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CN-121978613-A - Spatial self-calibration underwater acoustic beacon and self-calibration method thereof

CN121978613ACN 121978613 ACN121978613 ACN 121978613ACN-121978613-A

Abstract

The invention provides a spatial self-calibration underwater acoustic beacon and a self-calibration method thereof, which can reduce the error of the absolute position of the acoustic beacon through self-calibration. The space self-calibration underwater acoustic beacon comprises an acoustic matrix, an acoustic processing module, a battery power module, a satellite positioning antenna, a satellite positioning resolving module, an inertia measuring module and a buoyancy adjusting module, wherein the satellite positioning antenna is used for receiving navigation satellite signals after the acoustic beacon floats to the water surface, the satellite positioning resolving module is used for processing the satellite signals and resolving satellite positioning data to obtain the space position of the acoustic beacon, the inertia measuring module is used for completing the inertia alignment process according to the space position information of satellite positioning and performing inertial navigation position resolving in the acoustic beacon submergence process, and the buoyancy adjusting module is used for adjusting the buoyancy of the acoustic beacon to complete the floating and submergence actions of the acoustic beacon.

Inventors

  • XIE HU
  • LI ZHIHUA
  • Zhang Lvxia
  • ZHENG XINMING
  • WU XIAOTAO

Assignees

  • 宜昌测试技术研究所

Dates

Publication Date
20260505
Application Date
20251208

Claims (6)

  1. 1. The space self-calibration underwater acoustic beacon comprises an acoustic array (2), an acoustic processing module (3) and a battery power module (7), and is characterized by further comprising a satellite positioning antenna (1), a satellite positioning resolving module (4), an inertia measuring module (5) and a buoyancy adjusting module (6); the satellite positioning antenna (1) is used for receiving navigation satellite signals after the acoustic beacon floats to the water surface; The satellite positioning resolving module (4) is used for processing satellite signals, resolving satellite positioning data and obtaining the space position of the acoustic beacon; The inertial measurement module (5) is used for completing an inertial alignment process according to the space position information of satellite positioning, and performing inertial navigation position calculation in the acoustic beacon submergence process; The buoyancy adjusting module (6) is used for adjusting the buoyancy of the acoustic beacon and finishing the floating and submerging actions of the acoustic beacon.
  2. 2. The spatial self-calibration underwater acoustic beacon according to claim 1, further comprising an integrated control rudder mechanism (8), wherein the integrated control rudder mechanism (8) is used for controlling the attitude of the acoustic beacon during the process of floating and submerging.
  3. 3. The spatially self-calibrating underwater acoustic beacon according to claim 1 or 2, characterized in that the buoyancy adjustment module (6) adjusts the acoustic beacon buoyancy by means of water injection and drainage.
  4. 4. The underwater acoustic beacon space self-calibration method is characterized in that the underwater acoustic beacon is as set forth in the above claim 1, 2 or 3, and the self-calibration flow comprises three processes of floating, satellite positioning and submergence: The buoyancy adjusting module (6) adjusts the buoyancy of the acoustic beacon to positive buoyancy, and the acoustic beacon begins to float upwards; The satellite positioning comprises the steps that after the acoustic beacon floats to the water surface, the accurate space position of the acoustic beacon is obtained through the satellite positioning antenna (1) and the satellite positioning resolving module (4), and meanwhile, the inertial measurement module (5) completes the inertial alignment process according to the space position of satellite positioning; The method comprises the following steps of submerging, after the inertial measurement module (5) finishes an alignment process, the buoyancy adjustment module (6) adjusts the buoyancy of the acoustic beacon to be negative buoyancy, the acoustic beacon starts to submerge, during the submerging, the inertial measurement module (5) carries out inertial navigation position calculation based on the space position of satellite navigation positioning, and after the inertial measurement module (5) detects that the acoustic beacon reaches the sea floor, the inertial measurement module stops inertial navigation position calculation and records a result of the calculated space position.
  5. 5. The method for self-calibrating the space of the underwater acoustic beacon according to claim 4, wherein when the acoustic beacon is provided with an integrated control rudder mechanism (8), attitude control based on combined feedback of attack angle/sideslip angle and attitude angle is adopted in the process of floating and submerging, and the control algorithm is as follows: Wherein, the Is the control quantity of the horizontal rudder, Is the control quantity of the vertical rudder, And The attack angle and the sideslip angle during the acoustic beacon movement process respectively, And Pitch angle and heading angle during acoustic beacon movement, And The gain and differential gain coefficients of the angle of attack feedback channel, And The gain and differential gain coefficients of the pitch angle feedback channel, And The gain and differential gain coefficients of the side slip angle feedback path, And The gain and differential gain coefficients of the course angle feedback channel, A pitch angle threshold for the horizontal rudder control channel switching, And (5) a course angle threshold value for vertical rudder control channel switching.
  6. 6. The method for self-calibrating an underwater acoustic beacon space according to claim 4 or 5, wherein the self-calibration process is automatically entered after the acoustic beacon is deployed for a set time.

Description

Spatial self-calibration underwater acoustic beacon and self-calibration method thereof Technical Field The invention relates to an underwater acoustic beacon and a calibration method thereof, in particular to a spatial self-calibration underwater acoustic beacon and a self-calibration method thereof, and belongs to the technical field of underwater navigation. Background The underwater unmanned vehicle has good concealment, but when the underwater unmanned vehicle works underwater for a long time, a navigation system inevitably generates accumulated errors, and water outlet calibration operation is needed. In order to reduce the number of times of water outlet calibration, the acoustic beacon can be distributed under water, and the underwater vehicle calibrates the position of the underwater vehicle through the absolute position of the acoustic beacon and the relative position of the acoustic beacon and the acoustic beacon, so that the number of times of water outlet calibration of the underwater vehicle is reduced, even the capability of water outlet calibration is not realized, and the concealment of the underwater unmanned vehicle is further improved. The absolute position of the acoustic beacon is mainly set by a carrier for putting the acoustic beacon, and the error of the absolute position of the acoustic beacon can be caused by the space position error of the carrier and the transverse offset generated in the falling process of the acoustic beacon, so that the error is increased when the underwater unmanned aircraft performs position calibration through the acoustic beacon. Disclosure of Invention In order to solve the problem of absolute position deviation caused by the acoustic beacon arrangement process, the invention provides a spatial self-calibration underwater acoustic beacon. The invention has the technical scheme that the space self-calibration underwater acoustic beacon comprises an acoustic array, an acoustic processing module, a battery power module, a satellite positioning antenna, a satellite positioning resolving module, an inertia measuring module and a buoyancy adjusting module; the satellite positioning antenna is used for receiving navigation satellite signals after the acoustic beacon floats to the water surface; the satellite positioning resolving module is used for processing satellite signals, resolving satellite positioning data and obtaining the space position of the acoustic beacon; the inertial measurement module is used for completing an inertial alignment process according to the space position information of satellite positioning, and performing inertial navigation position calculation in the acoustic beacon submergence process; the buoyancy adjusting module is used for adjusting the buoyancy of the acoustic beacon and completing the floating and submerging actions of the acoustic beacon. The invention also comprises an integrated control steering mechanism, wherein the integrated control steering mechanism is used for controlling the gesture of the acoustic beacon in the process of floating and submerging. As a preferred mode of the invention, the buoyancy adjusting module adjusts the buoyancy of the acoustic beacon by adopting a water injection and drainage mode. In addition, the invention provides a space self-calibration method of the underwater acoustic beacon, and the self-calibration flow comprises three processes of floating, satellite positioning and submergence: The buoyancy adjusting module adjusts the buoyancy of the acoustic beacon to positive buoyancy, and the acoustic beacon begins to float upwards; the satellite positioning, namely after the acoustic beacon floats to the water surface, the accurate space position of the acoustic beacon is obtained through the satellite positioning antenna and the satellite positioning resolving module; The method comprises the following steps of submerging, wherein after the inertial measurement module finishes the alignment process, the buoyancy adjustment module adjusts the buoyancy of the acoustic beacon to be negative buoyancy, the acoustic beacon starts to submerge, during the submerging, the inertial measurement module carries out inertial navigation position calculation based on the space position of satellite navigation positioning, and after the inertial measurement module detects that the acoustic beacon reaches the seabed, the inertial measurement module stops the inertial navigation position calculation and records the result of the calculated space position. As a preferred mode of the invention, when the acoustic beacon is provided with an integrated control rudder mechanism, attitude control based on combined feedback of attack angle/sideslip angle and attitude angle is adopted in the process of floating and submerging the acoustic beacon, and the control algorithm is as follows: Wherein, the Is the control quantity of the horizontal rudder,Is the control quantity of the vertical rudder,AndThe attack angle