CN-121763210-B - Submersible ultra-short baseline underwater calibration system and calibration method for installation deflection angle

CN121763210BCN 121763210 BCN121763210 BCN 121763210BCN-121763210-B

Abstract

The invention belongs to the field of error calibration, and particularly relates to a submersible ultra-short baseline underwater calibration system and a calibration method of an installation deflection angle. The invention discloses a submersible ultra-short baseline underwater calibration system and a calibration method for an installation deflection angle, which overcome the limitation that the traditional calibration method depends on high-precision GPS positioning information. The invention comprises a submersible ultra-short baseline subsystem mounted on a submersible vehicle, and two seabed reference subsystems distributed on the seabed. The method comprises the following steps of carrying out differential positioning on two seabed benchmarks along a preset track by a submersible vehicle, eliminating carrier position parameters, establishing a submersible ultra-short baseline installation deflection angle calibration model, constructing an observation equation of each installation deflection angle based on a matrix decomposition theory, and obtaining the installation deflection angle through an alternate iteration estimation algorithm. According to the invention, the installation deflection angle can be estimated without GPS measurement information, and the method is suitable for the submersible platform for long-term underwater task execution.

Inventors

ZHENG CUIE
SUN DAJUN
LI HAIPENG
ZHANG JUCHENG
HAN YUNFENG
HONG XIAOPING
CAI HANG

Assignees

青岛哈尔滨工程大学创新发展中心

Dates

Publication Date: 20260508
Application Date: 20260304

Claims (9)

1. The submersible ultra-short baseline underwater calibration system is characterized by comprising a submersible ultra-short baseline subsystem and two seabed reference subsystems, wherein the submersible ultra-short baseline subsystem is arranged on a submersible, the two seabed reference subsystems are uniformly distributed on the seabed, the submersible ultra-short baseline subsystem is used for sending a wake-up signal to the seabed, receiving calibration signals from the two seabed reference subsystems, collecting attitude data of the submersible and calculating an ultra-short baseline installation deflection angle according to the attitude data of the submersible and the received calibration signals, and the two seabed reference subsystems are used for replying the calibration signals to the submersible in a fixed period after receiving the wake-up signal; according to the received calibration signal and the attitude data of the submersible, an ultra-short baseline installation deflection angle calibration value is obtained through calculation processing, and the specific process is as follows: Obtaining two seabed reference subsystems in matrix coordinate system according to received calibration signals Lower position data; The matrix coordinate system Origin of (2) Is positioned at the geometric center of the acoustic matrix, A shaft(s), Shaft and method for producing the same The axes point in the front, right and up directions of the acoustic array, respectively; positioning two sub-sea-bed reference sub-systems in a geodetic coordinate system based on attitude data of a submersible Is converted into a carrier coordinate system Under the condition, two seabed reference subsystems are obtained in a carrier coordinate system Lower position data; The carrier coordinate system Origin of (2) Is positioned at the geometric center of the compass, A shaft(s), Shaft and method for producing the same The axes point to the front, right and upper directions of the compass respectively; The geodetic coordinate system A kind of electronic device A shaft(s), Shaft and method for producing the same The axes are directed in north, east and heaven directions, respectively; In a matrix coordinate system based on two sub-sea-bed reference subsystems The lower position data and the two seabed reference subsystems are in a carrier coordinate system Constructing a submersible ultra-short baseline installation deflection angle calibration model according to the lower position data; performing matrix decomposition processing on the submersible ultra-short baseline installation deflection angle calibration model to obtain a first installation deflection angle observation equation, a second installation deflection angle observation equation and a third installation deflection angle observation equation; And using an alternate iterative estimation algorithm to iteratively solve a first installation deflection angle observation equation, a second installation deflection angle observation equation and a third installation deflection angle observation equation to obtain an ultra-short baseline installation deflection angle calibration value.
2. The submersible ultrashort baseline underwater calibration system according to claim 1, wherein the submersible ultrashort baseline subsystem comprises an acoustic matrix, a compass, a signal processor box and a display control platform; the compass is arranged in a cavity of the acoustic array, and the acoustic array and the compass are integrally hung and arranged under the submersible; the signal processing machine case and the display control platform are fixedly arranged in the submersible; The data output end of the acoustic matrix and the compass are connected with the data input end of the signal processing box through watertight cables; the acoustic array is used for sending a wake-up signal to the seabed and receiving calibration signals from two seabed reference subsystems; the compass is used for collecting attitude data of the submersible; The signal processing machine case is used for calculating and processing according to the received calibration signals and attitude data of the submersible to obtain an ultra-short baseline installation deflection angle; the display control platform is used for displaying processing results and issuing wake-up task instructions in real time.
3. The submersible ultra-short baseline underwater calibration system according to claim 2, wherein both of said sub-subsea reference systems comprise a set of atomic clocks, a set of acoustic transceiver transducers, a set of pressure tight housings, a set of battery compartments and a set of decision and control modules; the atomic clock, the battery compartment and the judgment and control module are fixedly arranged in the pressure-resistant seal shell; the acoustic transceiver transducer is fixedly arranged on the upper surface of the pressure-resistant sealing shell; the acoustic transceiver transducer is used for receiving a wake-up signal sent by the submersible ultra-short baseline subsystem, and replying a calibration signal to the submersible in a fixed period after the wake-up signal is successfully received; the atomic clock is used for ensuring clock synchronization of the two seabed reference subsystems; The judging and controlling module is used for judging whether the received wake-up signal is successfully detected or not and controlling the acoustic transceiver transducer to reply a calibration signal to the submersible in a fixed period; the clocks of the submersible ultra-short baseline subsystem and the two seabed reference subsystems are in a synchronous state; The wake-up signal sent by the submersible ultrashort baseline subsystem is a double-frequency shift keying signal; The calibration signals recovered by the two seabed reference subsystems are direct sequence spread spectrum signals adopting different pseudo random codes.
4. The calibration method of the installation deflection angle of the submerged ultra-short base line is characterized by comprising the following steps: S1, uniformly distributing two seabed reference subsystems on the seabed; S2, the submersible to be calibrated sails around two seabed reference subsystems along a preset track, wherein the submersible to be calibrated is provided with a submersible ultra-short baseline subsystem; After receiving the wake-up signals, the two seabed reference subsystems reply calibration signals to the submersible in a fixed period; S3, the submersible ultra-short baseline subsystem receives calibration signals from the two seabed reference subsystems; the submersible ultra-short baseline subsystem collects submersible attitude data during sailing; S4, calculating an ultra-short baseline installation deflection angle calibration value by the submersible ultra-short baseline subsystem according to the attitude data of the submersible and the received calibration signal, wherein the ultra-short baseline installation deflection angle calibration value comprises a first installation deflection angle calibration value, a second installation deflection angle calibration value and a third installation deflection angle calibration value; according to the received calibration signal and the attitude data of the submersible, an ultra-short baseline installation deflection angle calibration value is obtained through calculation processing, and the specific process is as follows: Obtaining two seabed reference subsystems in matrix coordinate system according to received calibration signals Lower position data; The matrix coordinate system Origin of (2) Is positioned at the geometric center of the acoustic matrix, A shaft(s), Shaft and method for producing the same The axes point in the front, right and up directions of the acoustic array, respectively; positioning two sub-sea-bed reference sub-systems in a geodetic coordinate system based on attitude data of a submersible Is converted into a carrier coordinate system Under the condition, two seabed reference subsystems are obtained in a carrier coordinate system Lower position data; The carrier coordinate system Origin of (2) Is positioned at the geometric center of the compass, A shaft(s), Shaft and method for producing the same The axes point to the front, right and upper directions of the compass respectively; The geodetic coordinate system A kind of electronic device A shaft(s), Shaft and method for producing the same The axes are directed in north, east and heaven directions, respectively; In a matrix coordinate system based on two sub-sea-bed reference subsystems The lower position data and the two seabed reference subsystems are in a carrier coordinate system Constructing a submersible ultra-short baseline installation deflection angle calibration model according to the lower position data; performing matrix decomposition processing on the submersible ultra-short baseline installation deflection angle calibration model to obtain a first installation deflection angle observation equation, a second installation deflection angle observation equation and a third installation deflection angle observation equation; Using an alternate iterative estimation algorithm to iteratively solve a first installation deflection angle observation equation, a second installation deflection angle observation equation and a third installation deflection angle observation equation to obtain an ultrashort baseline installation deflection angle calibration value; and S5, calibrating the installation deflection angle of the ultra-short base line of the submerged carrier according to the calibration value of the installation deflection angle of the ultra-short base line.
5. The method for calibrating the installation deflection angle of the submersible ultra-short base line according to claim 4, wherein the arrangement distance of the two seabed reference subsystems in the S1 on the seabed is d; the preset track of the submersible to be calibrated in the S2 is a field-shaped track, wherein the side length of the field-shaped track is L, and L is less than or equal to d; The submarine ultra-short baseline subsystem sends a wake-up signal to the seabed during sailing, and after the two seabed reference subsystems receive the wake-up signal, the calibration signal is recovered to the submersible in a fixed period, and the specific process is as follows: the method comprises the steps that an acoustic array of a submerged ultra-short baseline subsystem sends a wake-up signal to the sea bottom, wherein the wake-up signal is a double-frequency shift keying signal; The acoustic transceiver transducers of the two seabed reference subsystems receive wake-up signals sent by the submersible ultra-short baseline subsystem, and after the wake-up signals are successfully received, calibration signals are recovered to the submersible in a fixed period; the calibration signal is a direct sequence spread spectrum signal employing different pseudo-random encodings.
6. The method of calibrating a submersible ultrashort baseline installation bias angle according to claim 5, wherein the submersible ultrashort baseline subsystem in S3 receives calibration signals from two subsea reference subsystems; the submersible ultra-short baseline subsystem is used for collecting the attitude data of the submersible during sailing, and the specific process is as follows: The acoustic array of the submersible ultra-short baseline subsystem receives calibration signals from the two seabed reference subsystems; the compass of the submersible ultra-short baseline subsystem collects the attitude data of the submersible during sailing; and S4, calculating an ultra-short baseline installation deflection angle calibration value by the submersible ultra-short baseline subsystem according to the attitude data of the submersible and the received calibration signal, wherein the specific process is as follows: S4.1, transmitting calibration signals of two seabed reference subsystems received by an acoustic array to a signal processing box, and transmitting attitude data of the submersible during sailing received by a compass to the signal processing box; and S4.2, calculating and processing by the signal processing box according to the received calibration signal and the attitude data of the submersible to obtain an ultra-short baseline installation deflection angle calibration value.
7. The method of calibrating a potential ultra-short baseline installation bias angle according to claim 6, wherein the two sub-sea floor reference systems are in a matrix coordinate system The lower position data and the two seabed reference subsystems are in a carrier coordinate system The following position data is used for constructing a submersible ultra-short baseline installation deflection angle calibration model, and the model is expressed as follows: ; Wherein, the Representing the first sub-sea-floor reference subsystem in the geodetic system At the lower position of the device, the device is provided with a lower part, Representing the second sub-sea-floor reference subsystem in the geodetic system A lower position; and (3) with Representing both in an array coordinate system A lower position; Representing the coordinate system of the carrier Conversion to the geodetic coordinate system Is a rotation matrix of (a); representing the matrix coordinate system Conversion to a carrier coordinate system Is used for the rotation matrix of the (c), expressed by the formula: ; ; Wherein, the Indicating a first mounting offset angle, the first mounting offset angle, Indicating a second mounting offset angle at which the first mounting offset angle, A third mounting offset angle is indicated and, Representing a rotation matrix corresponding to the first mounting offset angle, Representing a rotation matrix corresponding to the second mounting offset angle, And the rotation matrix corresponding to the third installation deflection angle is represented.
8. The method for calibrating the installation deflection angle of the ultra-short base line of the submerged carrier according to claim 7, wherein the method for calibrating the installation deflection angle of the submerged carrier is characterized by comprising the following steps of: the first installation deflection angle observation equation is expressed as: ; ; ; Wherein, the Representation of Is to be used in the present invention, Representing a carrier coordinate system The observation vector corresponding to the lower first installation deflection angle, Representing a matrix coordinate system An observation vector corresponding to the lower first installation deflection angle; Representing a coordinate system from earth Conversion to a carrier coordinate system Is a rotation matrix of (a); the second installation deflection angle observation equation is expressed as: ; ; ; Wherein, the Representation of Is to be used in the present invention, Representing a carrier coordinate system The observation vector corresponding to the lower second installation deflection angle, Representing a matrix coordinate system An observation vector corresponding to the lower second installation deflection angle; the third installation deflection angle observation equation is expressed as: ; ; ; Wherein, the Representation of Is to be used in the present invention, Representing a carrier coordinate system The observation vector corresponding to the lower third installation deflection angle, Representing a matrix coordinate system And the observation vector corresponding to the lower third installation deflection angle.
9. The method for calibrating the installation deflection angle of the submersible ultra-short baseline according to claim 8, wherein the method for calibrating the installation deflection angle of the submersible ultra-short baseline is characterized by using an alternate iterative estimation algorithm to iteratively solve a first installation deflection angle observation equation, a second installation deflection angle observation equation and a third installation deflection angle observation equation, and comprises the following specific steps: s4.2.5.1 regarding the second installation deflection angle and the third installation deflection angle as constants, and estimating the first installation deflection angle by using a first installation deflection angle observation equation to obtain an estimation result of the first installation deflection angle; S4.2.5.2 regarding the first installation deflection angle and the third installation deflection angle as constants, and estimating the second installation deflection angle by using a second installation deflection angle observation equation to obtain an estimation result of the second installation deflection angle; S4.2.5.3, regarding the first installation deflection angle and the second installation deflection angle as constants, and estimating a third installation deflection angle by using a third installation deflection angle observation equation to obtain an estimation result of the third installation deflection angle; s4.2.5.4 repeating the steps S4.2.5.1 to S4.2.5.3, stopping iteration when the estimation result of the first installation deflection angle, the estimation result of the second installation deflection angle and the estimation result of the third installation deflection angle are all converged, and taking the finally obtained estimation result of the first installation deflection angle, the second installation deflection angle and the estimation result of the third installation deflection angle as a first installation deflection angle calibration value, a second installation deflection angle calibration value and a third installation deflection angle calibration value.

Description

Submersible ultra-short baseline underwater calibration system and calibration method for installation deflection angle Technical Field The invention belongs to the field of error calibration, and particularly relates to a submersible ultra-short baseline underwater calibration system and a calibration method of an installation deflection angle. Background The ultra-short baseline positioning system has become the common acoustic positioning equipment for the underwater targets by virtue of the advantages of simple structure, convenient installation and the like. The installation offset angle between the acoustic matrix and the compass is the primary source of positioning error for ultra-short baseline systems. The traditional installation deflection angle calibration method is mostly used for a ship-borne ultra-short baseline system, and the installation deflection angle is obtained by positioning an underwater fixed reference along a preset track through a surface ship with a known absolute position. However, these methods rely on highly accurate carrier location information provided by the GPS device, which is often difficult to obtain for a submersible platform that performs underwater tasks for long periods of time. Although some acoustic positioning systems can provide position information for underwater carriers, the positioning accuracy is usually 1 to 2 orders of magnitude lower than that of a GPS positioning system, and the technical requirement of high-accuracy installation deflection angle calibration cannot be met. Disclosure of Invention The invention aims to solve the problem of low calibration accuracy of the existing submersible ultra-short baseline installation deflection angle. There is provided a submersible ultra-short baseline underwater calibration system comprising: the submarine ultra-short baseline subsystem is arranged on the submersible, and the two submarine reference subsystems are uniformly distributed on the seabed; The submersible ultra-short baseline subsystem is used for sending a wake-up signal to the seabed, receiving calibration signals from the two seabed reference subsystems, collecting attitude data of the submersible, and calculating an ultra-short baseline installation deflection angle according to the attitude data of the submersible and the received calibration signals; The two seabed reference subsystems are used for replying calibration signals to the submersible in a fixed period after receiving wake-up signals. Preferably, the submersible ultra-short baseline subsystem comprises an acoustic matrix, a compass, a signal processor case and a display control platform; the compass is arranged in a cavity of the acoustic array, and the acoustic array and the compass are integrally hung and arranged under the submersible; the signal processing machine case and the display control platform are fixedly arranged in the submersible; The data output end of the acoustic matrix and the compass are connected with the data input end of the signal processing box through watertight cables; the acoustic array is used for sending a wake-up signal to the seabed and receiving calibration signals from two seabed reference subsystems; the compass is used for collecting attitude data of the submersible; The signal processing machine case is used for calculating and processing according to the received calibration signals and attitude data of the submersible to obtain an ultra-short baseline installation deflection angle, and the display control platform is used for displaying processing results and issuing wake-up task instructions in real time. Preferably, the two seabed reference subsystems comprise an atomic clock, an acoustic transceiver transducer, a pressure-resistant sealing shell, a battery compartment and a judging and controlling module; the atomic clock, the battery compartment and the judgment and control module are fixedly arranged in the pressure-resistant seal shell; the acoustic transceiver transducer is fixedly arranged on the upper surface of the pressure-resistant sealing shell; the acoustic transceiver transducer is used for receiving a wake-up signal sent by the submersible ultra-short baseline subsystem, and replying a calibration signal to the submersible in a fixed period after the wake-up signal is successfully received; the atomic clock is used for ensuring clock synchronization of the two seabed reference subsystems; The judging and controlling module is used for judging whether the received wake-up signal is successfully detected or not and controlling the acoustic transceiver transducer to reply a calibration signal to the submersible in a fixed period; the clocks of the submersible ultra-short baseline subsystem and the two seabed reference subsystems are in a synchronous state; the wake-up sound signal sent by the submersible ultrashort baseline subsystem is a double-frequency shift keying signal; The calibration acoustic signals recovered by the two se