CN-121995319-A - Submarine space-time reference station and data processing method

CN121995319ACN 121995319 ACN121995319 ACN 121995319ACN-121995319-A

Abstract

The invention discloses a submarine space-time reference station and a data processing method, wherein the reference station comprises a base, a pressure-resistant cabin, a floating ball and a base, the middle part of the base is provided with a conductive integrated transducer, and four hydrophones are uniformly distributed around the base. The data processing method includes the steps of transmitting communication signals to a target carrier by a transducer and calculating propagation time, calculating clock offset by means of signal receiving and transmitting time, calibrating a clock for a reference station and time service for the target carrier, calculating the position of the reference station by means of an acoustic observation equation between a sea surface carrier and the reference station and a pressure-water depth observation equation of the reference station after time service, judging displacement of the reference station by means of a Bayesian framework, selecting a processing strategy according to the position of the target carrier after position calibration, automatically constructing the position of the observation equation by the target carrier when more than two base station signals are received, and determining the target position and transmitting a result according to an ultrashort baseline mode when only one base station signal is received. The invention reduces the construction cost of the submarine space-time reference network, realizes the near-far mixing positioning, and improves the service range and the performance.

Inventors

CHEN GUANXU
FENG YIKAI
LIU YANG
LI MENGHAO
LIU YANXIONG
ZHANG HUAYI

Assignees

自然资源部第一海洋研究所

Dates

Publication Date: 20260508
Application Date: 20260319

Claims (7)

1. The utility model provides a seabed space-time reference station, its characterized in that includes seabed base and places the support frame in seabed base top, the upper end of support frame is provided with the base, the lower extreme is provided with the pressure-resistant cabin, the middle part of base is provided with leads to integrative transducer, lead to and evenly be provided with four acoustics hydrophone around the integrative transducer, four acoustics hydrophone sets up on the base through L shape support, the outside of base is provided with the holding ring of round connection four L shape supports.
2. The seafloor space-time reference station of claim 1, wherein at least 5 of the seafloor space-time reference stations form a seafloor sub-net, the seafloor sub-net is of square structure, and 5 of the seafloor space-time reference stations are respectively distributed at four vertexes and at a center position of the seafloor sub-net, and the side length of the seafloor sub-net is the acoustic signal acting distance of the seafloor space-time reference station furthest.
3. The subsea space-time reference station according to claim 1, characterized in that the pressure pod is provided with a float ball around it, the bottom of which is provided with a release connected to the subsea base.
4. A method of data processing of a subsea space-time reference station according to any of claims 1-3, comprising the steps of: S1, a communication signal is sent to a target carrier by a communication module by the communication-conduction integrated transducer, and the communication time between the communication-conduction integrated transducer and the target carrier is calculated based on clock information of the communication signal; s2, the lead-through integrated transducer immediately sends an acoustic signal to the target carrier, the target carrier sends a feedback acoustic signal to the lead-through integrated transducer, a clock offset is calculated by utilizing the acoustic signal, the receiving time and the transmitting time of the feedback acoustic signal, the clock calibration is carried out on the submarine space-time reference station based on the clock offset, and time service is carried out on the target carrier; S3, after the time service of the seabed space-time reference station to the target carrier is completed, solving a time-based position sequence of the seabed space-time reference station by utilizing an acoustic observation equation between the sea surface carrier and the seabed space-time reference station and a pressure-water depth observation equation of the seabed space-time reference station, judging whether the seabed space-time reference station is displaced or not based on a Bayesian framework, and calibrating the reference position of the displaced seabed space-time reference station; s4, after the calibration of the reference position of the submarine space-time reference station is completed, positioning the target carrier according to the position of the underwater target carrier in the submarine base network to obtain the position information of the target carrier, wherein the method comprises the following steps: when the target carrier can receive acoustic signals of at least two seabed space-time reference stations in the seabed base network, obtaining position information of the target carrier by constructing an acoustic observation equation and a pressure-water depth observation equation between the two seabed space-time reference stations and the target carrier; When the target carrier can only receive the acoustic signal of one submarine space-time reference station in the submarine base network, the target carrier is positioned by utilizing the submarine space-time reference station according to the ultra-short baseline acoustic positioning mode, and the position information of the target carrier is sent to the target carrier through the communication module.
5. The method for processing data of a space-time reference station on the sea floor according to claim 4, wherein said step S1 comprises: S11, the communication and guide integrated transducer sends a communication signal to the target carrier through the communication module, the communication signal carries clock information, the target carrier immediately sends a feedback communication signal to the communication and guide integrated transducer after receiving the communication signal, and the communication and guide integrated transducer records time t 2 for receiving the feedback communication signal; S12, calculating the communication time between the communication integrated transducer and the target carrier according to the time t 1 of the clock information in the communication signal 。
6. The method for processing data of a subsea space-time reference station according to claim 5, characterized in that said step S2 comprises: S21, after receiving the feedback communication signal, the integrated transducer is led to immediately send an acoustic signal to the target carrier, and the emission time of the acoustic signal is recorded Recording the time of receiving the acoustic signal after the acoustic signal is received by the target carrier The target carrier immediately transmits a feedback acoustic signal to the submarine space-time reference station and records the transmission time of the feedback acoustic signal The four acoustic hydrophones respectively receive the feedback acoustic signals, and the four acoustic hydrophones record the receiving time of the feedback acoustic signals ; S22, screening four receiving times Abnormal values in (a); Calculating four reception times Average value of (2) ; Calculating four reception times Average value of Rate of shift of phase ratio ; ; Where i is the number of the acoustic hydrophone, Feeding back the receiving time of the acoustic signal for the ith acoustic hydrophone; setting a threshold value of the offset rate If (if) Then the receiving time of the feedback acoustic signal of the ith acoustic hydrophone is determined If the acoustic hydrophone is abnormal, otherwise, judging the receiving time of the feedback acoustic signal of the ith acoustic hydrophone Is a normal value; Will receive time Is deleted by the abnormal value of (2), and the receiving time is reserved And counting the reserved receiving time N, if the normal value of (a) is n Step S5 is executed, otherwise, the step S3 is returned, and the integral transducer is led to send the sound signal to the target carrier again; S23, calculating the receiving time Average of normal values of (2) ; S24, utilizing the transmission time Time of reception Time of transmission Average value of Calculating clock offsets Based on clock offset, the space-time reference station on the sea floor Performing clock calibration on the submarine space-time reference station and performing time service on the target carrier; 。
7. The method for processing data of a subsea space-time reference station according to claim 6, characterized in that said step S3 comprises: S31, after the time service of the seabed space-time reference station to the target carrier is completed, according to the space three-dimensional coordinates of the sea surface carrier Constructing an acoustic observation equation of the submarine space-time reference station: ; Wherein, the Is the spatial three-dimensional coordinates of the space-time reference station on the sea floor, For the observed propagation time of an acoustic signal round trip, For the propagation spatial trajectory of the acoustic signal, For an acoustic signal velocity that varies with depth z, For the profile correction of the speed of the acoustic signal, Is the velocity of the historical basic acoustic signal, s is the propagation space track Infinitesimal arc length infinitesimal elements; Three-dimensional coordinates of sea surface carrier Space three-dimensional coordinates of a subsea space-time reference station Connecting lines, and establishing a local two-dimensional coordinate system in a two-dimensional vertical plane of the connecting lines, wherein the propagation space track of the acoustic signals Satisfies the sound ray tracking equation: ; wherein x is the horizontal distance in the local two-dimensional coordinate system, An included angle between a sound line tangent line of a propagation space track of the sound signal and the horizontal direction; S32, constructing a pressure-water depth observation equation between the sea surface carrier and the submarine space-time reference station: ; Wherein, the The instantaneous water depth predicted by the pressure sensor for the position of the submarine space-time reference station, Based on three-dimensional coordinates in space A transfer function that transfers the height of the earth, Respectively tidal water level, non-tidal sea level water level and residual water level; S33, predicting the instant water depth Inputting the acoustic observation equation to obtain the position vector of the submarine space-time reference station based on the time sequence Obtaining the position sequence from time 1 to N of the submarine space-time reference station And calculates at each candidate point in time based on the Bayesian framework Posterior probability of displacement event of the submarine space-time reference station; ; Wherein, the As a function of the likelihood that the time of day, Respectively candidate time points Long-term linear motion speed in the front and back stages, For candidate time points Is used to determine the prior probability distribution of (c), For candidate time points Posterior probability of displacement event of the submarine space-time reference station; s34, setting a threshold value of posterior probability If (if) Determining that the submarine space-time reference station is at the candidate time point And (3) carrying out displacement, namely calibrating the reference position of the displaced submarine space-time reference station, otherwise, not carrying out displacement.

Description

Submarine space-time reference station and data processing method Technical Field The invention relates to the technical field of positioning, in particular to a submarine space-time reference station and a data processing method. Background The abundant natural resources in the ocean provide guarantee for economic development and population growth. Because the sea activities are separated from the ground measurement reference and positioning navigation technologies, such as submarine resource exploration, underwater vehicle navigation, underwater engineering construction, submarine crust deformation measurement, land frame landslide monitoring and other tasks, high-precision underwater precision positioning service is required, and the support of the ocean, which is the foundation of the ocean space-time reference network, is perceived and utilized. At present, the global space-time reference network takes GNSS/BDS as a core, wherein the earth surface and near-earth space components are served for years, and GNSS signals (electromagnetic waves) are seriously attenuated in seawater, so that the GNSS signals cannot provide underwater navigation positioning services. The sound wave can effectively spread in the sea water for a long distance, and in order to realize the global navigation positioning service of the world, the space, the earth and the sea, a sea space-time reference network is required to be constructed based on an acoustic technology, and the three-dimensional positioning and navigation time service is provided in the sea. The complete ocean space-time reference network comprises a space-time reference station fixed on the ocean floor, a sea surface floating base station and a mobile base station in a water body, so that the ocean space-time reference station is a base station network frame part. The current-stage submarine ground reference station is mainly used for monitoring the displacement of a submarine plate in a mode of being measured by a sea carrier, is used for monitoring ocean disasters and researching ocean science, and is difficult to be directly applied to underwater position service. The underwater acoustic positioning technology is a core technology for constructing an ocean space-time reference station, and the target position is inverted by measuring the time difference or the phase difference between acoustic pulses transmitted by different paths. The technology can be divided into long baseline, short baseline and ultra-short baseline positioning technology according to the length of the baseline. The ultra-short baseline positioning technology is convenient to operate, and the target position is determined by measuring the propagation time and the azimuth angle and adopting a distance-azimuth positioning mode, but the accuracy is lower. In the prior art, a sound velocity profile (SSP) used for sound ray tracking has space-time uncertainty, a geophysical model (such as tidal and sea level abnormality) has residual errors, the positioning and detection of a target carrier are affected by sensor errors in time variation, the prior art has an underwater time service function, no manometer observation data are fused from an observation value layer in a method for calibrating the position of a submarine space-time reference station, and in addition, the positioning of near-far fusion cannot be realized when the prior art provides service for an underwater target, namely navigation positioning service cannot be realized when the acoustic observation data of the reference station are insufficient. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a submarine space-time reference station and a data processing method, and provides a new design of the submarine space-time reference station, which meets the requirement of rapid positioning and navigation by utilizing a submarine base station. In order to achieve the aim of the invention, the invention adopts the following technical scheme: the utility model provides a seabed space-time reference station, it includes seabed base and the support frame of placing in seabed base top, and the upper end of support frame is provided with the base, the lower extreme is provided with the pressure-resistant cabin, and the middle part of base is provided with leads to integrative transducer, leads to evenly being provided with four acoustics hydrophone around the integrative transducer, and four acoustics hydrophones set up on the base through L shape support, and the outside of base is provided with the holding ring of round connection four L shape supports. Further, at least 5 seabed space-time reference stations form a seabed base network, the seabed base network is of a square structure, the 5 seabed space-time reference stations are respectively distributed at four vertexes and the center of the seabed base network, and the side length of the seabed base network is the acoustic action distance of the far