CN-121994273-A - Reverse position calibration method for positioning submarine acoustic beacons in AUV bow-shaped navigation

CN121994273ACN 121994273 ACN121994273 ACN 121994273ACN-121994273-A

Abstract

The invention provides a reverse position calibration method for positioning a submarine sound beacon in an AUV bow-shaped navigation, which comprises the following steps of S101, completing the arrangement of 1 submarine sound beacon at the central position of an underwater operation area in advance in the underwater operation area of the AUV or the AUV cluster by a test ship or an AUV, calibrating the position of the submarine sound beacon, serving as a position reference, S102, carrying out underwater bow-shaped navigation operation on the AUV, respectively carrying out m groups of underwater sound ranging on the submarine sound beacon before and after a steering line and storing the underwater sound ranging result, S103, carrying out positioning calculation on the underwater sound beacon based on the 2m groups of underwater sound ranging result, and S104, calculating the position error and reversely compensating to navigation according to the known longitude and latitude of the underwater sound beacon and the longitude and latitude positioned by real-time underwater sound, so as to realize the calibration of the AUV inertial position error.

Inventors

BAI LONG
Wen Zhuofan
Zeng ang
LIAO PENG
WU SHUCHENG
YAN XIAOLEI

Assignees

宜昌测试技术研究所

Dates

Publication Date: 20260508
Application Date: 20251224

Claims (7)

1. A reverse position calibration method for positioning a submarine acoustic beacon in an AUV 'bow' shaped voyage, comprising the steps of: S101, completing arrangement of 1 submarine sound beacon in the central position of an underwater operation area in advance in an AUV or AUV cluster by a test ship or an AUV, and completing position calibration of the submarine sound beacon to be used as a position reference; step S102, performing underwater bow-shaped navigation operation by the AUV, respectively performing m groups of underwater acoustic ranging on the submarine acoustic beacons before and after the navigation line turning, and storing the underwater acoustic ranging result; Step S103, positioning and resolving the underwater acoustic beacon based on the 2m groups of underwater acoustic ranging results; Step S104, calculating a position error according to the known longitude and latitude of the underwater acoustic beacon and the longitude and latitude positioned by the real-time underwater acoustic, and reversely compensating to inertial navigation so as to calibrate the AUV position error.
2. The method of claim 1, wherein the AUV performs real-time underwater ranging of the a# submarine acoustic beacon and buffering ranging results, including ranging time, using its own configured underwater acoustic ranging system after the increase in positioning error exceeds a position calibration threshold while performing underwater "bow" voyage operations AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range Depth of voyage And after the caching result reaches 2m groups of underwater sound ranging results, covering the oldest group of ranging results with the real-time ranging results in a data ring mode.
3. The method of claim 2, wherein the 2m sets of hydroacoustic ranging results are processed as follows: (1) Dividing the 2m groups of underwater acoustic ranging results into m groups before the route turning and m groups after the route turning; for the 2m sets of ranging results, the first m sets of ranging results are recorded as ranging time AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range Depth of voyage The m sets of ranging information are recorded as ranging time AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range Depth of voyage ; (2) Converting longitude and latitude under a geographic coordinate system into planar Cartesian coordinates; AUV longitude and latitude in 2m groups of underwater acoustic ranging results of the X# submarine acoustic beacons are converted into a planar Cartesian coordinate system by the inquired A# submarine acoustic beacons longitude and latitude, and the X# submarine acoustic beacons longitude and latitude are used for measuring the distance between the AUV longitude and latitude and the inquired 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 formula of (2) is as follows: (1) The position and depth of the converted X# submarine acoustic beacons are respectively recorded as And After the first m groups of ranging information of the X# submarine sound beacons are converted, the ranging moment AUV position AUV versus X# submarine acoustic beacon distance Depth of voyage After the m-group ranging information of the X# submarine sound beacon is converted, the ranging moment AUV position [ ] ) AUV versus X# submarine acoustic beacon distance Depth of voyage Wherein Re is the earth radius; (3) Judging whether the front m groups of ranging tracks and the rear m groups of ranging tracks are positioned before and after the turning of the route Record position of group 1 of the previous m groups ) The position of the m group is E ) The position of group 1 of the group F and the group m is ) G, m group position ) For H, solving the included angle theta of the two sections of tracks EF and GH by using a vector dot product formula, wherein the formula is as follows: (2) If it is And stopping the underwater acoustic ranging and ranging result caching of the X# submarine acoustic beacon by the AUV, carrying out positioning calculation on the X# submarine acoustic beacon by using the cached 2m groups of ranging results through a subsequent method, calculating a position error and reversely calibrating an inertial navigation position so as to realize AUV position error calibration, otherwise, continuing to carry out the underwater acoustic ranging and ranging result caching on the X# submarine acoustic beacon by the AUV.
4. A method according to claim 1,2 or 3, wherein step S103 is specifically as follows: AUV position based on the front and rear m groups And Ranging results for x# submarine acoustic beacons And Depth of voyage And To perform the position of the x# submarine acoustic beacon Is solved for the position of (2); the distance measurement results of the ith pair of X# acoustic beacons in the first m groups of distance measurement and the second m groups of distance measurement are respectively taken, and the plane geometrical relationship is as follows: (3) Wherein: AUV position when the ith time of the previous m groups of underwater acoustic ranging is used for ranging the X# acoustic beacon; AUV position when the ith time of m-group underwater sound ranging is used for ranging the X# sound beacon; the distance measurement result of the ith pair X# sound beacon in the previous m groups; the distance measurement result of the ith pair X# sound beacon in the last m groups; the position of the X# acoustic beacon to be resolved is determined by underwater acoustic localization. The two formulas in formula (3) are subtracted from each other: (4) The m sets of ranging results may be written as: (5) Written in matrix form: (6) Wherein: (7) (8) (9) The position of the x# marine acoustic beacon to be resolved for underwater acoustic positioning The method can be calculated by a least square method: (10)。
5. a method according to claim 1, 2 or 3, wherein step S104 is specifically: Recording the known latitude and longitude of the x# submarine acoustic beacon Is converted into by the formula (1) Position of X# submarine acoustic beacon calculated by underwater acoustic positioning And calculating east and north positioning errors: (11) Hydroacoustic positioning error to X# submarine acoustic beacon And reversely compensating to inertial navigation, namely finishing the position error correction of the AUV.
6. A method according to claim 1,2 or 3, wherein m is ≡3.
7. A position calibration system for realizing the method is characterized by comprising a high-precision satellite navigation/inertial navigation/Doppler velocimeter combined navigation system, a high-precision time keeping device capable of realizing satellite navigation, a underwater sound distance measurement and underwater sound communication system capable of realizing external time service and clock hard synchronization, a submarine sound beacon and a depth meter with the functions of satellite navigation time keeping, high-precision time keeping, underwater sound response and underwater sound communication, wherein 1 submarine sound beacon is firstly placed on a test ship deck or on shore to finish satellite navigation time keeping and is in a high-precision time keeping state, the submarine sound beacon is placed at the central point of an underwater operation area, the beacon position calibration is finished after the submarine implantation, an AUV carries out underwater bow-shaped navigation operation, underwater sound distance measurement is carried out on the submarine sound beacon m times before and after a navigation line is turned, results including the current AUV longitude and latitude, navigation depth and relative inclined distance are stored, positioning solution is carried out on the submarine sound beacon based on m groups of the underwater sound distance measurement results, and the underwater sound positioning error is calculated according to the known longitude and latitude and the real-time error is calculated, and the position error is reversely corrected to realize the underwater position calibration.

Description

Reverse position calibration method for positioning submarine acoustic beacons in AUV bow-shaped navigation Technical Field The invention relates to the field of underwater acoustic position calibration, in particular to a reverse position calibration method for positioning a submarine acoustic beacon in AUV bow-shaped navigation. 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 accuracy of a work result and self navigation safety are affected. In order to solve the problem of navigation and positioning of an AUV or an AUV cluster under water for long-term operation, an underwater PNT system is generally adopted, but it is a difficult problem how to implement position error calibration of the AUV or the AUV cluster in an operation area with a minimum number of submarine acoustic beacons. Disclosure of Invention The invention provides a reverse position calibration method for positioning submarine sound beacons in AUV bow-shaped navigation, which is used for solving the problem that in the prior art, since the USBL is limited by the resolution of a directional angle, the positioning of the submarine sound beacons cannot be performed in a long distance and in high precision, and the LBL can realize the position error calibration of the AUV (or AUV cluster) by arranging and calibrating a plurality of submarine sound beacons in advance. In order to achieve the above purpose, the technical scheme of the invention is as follows. A reverse position calibration method for positioning a submarine acoustic beacon in AUV 'bow' navigation, comprising the steps of: S101, completing arrangement of 1 submarine sound beacon in the central position of an underwater operation area in advance in an AUV or AUV cluster by a test ship or an AUV, and completing position calibration of the submarine sound beacon to be used as a position reference; step S102, performing underwater bow-shaped navigation operation by the AUV, respectively performing m groups of underwater acoustic ranging on the submarine acoustic beacons before and after the navigation line turning, and storing the underwater acoustic ranging result; Step S103, positioning and resolving the underwater acoustic beacon based on the 2m groups of underwater acoustic ranging results; Step S104, calculating a position error according to the known longitude and latitude of the underwater acoustic beacon and the longitude and latitude positioned by the real-time underwater acoustic, and reversely compensating to inertial navigation so as to calibrate the AUV position error. 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 realizing satellite navigation, a underwater sound distance measuring and underwater sound communication system capable of realizing external time service and clock hard synchronization, a submarine sound beacon and a depth meter with the satellite navigation time service and the high-precision time keeping, a underwater sound response function and a underwater sound communication function, wherein 1 submarine sound beacon is firstly positioned on a test ship deck or on shore and is in a high-precision time keeping state, the submarine sound beacon is distributed at the central point of an underwater operation area, the beacon position calibration is finished after the submarine implantation, the AUV carries out underwater 'bow' -shaped navigation operation, the underwater sound beacons are respectively carried out m times before and after the navigation line is turned, the result is saved, the result comprises the current AUV longitude and latitude, the navigation depth and the relative inclined distance, the positioning solution is carried out on the submarine sound beacon based on m groups of the underwater sound distance measuring results, and the underwater sound positioning error is calculated according to the known longitude and latitude and the AUV position and the known in real time, and the inertial position error is reversely calculated, and the underwater position error is calibrated. The invention has the beneficial effects that: 1. The invention utilizes an AUV to configure a high-precision integrated navigation system of the satellite na