CN-121994272-A - Position calibration method based on 1 submarine sound beacon and AUV bow relay

CN121994272ACN 121994272 ACN121994272 ACN 121994272ACN-121994272-A

Abstract

The invention provides a position calibration method based on 1 submarine sound beacon and AUV bow relay, which comprises the steps of finishing the arrangement of H submarine sound beacons at an appointed position of an underwater PNT array by an AUV in a distributing mode, finishing the position calibration of 1 submarine sound beacon in the position of the underwater PNT array, marking the position calibration as A#, taking the position calibration as a position reference, marking the submarine sound to be subjected to the position calibration as X#, carrying out bow navigation along the midline of the A# and X# submarine sound beacons by the AUV in a calibrating mode, carrying out underwater sound ranging on the A# and the X# submarine sound beacons simultaneously, carrying out the AUV position calibration on the AUV based on m times of underwater sound ranging results of the A# submarine sound beacon, correcting the AUV longitude and latitude in m groups of results, carrying out the positioning calculation on the X# submarine sound beacon based on the m groups of underwater sound ranging results of the X# submarine sound beacon, and carrying out the positioning calculation on the X# submarine sound beacon in a step S105, and binding the longitude and latitude of the calculated X# submarine sound beacon to the X# submarine sound beacon through a self-configured underwater sound communication system, so as to realize the position calibration of the AUV.

Inventors

BAI LONG
Wen Zhuofan
XIAO MENGLI
WANG XIANG
YI YING
ZHENG ZHONGYI

Assignees

宜昌测试技术研究所

Dates

Publication Date: 20260508
Application Date: 20251224

Claims (7)

1. A method of calibrating a location based on 1 submarine acoustic beacon and AUV "bow" relay, comprising the steps of: S101, arranging H submarine sound beacons at designated positions of underwater PNT array shapes by using an AUV, and calibrating positions of 1 submarine sound beacon, namely A#, as a position reference; Step S102, marking submarine sound signals to be calibrated in position as X#, performing bow-shaped navigation on the AUV along the midwife line of the A# submarine sound beacons and the X# submarine sound beacons, and simultaneously performing underwater sound ranging on the A# submarine sound beacons and the X# submarine sound beacons; step S103, based on m times of underwater acoustic ranging results of the A# submarine acoustic beacons, calibrating AUV positions and correcting AUV longitudes and latitudes in m groups of results; step S104, based on m groups of underwater acoustic ranging results of the X# submarine acoustic beacons, completing positioning calculation of the X# submarine acoustic beacons; Step S105, the AUV binds the longitude and latitude of the calculated X# submarine acoustic beacon to the X# submarine acoustic beacon through the self-configured underwater acoustic communication system, so that the position calibration of the X# submarine acoustic beacon is realized.
2. The method according to claim 1, wherein step S102 is specifically as follows: The current submarine sound to be calibrated is marked as X# submarine sound beacon, the position point is marked as B point, after the X# submarine sound beacon is released from the AUV and is landed, the AUV sails to the starting point of the calibration route on the middle vertical line of the A# submarine sound beacon and the X# submarine sound beacon, the longitude, latitude and depth of the A# submarine sound beacon are respectively inquired through a submarine sound communication system, and the method is marked as% ) And The depth of the X# submarine acoustic beacon is recorded as Performing underwater constant-speed navigation by the AUV along the middlelines of the A# and X# submarine acoustic beacons, and marking the navigation path as CD; in the process, the AUV respectively carries out m times of underwater acoustic ranging on the A# underwater acoustic beacon and the X# underwater acoustic beacon near the starting point and the ending point of the CD line segment by using an underwater acoustic ranging system which is configured by the AUV; wherein, the information related to m times of ranging of the A# submarine sound beacon near the CD starting point is stored as the ranging moment AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range M times of ranging information of the A# submarine sound beacon near the CD end point is stored as the ranging moment AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range M times of ranging information of the X# submarine sound beacon near the CD starting point is stored as the ranging moment AUV longitude and latitude% ) AUV versus X# submarine acoustic beacon distance M times of ranging information of the X# submarine sound beacon near the CD end point is stored as the ranging time AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range 。
3. The method of claim 2, wherein m is ≡5.
4. The method of claim 1 or 2, wherein H is ≡2.
5. The method according to claim 1 or 2, characterized in that step S103 comprises the following specific steps: (1) Converting longitude and latitude under geographic coordinate system into planar Cartesian coordinates The AUV longitude and latitude in m groups of underwater acoustic ranging results of the A# submarine acoustic beacons are converted into a planar Cartesian coordinate system, and the A# submarine acoustic beacons longitude and latitude are used for obtaining the A# submarine acoustic beacons ) Taking the east direction as the X axis and the north direction as the Y axis as the origin, and taking the longitude and latitude as the latitude ) Conversion to Cartesian Ticket system for sedentary The method of (1) is as follows: (1) The position and depth of the converted A# submarine acoustic beacons are respectively recorded as And After m ranging information conversion of the A# submarine sound beacon near the CD starting point, the ranging moment AUV position AUV versus A# submarine acoustic beacon range M times of ranging information of the A# submarine sound beacon near the CD end point is stored as the ranging moment AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range After m ranging information conversion of X# submarine sound beacons near the CD starting point, ranging moment AUV position [ ] ) AUV versus X# submarine acoustic beacon distance After m ranging information conversion of X# submarine sound beacons near CD end point, ranging moment AUV position [ ] ) AUV versus A# submarine acoustic beacon range Wherein Re is the earth radius; (2) Performing AUV position calibration and correcting AUV longitude and latitude in the stored m groups of ranging results based on the known A# submarine sound beacon and the m groups of ranging results; recording the AUV position (i.e. inertial navigation position) of the initial moment of the CD segment for ranging the A# submarine acoustic beacon for the first time as The corrected position of the point to be solved is recorded as AUV corrected position at m-set positioning time of CD segment start point and end point And Which may be expressed as an AUV position for first ranging an A# marine acoustic beacon Plus the distance of the AUV in the east and north direction movement during this period, namely: (2) (3) Taking the i-th ranging result of the known acoustic beacon of the A# of the i-th time near the C point and the i-th time near the D point, and the plane geometrical relationship is as follows: (4) longitude and latitude of submarine sound beacon according to A # -, and ) As the origin of the cartesian coordinate system, Is that The following steps are: (5) after substituting the formula (2) and the formula (3) into the formula (5), the two formulas in the formula (5) are subtracted: (6) The m sets of ranging results may be written as: (7) Written in matrix form: (8) Wherein: (9) (10) (11) the initial time of the CD segment is the AUV position for ranging the A# submarine acoustic beacon for the first time, namely the corrected position to be solved The method can be calculated by a least square method: (12) In order to ensure that the equation (12) has a unique solution, the underwater acoustic ranging is performed on the navigation path during underwater acoustic ranging in AUV navigation according to an arc-shaped path navigation and at the moment. Solving to obtain Then, correcting the buffered m groups of inertial navigation positions by using the formulas (2) and (3) to obtain corrected AUV positions And 。
6. A method according to claim 1, 2 or 3, wherein step S104 comprises the following steps: (1) Based on the corrected AUV positions near the m sets of points C and D And Ranging results for X# submarine acoustic beacons to be calibrated And To perform the position of the x# submarine acoustic beacon Solving; Taking the distance measurement result of the ith distance measurement near the point C and the ith X# acoustic beacon to be calibrated near the point D, wherein the plane geometrical relationship is as follows: (13) Wherein: AUV position when measuring distance of X# acoustic beacon to be calibrated at the ith time near C point of CD route (after AUV position is corrected based on known 0# acoustic beacon); AUV position when measuring distance of X# acoustic beacon to be calibrated at the ith time near D point of CD route (after AUV position is corrected based on known 0# acoustic beacon); The distance measurement result of the X# sound beacon to be calibrated for the ith time near the C point; the distance measurement result of the X# sound beacon to be calibrated for the ith time near the D point; the position of the X# acoustic beacon to be calibrated. The two formulas in formula (13) are subtracted from each other: (14) The m sets of ranging results may be written as: (15) Written in matrix form: (16) Wherein: (17) (18) (19) the location of the x# sub-sea acoustic beacon to be calibrated The method can be calculated by a least square method: (20) (2) Converting the position of the X# submarine acoustic beacon from a Cartesian coordinate system back to a geographic coordinate system Position of x# submarine acoustic beacon obtained by calculating equation (20) Converted back to the geographic coordinate system by: (21) Converted by the formula (21) The longitude and latitude of the X# submarine sound beacon.
7. A position calibration system for realizing the method is characterized by comprising a high-precision satellite/inertial navigation/Doppler velocimeter combined navigation system, a high-precision time keeping device capable of being subjected to satellite time keeping, a underwater sound distance measuring and underwater sound communication system capable of being subjected to external time keeping and clock hard synchronization, a submarine sound beacon and a depth meter with the satellite time keeping and high-precision time keeping, a underwater sound response function and a underwater sound communication function, wherein 1 submarine sound beacon is distributed to the sea bottom and the position calibration is completed, firstly, the AUV is distributed to the designated position of m submarine sound beacons in an underwater PNT array shape, the position calibration is completed for the 1 submarine sound beacon, the submarine sound beacon serves as a position reference, the submarine sound signal to be subjected to the position calibration is marked as an X#, the calibration is in a bow shape along the middle vertical line of the A# and the X# submarine sound beacons, a plurality of groups of underwater sound distance measuring results are simultaneously carried out on the A# and the X# submarine sound beacons, the AUV is distributed to the submarine sound beacons m times based on the underwater sound distance measuring results of the A# sound beacons and the X# sound beacons, the AUV is distributed to the submarine sound beacons through the longitude and latitude of the AUV, and the AUV is distributed to the submarine position calibration system based on the position calibration results of the X# sound beacons, and the submarine sound beacons are finally, the position calibration is completed.

Description

Position calibration method based on 1 submarine sound beacon and AUV bow relay Technical Field The invention relates to the field of underwater acoustic beacon position calibration, in particular to a position calibration method based on 1 submarine acoustic beacon and AUV (autonomous Underwater vehicle) bow-shaped relay. Background Autonomous underwater unmanned underwater vehicle (autonomous underwater vehicle, AUV) plays an increasingly important role in the fields of ocean development and national defense due to the advantages of small volume, low use cost, intelligent autonomous operation, convenient maintenance, good concealment and the like. With the gradual expansion of the AUV application field, the requirements on the navigation system are also higher and higher. At present, an AUV mostly adopts an INS/GPS/DVL integrated navigation system, and when the AUV works underwater for a long time, navigation errors are continuously increased along with time, so that the operation result and accuracy and the navigation safety of the AUV are affected. In order to solve the problem of navigation and positioning of underwater operations of an AUV or an AUV cluster for a long time, an underwater PNT system is generally adopted, and in some special cases, how to conceal the placement of submarine acoustic beacons and the calibration of the positions of the acoustic beacons becomes a difficult problem. Disclosure of Invention The invention provides a position calibration method based on 1 submarine sound beacon and an AUV (autonomous Underwater vehicle) bow-shaped relay, which is used for solving the problems that in the prior art, AUV self position error calibration cannot be realized based on a single known submarine sound beacon, and submarine sound beacon positioning and position calibration are realized in a long distance. In order to achieve the above purpose, the technical scheme of the invention is as follows. A method of position calibration based on 1 submarine acoustic beacon and AUV "bow" relay, comprising the steps of: S101, arranging H submarine sound beacons at designated positions of underwater PNT array shapes by using an AUV, and calibrating positions of 1 submarine sound beacon, namely A#, as a position reference; Step S102, marking submarine sound signals to be calibrated in position as X#, performing bow-shaped navigation on the AUV along the midwife line of the A# submarine sound beacons and the X# submarine sound beacons, and simultaneously performing underwater sound ranging on the A# submarine sound beacons and the X# submarine sound beacons; step S103, based on m times of underwater acoustic ranging results of the A# submarine acoustic beacons, calibrating AUV positions and correcting AUV longitudes and latitudes in m groups of results; step S104, based on m groups of underwater acoustic ranging results of the X# submarine acoustic beacons, completing positioning calculation of the X# submarine acoustic beacons; Step S105, the AUV binds the longitude and latitude of the calculated X# submarine acoustic beacon to the X# submarine acoustic beacon through the self-configured underwater acoustic communication system, so that the position calibration of the X# submarine acoustic beacon is realized. The invention also discloses a position calibration system for realizing the method, which comprises a high-precision satellite navigation/inertial navigation/Doppler velocimeter combined navigation system, a high-precision time keeping device capable of being subjected to satellite navigation, a underwater acoustic ranging and underwater communication system capable of being subjected to external time keeping and clock hard synchronization, a submarine acoustic beacon and a depth meter with the satellite navigation time keeping and high-precision time keeping, an underwater acoustic response function and an underwater acoustic communication function, wherein 1 submarine acoustic beacon is deployed on the sea bottom and the position calibration is completed, firstly, the AUV is deployed on the designated position of the underwater PNT array, the position calibration is completed on the 1 submarine acoustic beacon, the A# is used as a position reference, the submarine acoustic signal to be calibrated is marked as X#, the calibration mark is in a 'bow' -shape along the middleline of the A# and X# submarine acoustic beacons, a plurality of groups of underwater acoustic ranging is simultaneously carried out on the A# and X# submarine acoustic beacons, the AUV is deployed on the basis of m times of underwater acoustic ranging results on the AUV and the AUV, the underwater acoustic ranging results are calculated on the basis of the m submarine acoustic beacons, the underwater acoustic ranging results are corrected on the basis of the m acoustic beacons, and the position calibration is carried out on the submarine acoustic beacons, and the submarine acoustic beacons are finally, the position calibration