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CN-122017736-A - Relative motion positioning method, system, device, medium and product of multi-submarine beacon network

CN122017736ACN 122017736 ACN122017736 ACN 122017736ACN-122017736-A

Abstract

The application discloses a relative motion positioning method, a relative motion positioning system, a relative motion positioning device, a relative motion positioning medium and a relative motion positioning product for a multi-seafloor beacon network, and relates to the technical field of ocean geodetic data processing; the method comprises the steps of respectively constructing a quadratic polynomial model of each submarine beacon and a grouping adjustment function model of each sampling observation time, initializing the quadratic polynomial model of each submarine beacon and the grouping adjustment function model of all sampling observation times, carrying out iterative calculation on the quadratic polynomial models of all submarine beacons and the grouping adjustment function models of all sampling observation times by utilizing a least square method so as to obtain a submarine beacon motion model of each submarine beacon, substituting the current time into the submarine beacon motion model of the current submarine beacon when the current submarine beacon is observed at the current time, and obtaining the motion three-dimensional coordinates of the current submarine beacon at the current time. The application improves the relative positioning precision of the submarine beacon.

Inventors

  • QIN XIANPING
  • ZHAI ZHENHE
  • WANG YUNPENG
  • MA JIAN
  • WANG HAO

Assignees

  • 中国人民解放军61540部队

Dates

Publication Date
20260512
Application Date
20260210

Claims (10)

  1. 1. The method for positioning the relative motion of the multi-seafloor beacon network is characterized in that the multi-seafloor beacon network comprises a plurality of seafloor beacons, the plurality of seafloor beacons comprise 1 seafloor fixed beacon and a plurality of seafloor anchor beacons, acoustic ranging observations in the multi-seafloor beacon network form baselines of two observation types, wherein the baselines of the first observation type are baselines between one seafloor fixed beacon and one seafloor anchor beacon, the baselines of the second observation type are baselines between two seafloor anchor beacons, and each baseline is observed at different moments, and the method for positioning the relative motion of the multi-seafloor beacon network comprises the following steps: Acquiring sound velocity profile measurement data of an area where a multi-submarine beacon network is located, outline three-dimensional coordinates of all submarine beacons and sonar measurement data of all baselines, wherein the sonar measurement data comprises propagation time measurement values of sound waves at all sampling observation moments in a sampling period between two submarine beacons; determining a sound velocity measurement value of each baseline based on the sound velocity profile measurement data and a rough zenith direction coordinate in rough three-dimensional coordinates of two submarine beacons on each baseline; determining a distance priori value of each baseline based on the rough three-dimensional coordinates of the two submarine beacons on each baseline; Determining a priori value of sound speed deviation of the multi-submarine beacon network based on the distance priori value of the base line observed at each sampling observation time and sonar measurement data; respectively constructing a quadratic polynomial model of each submarine beacon and a grouping adjustment function model of each sampling observation time, wherein the quadratic polynomial model is an equation about the observation time, and the grouping adjustment function model is an equation about the observation distance and the theoretical distance of a base line; initializing model parameters of a quadratic polynomial model of each submarine beacon and sound speed deviation, a first bending coefficient and a second bending coefficient in a grouping adjustment function model of all sampling observation moments, wherein the model parameters comprise constant terms, primary term coefficients and quadratic term coefficients; Carrying out iterative calculation on the quadratic polynomial models of all the submarine beacons and the grouping adjustment function models of all the sampling observation moments by using a least square method to obtain target values of model parameters of the quadratic polynomial models of all the submarine beacons and correction values of sound speed deviation, estimated values of first bending coefficients and estimated values of second bending coefficients in the grouping adjustment function models of all the sampling observation moments; Substituting target values of model parameters of the quadratic polynomial models of the submarine beacons into the quadratic polynomial models of the corresponding submarine beacons respectively to obtain a submarine beacon motion model of each submarine beacon; When any current submarine beacon in the multi-submarine beacon network is observed at the current moment, substituting the current moment into a submarine beacon motion model of the current submarine beacon to obtain a motion three-dimensional coordinate of the current submarine beacon at the current moment, and realizing the relative motion positioning of the current submarine beacon.
  2. 2. The method of positioning relative motion of a multi-seafloor beacon network of claim 1, wherein determining a sound speed measurement for each baseline based on the sound speed profile measurement data and a approximate zenith direction coordinate of the approximate three-dimensional coordinates of the two seafloor beacons on each baseline comprises: Determining an estimated value of a linear term coefficient of a sound velocity changing with a diagrammatic zenith direction coordinate based on sound velocity profile measurement data including sound velocity profile measurement values at a plurality of different diagrammatic zenith direction coordinates; the sound velocity measurement value of each baseline is determined based on the estimated values of the linear term coefficient and the approximate zenith direction coordinate in the approximate three-dimensional coordinates of the two submarine beacons on each baseline.
  3. 3. The method of claim 1, wherein determining the a priori value of the sound speed deviation of the multi-seafloor beacon network based on the distance a priori value of the baseline observed at each sampling observation time and the sonar measurement data comprises: Determining any sampling observation time as a current sampling observation time, and determining a baseline for observation at the current sampling observation time as a current sampling observation baseline; Determining a sound velocity calculation value at the current sampling observation moment based on the distance priori value of the current sampling observation base line and sonar measurement data; And determining an a priori value of the sound speed deviation of the multi-submarine beacon network based on the sound speed calculation values of all sampling observation moments.
  4. 4. A method of relative motion localization of a multi-seafloor beacon network according to claim 3, wherein the quadratic polynomial model of any one seafloor beacon is: ; Wherein, the Is a submarine beacon At the position of Observing motion three-dimensional coordinates at the moment; is a submarine beacon At the position of Observing the motion north coordinate at the moment; is a submarine beacon A constant term of motion north in a quadratic polynomial model; is a submarine beacon A first order term coefficient of motion north coordinates in the second order polynomial model, which changes with time; The method comprises the steps of observing a moment for initial sampling in a sampling period; is a submarine beacon A quadratic term coefficient of the motion north coordinate in the quadratic polynomial model, which varies with time; is a submarine beacon At the position of Observing the east coordinate of the motion at the moment; is a submarine beacon A constant term in the east direction of motion in the quadratic polynomial model; is a submarine beacon A first term coefficient of the motion east coordinate in the second order polynomial model changing with time; is a submarine beacon A quadratic term coefficient of the motion east coordinate in the quadratic polynomial model, which varies with time; is a submarine beacon At the position of Observing the motion zenith direction coordinates at the moment; is a submarine beacon A constant term of the zenith direction of motion in the quadratic polynomial model; is a submarine beacon A first term coefficient of the motion zenith direction coordinate in the second order polynomial model, which changes with time; is a submarine beacon The quadratic term coefficient of the motion zenith direction coordinate in the quadratic polynomial model with time change.
  5. 5. The method for positioning relative motion of a multi-seafloor beacon network according to claim 4, wherein the process of constructing a block adjustment function model at any current sampling observation time comprises: determining the observation type of a current sampling observation baseline; If the observation type of the current sampling observation baseline is the first observation type, the grouping adjustment function model of the current sampling observation time is: ; Wherein, the Submarine beacons on a base line for a first observation type Submarine beacon At the position of The observation distance at the time of observation, , Is that A sound velocity calculation value at the time of observation, Submarine beacons on a base line for a first observation type Submarine beacon At the position of Observing a propagation time measurement at a time; submarine beacons on a base line for a first observation type Submarine beacon At the position of The theoretical distance of the moment of observation, , Is a submarine beacon At the position of The motion three-dimensional coordinates at the moment of observation, Is a submarine beacon At the position of Observing motion three-dimensional coordinates at the moment; is an a priori value of the sound velocity deviation; Is a first bending coefficient; submarine beacons on a base line for a first observation type Submarine beacon At the position of The horizontal component of the theoretical distance at the moment of observation, , Submarine beacons on a base line for a first observation type Submarine beacon At the position of Observing the height angle of the moment; If the observation type of the current sampling observation baseline is the second observation type, the grouping adjustment function model of the current sampling observation time is: ; Wherein, the Submarine beacons on baseline for a second observation type Submarine beacon At the position of The observation distance at the time of observation, , Submarine beacons on baseline for a second observation type Submarine beacon At the position of Observing a propagation time measurement at a time; Submarine beacons on baseline for a second observation type Submarine beacon At the position of The theoretical distance of the moment of observation, , Is a submarine beacon At the position of The motion three-dimensional coordinates at the moment of observation, Is a submarine beacon At the position of Observing motion three-dimensional coordinates at the moment; is a second bending coefficient; Submarine beacons on baseline for a second observation type Submarine beacon At the position of The horizontal component of the theoretical distance at the moment of observation, , Submarine beacons on baseline for a second observation type Submarine beacon At the position of The altitude at the moment of observation.
  6. 6. The method of claim 1, wherein initializing the model parameters of the quadratic polynomial model for each subsea beacon and the sound speed bias, the first warping factor, and the second warping factor in the group adjustment function model for all sampling observation times comprises: Initializing constant terms of a quadratic polynomial model of each submarine beacon as rough three-dimensional coordinates of the corresponding submarine beacon, and initializing primary term coefficients and secondary term coefficients of the quadratic polynomial model of each submarine beacon as 0; the sound velocity deviation of the grouping adjustment function model at each sampling observation time is the prior value of the sound velocity deviation, and the first bending coefficient and the second bending coefficient of the grouping adjustment function model at each sampling observation time are both 0.
  7. 7. A relative motion positioning system for a multi-seafloor beacon network to implement the relative motion positioning method for a multi-seafloor beacon network of any one of claims 1-6, the relative motion positioning system for a multi-seafloor beacon network comprising: The system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring sound velocity profile measurement data of an area where a multi-submarine beacon network is located, outline three-dimensional coordinates of all submarine beacons and sonar measurement data of all baselines; the sound velocity measurement value determining module is used for determining sound velocity measurement values of all the baselines based on the sound velocity profile measurement data and the approximate zenith direction coordinates in the approximate three-dimensional coordinates of the two submarine beacons on all the baselines; the distance priori value determining module is used for determining the distance priori value of each base line based on the rough three-dimensional coordinates of the two submarine beacons on each base line respectively; The prior value determining module of the sound speed deviation is used for determining the prior value of the sound speed deviation of the multi-submarine beacon network based on the distance prior value of the base line observed at each sampling observation time and sonar measurement data; The model construction module is used for respectively constructing a quadratic polynomial model of each submarine beacon and a grouping adjustment function model of each sampling observation time, wherein the quadratic polynomial model is an equation about the observation time, and the grouping adjustment function model is an equation about the observation distance and the theoretical distance of a base line; The system comprises an initialization module, a sampling module and a sampling module, wherein the initialization module is used for initializing model parameters of a quadratic polynomial model of each submarine beacon and sound speed deviation, a first bending coefficient and a second bending coefficient in a grouping adjustment function model of all sampling observation moments, wherein the model parameters comprise a constant term, a first term coefficient and a quadratic term coefficient; The calculation module is used for carrying out iterative calculation on the quadratic polynomial models of all the submarine beacons and the grouping adjustment function models of all the sampling observation moments by using a least square method to obtain target values of model parameters of the quadratic polynomial models of all the submarine beacons, correction values of sound speed deviation, estimated values of first bending coefficients and estimated values of second bending coefficients in the grouping adjustment function models of all the sampling observation moments; the model determining module is used for substituting the target values of the model parameters of the quadratic polynomial model of each submarine beacon into the quadratic polynomial model of the corresponding submarine beacon respectively to obtain a submarine beacon motion model of each submarine beacon; and the positioning module is used for substituting the current moment into a submarine beacon motion model of the current submarine beacon when any current submarine beacon in the multi-submarine beacon network is observed at the current moment, so as to obtain the motion three-dimensional coordinate of the current submarine beacon at the current moment and realize the relative motion positioning of the current submarine beacon.
  8. 8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method of relative motion localization of a multi-seafloor beacon network according to any one of claims 1-6.
  9. 9. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a method of relative motion localization of a multi-seafloor beacon network according to any one of claims 1-6.
  10. 10. A computer program product comprising a computer program which when executed by a processor implements the method of relative motion localization of a multi-seafloor beacon network of any one of claims 1 to 6.

Description

Relative motion positioning method, system, device, medium and product of multi-submarine beacon network Technical Field The application relates to the technical field of marine geodetic data processing, in particular to a relative motion positioning method, a system, a device, a medium and a product of a multi-seafloor beacon network. Background Subsea beacons are a key infrastructure for marine geodetic and underwater navigation positioning, and reference networks are typically constructed from a plurality of fixed or anchor beacons. The relative motion positioning of the multi-seafloor beacon network can be realized through processing the acoustic ranging data among beacons, so that high-precision position references are provided for underwater vehicles, observation platforms and the like. However, in an actual operating environment, the relative positioning accuracy of the seafloor beacons in a multi-seafloor beacon network is limited by a variety of error factors, wherein acoustic line bending errors are one of the main sources of error affecting ranging accuracy. In the acoustic ranging process, the propagation path of sound waves in seawater is not a straight line, but is bent due to the vertical change of the sound velocity profile in the water body. The traditional positioning method is usually modified by adopting a single acoustic line bending model, but the model does not fully consider the difference of actual acoustic propagation paths among different beacon combinations. In a multi-seafloor beacon network comprising fixed seafloor beacons and anchor seafloor beacons, the anchor seafloor beacons are affected by ocean currents and other factors to move, so that high differential state changes among the seafloor beacons are caused, and obvious high differential group phenomenon is formed. The sound ray bending radius corresponding to different height difference groups has obvious difference, if the sound ray bending radius is continuously corrected by using a single sound ray bending coefficient, systematic model errors are introduced, and further improvement of relative positioning accuracy is limited. In addition, when describing the motion state of the submarine beacon, the related method mostly adopts a linear or simple motion model, so that the actual motion trail of the anchor system beacon in the complex marine environment is difficult to accurately describe, the uncertainty of motion state calculation is further increased, and the accuracy of a positioning result is influenced. Therefore, how to effectively suppress the influence of acoustic line bending errors and accurately describe the motion characteristics of the submarine beacons has become a key challenge for improving the relative positioning accuracy of the submarine beacons in the multi-submarine beacon network. What is needed is a relative positioning technology capable of distinguishing acoustic line bending errors in different level difference scenes and finely modeling the movement state of a beacon so as to realize higher-precision submarine beacon position calculation and track reconstruction and provide reliable technical support for underwater high-precision navigation positioning. Disclosure of Invention The application aims to provide a relative motion positioning method, a relative motion positioning system, a relative motion positioning device, a relative motion positioning medium and a relative motion positioning product for a multi-seafloor beacon network, so as to improve the relative positioning precision of seafloor beacons in the multi-seafloor beacon network. In order to achieve the above object, the present application provides the following. In a first aspect, the present application provides a relative motion positioning method of a multi-seafloor beacon network, the multi-seafloor beacon network including a plurality of seafloor beacons including 1 seafloor fixed beacon and a plurality of seafloor anchor beacons, acoustic ranging observations within the multi-seafloor beacon network forming baselines of two observation types, wherein the baselines of a first observation type are baselines between one seafloor fixed beacon and one seafloor anchor beacon, and the baselines of a second observation type are baselines between two seafloor anchor beacons, each baseline being observed at a different time, the relative motion positioning method of the multi-seafloor beacon network comprising: Acquiring sound velocity profile measurement data of an area where a multi-submarine beacon network is located, outline three-dimensional coordinates of all submarine beacons and sonar measurement data of all baselines, wherein the sonar measurement data comprises propagation time measurement values of sound waves at all sampling observation moments in a sampling period between two submarine beacons; determining a sound velocity measurement value of each baseline based on the sound velocity profile measurement data and a rou