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Method for precise calibration of absolute position of deep sea underwater transponder

An absolute position and transponder technology, which is applied in the field of calibration of the absolute position of submarine transponders, can solve the problems of high requirements for the selection of measurement points and large amount of calculation, so as to improve operation efficiency, ensure calibration accuracy, and have obvious advantages Effect

Inactive Publication Date: 2010-09-15
HARBIN ENG UNIV
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Problems solved by technology

This method combines the hyperboloid intersection algorithm to iteratively calculate the absolute position of the seabed transponder, which requires a large amount of calculation and has high requirements for the selection of measurement points

Method used

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  • Method for precise calibration of absolute position of deep sea underwater transponder
  • Method for precise calibration of absolute position of deep sea underwater transponder
  • Method for precise calibration of absolute position of deep sea underwater transponder

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Embodiment Construction

[0019] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0020] In the present invention, if figure 1 Transponder anchor 3 is anchored on the seabed at position X T ; High-precision GPS1 is installed on the side of the ship. The shipborne transducer 2 conducts N times of question and answer with the subsea transponder 3 at multiple measuring points on the water surface, and the sound propagation delay t can be measured i , i=1, 2, . . . , N.

[0021] Suppose the distance between each measuring point and the transponder is r i , then the transponder position calibration equation can be obtained:

[0022] ||X Gi -X T ||=r i (i=1, 2, ..., N) (1)

[0023] where N represents the number of measurements. x Gi It is the absolute geodetic coordinates of each measuring point measured by GPS2. x T is the absolute geodetic coordinate of the submarine transponder to be tested. If the speed of sound propagation is consta...

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Abstract

The invention provides a method for the precise calibration of the absolute position of a deep sea underwater transponder, which comprises the following steps of: 1, measuring a sound propagation delay by using the request and response between a ship transducer and a seabed transponder at multiple measuring points; 2, measuring an absolute geodetic coordinate of each measuring point by using a GPS; 3, measuring sound velocity distribution on site in a sea area anchored by the seabed transponder; 4, calculating an initial value of the absolute position of the underwater transponder according to an average sound velocity and a transducer position calibration equation; 5, calculating a horizontal distance from each measuring point to the underwater transponder according to the initial value of the absolute position of the underwater transponder, the absolute geodetic coordinates of the measuring points, the sound propagation delay and the sound velocity distribution; 6, calculating the horizontal coordinate of the underwater transponder according to the position of each measuring point and the horizontal distance, obtained by the step 5, from each measuring point to the underwater transponder; and 7, calculating a depth coordinate of the underwater transponder according to the position of each measuring point, the horizontal coordinate, obtained by the step 6, of the underwater transponder, the sound propagation delay and the sound velocity distribution. The method for the precise calibration of the absolute position of the deep sea underwater transponder can greatly improve working efficiency and enjoys a more obvious advantage under a deep sea condition.

Description

technical field [0001] The invention belongs to the field of underwater acoustic positioning, and mainly relates to a method for calibrating the absolute position of a seabed transponder. Background technique [0002] The existing methods for calibrating the absolute position of submarine transponders can be mainly divided into two categories. One is to directly calibrate the submarine transponder by using the base array with positioning capability installed on the surface ship. The matrix can be either an ultra-short baseline or a short baseline. The advantage of this type of method is that the operation efficiency is high, and the calibration result can be obtained only through a single measurement. The disadvantage of this method is that the accuracy of the calibration is relatively poor, and it is difficult to meet the requirements of high-precision calibration of the transponder position. This is due to the small size of the matrix. The other is to use the underwate...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/18G01S5/28
Inventor 兰华林孙大军曹忠义卢逢春张殿伦李想
Owner HARBIN ENG UNIV
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