertical direction, described acoustic marker is arranged on the bottom of lash ship support, described GPS device is arranged on the top of lash ship support, described inertial navigator, ultra-short baseline primitive battle array are arranged on described underwater towed-body, described inertial navigator is connected with ultra-short baseline primitive battle array, and described inertial navigator, ultra-short baseline primitive battle array are all connected with described programmable integrated process waterborne with GPS device; Localization method of the present invention is not by the impact of ambient sea noise, even if single hydrolocation poor effect, inertial navigator can be filtered with wave filter, keeps the stability of location.
Description
Technical field
The invention belongs to technical field of navigation and positioning, relate to a kind of combined navigation device and localization method, particularly a kind of combined navigation device and localization method realizing underwater towed-body location.
Background technology
In Controlled Mine Countermeasures and various seafari activity, sonar usually can be utilized to carry out Underwater Target Detection location, and to locate accurately the platform (as underwater towed-body, autonomous aircraft etc.) carrying sonar be finally to the key of target detection location.
Ultra-short baseline hydrolocation (USBL) is the underwater towed-body localization method relatively commonly used, and its principle is the signal being received same reflective sound wave by multiple primitive battle array, calculates the relative position of target.Simple ultra-short baseline hydrolocation method is vulnerable to the interference of ambient sea noise, single positioning error comparatively large (for 4 primitive battle array ultra short baseline locating systems, 100m oblique distance location absolute error is about 3m).
Inertial navigation (INS) is a kind of conventional high precision airmanship, is all widely used in fields such as guided missile, aircraft, boats and ships, and its principle measures acceleration, speed, the angular velocity information of current flight body, calculates the real time position of this sail body.Inertial navigation needs a reference coordinate value at the beginning of location, and after working long hours, there will be " time drift " phenomenon, for solving the problem, general land-based installation needs to use gps system and INS, thus forms GPS INS Integrated Navigation System.
Because underwater towed-body is operated under water, cannot gps system be loaded, therefore will obtain high-precision underwater towed-body positioning precision, cooperatively interacting of ultra-short baseline hydrolocation and inertial navigation must be relied on.
Summary of the invention
For the problems referred to above, the present invention devises a kind of combined navigation device and the localization method that realize underwater towed-body location, and ultra-short baseline hydrolocation side technology can merge with inertial navigation technology by mutually, thus positions underwater towed-body.
To achieve these goals, technical scheme of the present invention is a kind of combined navigation device realizing underwater towed-body location of design, comprises ultra-short baseline hydrolocation device, inertial navigator, programmable integrated process waterborne; Wherein said ultra-short baseline hydrolocation device comprises GPS device, acoustic marker, ultra-short baseline primitive battle array; This guider is used for lash ship, underwater towed-body, and lash ship is provided with the support of a vertical direction,
Described acoustic marker is arranged on the bottom of lash ship support, described GPS device is arranged on the top of lash ship support, described inertial navigator, ultra-short baseline primitive battle array are arranged on described underwater towed-body, described inertial navigator is connected with ultra-short baseline primitive battle array, and described inertial navigator, ultra-short baseline primitive battle array are all connected with described programmable integrated process waterborne with GPS device;
Described GPS device sends the GPS location of acoustic marker to programmable integrated process waterborne, and ultra-short baseline primitive battle array sends acoustical signal to acoustic marker simultaneously, and acoustic marker is replied after receiving acoustical signal, and ultra-short baseline primitive battle array receives the acoustical signal of acoustic marker.
Inertial navigator is also provided with wave filter.Location point larger for single positioning error can be filtered, keep the stability of location.
The localization method of this device is:
Step one, described ultra-short baseline primitive battle array send synchronization pulse to described inertial navigator when receiving the acoustical signal of described acoustic marker, the time sending synchronization pulse is set to t1, and described inertial navigator receives the synchronization pulse of described ultra-short baseline primitive battle array and remembers t1;
Step 2, described ultra-short baseline primitive battle array draw the relative position of described acoustic marker and described ultra-short baseline primitive battle array, and send relative position and the t1 of described acoustic marker and described ultra-short baseline primitive battle array to described programmable integrated process waterborne;
The GPS location of the described acoustic marker that step 3, described programmable integrated process waterborne transmit according to the relative position of the described acoustic marker obtained and described ultra-short baseline primitive battle array and GPS device, draw the GPS location a of described ultra-short baseline primitive battle array, show that the time of the GPS location a of described ultra-short baseline primitive battle array is set to t2, and the GPS location a of described ultra-short baseline primitive battle array and t2 is sent to described inertial navigator;
After the GPS location a that step 4, described inertial navigator receive described ultra-short baseline primitive battle array and t2, judge the difference of t1 and t2,
When the absolute value of difference is less than or equal to 0.5s, described inertial navigator carries out integrated navigation process, obtain the GPS location b of described ultra-short baseline primitive battle array, and the GPS location b of described ultra-short baseline primitive battle array is sent to described programmable integrated process waterborne shows;
When the absolute value of difference is greater than 0.5s, power cut-off;
The GPS location b of described ultra-short baseline primitive battle array obtained above is the final position of underwater towed-body.
Advantage of the present invention and beneficial effect are:
One, not by the impact of ambient sea noise, even if single hydrolocation poor effect, inertial navigator can be filtered with wave filter, keeps the stability of location;
Two, every frame all sends hydrolocation data to inertial navigation, " time drift " problem solving that simple inertial navigator brings;
Three, ultra-short baseline acoustic positioning technique is merged mutually with inertial navigation technology, solve the problem cannot carrying out integrated navigation to underwater towed-body.
Accompanying drawing explanation
Fig. 1 is that the present invention forms schematic diagram;
Fig. 2 is flow chart of data processing figure of the present invention;
Fig. 3 is integrated navigation handling principle figure in the present invention.
Wherein, 1-lash ship; 2-underwater towed-body; 3-lash ship support; 4-GPS device; 5-acoustic marker; 6-programmable integrated process waterborne; 7-winch; 8-ultra-short baseline primitive battle array; 9-inertial navigator.
Embodiment
Be further described the specific embodiment of the present invention below in conjunction with drawings and Examples, following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
As shown in Figure 1, Figure 2 and Figure 3, the technical scheme that the present invention specifically implements is: a kind of combined navigation device realizing underwater towed-body location, comprises ultra-short baseline hydrolocation device, inertial navigator 9, programmable integrated process waterborne 6; Wherein said ultra-short baseline hydrolocation device comprises GPS device 4, acoustic marker 5, ultra-short baseline primitive battle array 8; This guider is used in lash ship 1, underwater towed-body 2, and lash ship 1 is provided with the lash ship support 3 of a vertical direction, described lash ship 1 is also provided with winch 7, described underwater towed-body 2 discharges under water by the hawser of winch 7;
Described acoustic marker 5 is arranged on the bottom of described lash ship support 3, described GPS device 4 is arranged on the top of lash ship support 3, described inertial navigator 9, ultra-short baseline primitive battle array 8 are arranged on described underwater towed-body 2, described inertial navigator 9 is connected with described ultra-short baseline primitive battle array 8, and described inertial navigator 9, ultra-short baseline primitive battle array 8 and GPS device 4 are all connected with described programmable integrated process 6 waterborne;
Described GPS device 4 sends the GPS location of described acoustic marker 5 to described programmable integrated process 6 waterborne, described ultra-short baseline primitive battle array 8 sends acoustical signal to described acoustic marker 5 simultaneously, reply after described acoustic marker 5 receives acoustical signal, described ultra-short baseline primitive battle array 8 receives the acoustical signal of described acoustic marker 5.
Inertial navigator 9 is also provided with wave filter.Location point larger for single positioning error can be filtered, keep the stability of location.
The localization method of this guider is:
Step one, described ultra-short baseline primitive battle array 8 send synchronization pulse to described inertial navigator 9 when receiving the acoustical signal of described acoustic marker 5, the time sending synchronization pulse is set to t1, and described inertial navigator 9 receives the synchronization pulse of described ultra-short baseline primitive battle array 8 and remembers t1;
Step 2, described ultra-short baseline primitive battle array 8 draw the relative position of described acoustic marker 5 and described ultra-short baseline primitive battle array 8, and send relative position and the t1 of described acoustic marker 5 and described ultra-short baseline primitive battle array 8 to described programmable integrated process 6 waterborne;
The GPS location of the described acoustic marker 5 that step 3, described programmable integrated process 6 waterborne transmit with relative position and the GPS device 4 of described ultra-short baseline primitive battle array 8 according to the described acoustic marker 5 obtained, draw the GPS location a of described ultra-short baseline primitive battle array 8, show that the time of the GPS location a of ultra-short baseline primitive battle array 8 is set to t2, and the GPS location a of described ultra-short baseline primitive battle array 8 and t2 is sent to inertial navigator 9;
After the GPS location a that step 4, described inertial navigator 9 receive described ultra-short baseline primitive battle array 8 and t2, judge the difference of t1 and t2,
When the absolute value of difference is less than or equal to 0.5s, described inertial navigator 9 carries out integrated navigation process, obtain the GPS location b of described ultra-short baseline primitive battle array 8, and the GPS location b of described ultra-short baseline primitive battle array 8 is sent to described programmable integrated process waterborne 6 shows;
When the absolute value of difference is greater than 0.5s, power cut-off;
The GPS location b of described ultra-short baseline primitive battle array 8 obtained above is the final position of underwater towed-body.Concrete integrated navigation process adopts close-coupled Integrated Navigation Algorithm, and algorithm principle figure is shown in accompanying drawing 3.Close-coupled Integrated Navigation Algorithm step is as follows:
One, by ultra-short baseline hydrolocation T
0moment positioning result (x
0, y
0) as initial value, the acceleration recorded with inertial navigator, speed, angular velocity carry out data fusion, calculate after Kalman filter and export T
0moment final positioning result (U
0, V
0);
Two, by (U
0, V
0) and T
1positioning result (the x of moment ultra-short baseline hydrolocation
1, y
1) carry out difference comparsion, regulate the matching attribute of acceleration, speed, angular velocity according to difference, calculate after Kalman filter and export T
1moment final positioning result (U
1, V
1);
Three, by that analogy, by (U
n-1, V
n-1) and T
npositioning result (the x of moment ultra-short baseline hydrolocation
n, y
n) carry out difference comparsion, regulate the matching attribute of acceleration, speed, angular velocity according to difference, calculate after Kalman filter and export T
nmoment final positioning result (U
n, V
n).
The above is only preferred embodiments of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (3)
1. realize a combined navigation device for underwater towed-body location, the programmable integrated process waterborne (6) comprising ultra-short baseline hydrolocation device, inertial navigator (9) and be arranged on lash ship (1); Wherein said ultra-short baseline hydrolocation device comprises GPS device (4), acoustic marker (5), ultra-short baseline primitive battle array (8);
It is characterized in that: the lash ship support (3) being provided with a vertical direction on lash ship (1), described acoustic marker (5) is arranged on the bottom of lash ship support (3), described GPS device (4) is arranged on the top of lash ship support (3), described inertial navigator (9), ultra-short baseline primitive battle array (8) is arranged on underwater towed-body (2), described inertial navigator (9) is connected with described ultra-short baseline primitive battle array (8), described inertial navigator (9), ultra-short baseline primitive battle array (8) and GPS device (4) are all connected with described programmable integrated process waterborne (6),
Described GPS device (4) sends the GPS location of described acoustic marker (5) to described programmable integrated process waterborne (6), described ultra-short baseline primitive battle array (8) sends acoustical signal to described acoustic marker (5) simultaneously, reply after described acoustic marker (5) receives acoustical signal, described ultra-short baseline primitive battle array (8) receives the acoustical signal of described acoustic marker (5).
2. as claimed in claim 1 a kind of realize underwater towed-body location combined navigation device, it is characterized in that: on described inertial navigator (9), be also provided with wave filter.
3. a localization method for combined navigation device as claimed in claim 1 or 2, is characterized in that:
Step one, described ultra-short baseline primitive battle array (8) send synchronization pulse to described inertial navigator (9) when receiving the acoustical signal of described acoustic marker (5), the time sending synchronization pulse is set to t1, and described inertial navigator (9) receives the synchronization pulse of described ultra-short baseline primitive battle array (8) and remembers t1;
Step 2, described ultra-short baseline primitive battle array (8) draw the relative position of described acoustic marker (5) and described ultra-short baseline primitive battle array (8), and send relative position and the t1 of described acoustic marker (5) and ultra-short baseline primitive battle array (8) to described programmable integrated process waterborne (6);
The GPS location of the described acoustic marker (5) that step 3, described programmable integrated process waterborne (6) transmit with relative position and the described GPS device (4) of ultra-short baseline primitive battle array (8) according to the described acoustic marker (5) obtained, draw the GPS location a of described ultra-short baseline primitive battle array (8), show that the time of the GPS location a of described ultra-short baseline primitive battle array (8) is set to t2, and the GPS location a of described ultra-short baseline primitive battle array (8) and t2 is sent to described inertial navigator (9);
After the GPS location a that step 4, described inertial navigator (9) receive described ultra-short baseline primitive battle array (8) and t2, judge the difference of t1 and t2,
When the absolute value of difference is less than or equal to 0.5s, described inertial navigator (9) carries out integrated navigation process, obtain the GPS location b of described ultra-short baseline primitive battle array (8), and the GPS location b of described ultra-short baseline primitive battle array (8) is sent to described programmable integrated process waterborne (6) shows;
When the absolute value of difference is greater than 0.5s, described inertial navigator (9) terminates integrated navigation process;
The GPS location b of described ultra-short baseline primitive battle array (8) obtained above is the final position of underwater towed-body.
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Families Citing this family (13)
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| CN103926561B (en) * | 2014-04-15 | 2016-08-17 | 哈尔滨工程大学 | A kind of parameter estimation weights method for designing eliminated for the singular value of ultra-short baseline alignment error calibration |
| CN105066993B (en) * | 2015-08-24 | 2018-04-13 | 江苏中海达海洋信息技术有限公司 | LBL/MINS integrated navigation systems and its navigation data fusion method |
| CN105547290B (en) * | 2015-12-29 | 2018-02-13 | 北京理工大学 | It is a kind of based on ultra short baseline locating system from latent device air navigation aid |
| CN106526598A (en) * | 2016-12-30 | 2017-03-22 | 上海达华测绘有限公司 | Side-scan sonar underwater high-precision positioning system and method |
| CN108267717B (en) * | 2016-12-31 | 2021-08-06 | 中国船舶重工集团公司第七六○研究所 | Underwater acoustic beacon searching and positioning method and system |
| CN107390177B (en) * | 2017-07-05 | 2019-08-20 | 东南大学 | A kind of passive under-water acoustic locating method based on pure direction finding |
| CN109540172A (en) * | 2018-12-27 | 2019-03-29 | 中国船舶重工集团公司第七0研究所 | A kind of Target moving parameter estimation method for submarine mine platform |
| CN110109046A (en) * | 2019-04-22 | 2019-08-09 | 天津大学 | A kind of acoustic beacon shows a method and device |
| CN110109047A (en) * | 2019-04-22 | 2019-08-09 | 天津大学 | A kind of acoustic beacon searching and locating method and system |
| CN110207694A (en) * | 2019-05-27 | 2019-09-06 | 哈尔滨工程大学 | A kind of polar region grid inertial navigation/ultra-short baseline Combinated navigation method based on relative position information |
| CN110749339A (en) * | 2019-10-25 | 2020-02-04 | 嘉兴中科声学科技有限公司 | Positioning calibration method and device of underwater vehicle, shipborne equipment and underwater equipment |
| CN111596333B (en) * | 2020-06-05 | 2023-02-21 | 鹏城实验室 | Underwater positioning navigation method and system |
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