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Underwater Positioning Method Based on Differential Technology

An underwater positioning and technology technology, applied in the direction of sound wave re-radiation, utilization of re-radiation, measurement devices, etc., can solve the problems of limiting radio navigation equipment, electromagnetic wave propagation attenuation, etc., to achieve improved accuracy, simple algorithm, and elimination of common errors. Effect

Inactive Publication Date: 2011-11-30
HARBIN ENG UNIV
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Problems solved by technology

[0002] Due to the great attenuation of electromagnetic waves propagating in highly conductive seawater media, radio navigation equipment is limited

Method used

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  • Underwater Positioning Method Based on Differential Technology
  • Underwater Positioning Method Based on Differential Technology
  • Underwater Positioning Method Based on Differential Technology

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Embodiment Construction

[0014] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0015] to combine Figure 1~4 , the steps of the present invention include:

[0016] (1) Use the short baseline underwater acoustic positioning unit interrogator to send an inquiry signal to the underwater transponder, and the underwater transponder will send a response signal after receiving the interrogation signal, measure the time delay of the response signal relative to the transmitted signal, and then calculate the two , and then determine the pseudo-range value of the underwater transponder through mutual distance intersection calculation;

[0017] (2) Use the acoustic long baseline method to let the workboat interrogator sail around the transponder under the guidance of high-precision DGPS, measure the distance between the interrogator and the transponder through the interrogation and response method, record the position data of high-precision DGPS, and p...

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Abstract

The invention aims to provide an underwater positioning method based on a differential technology. The method comprises the following steps of: firstly, after receiving an interrogation signal of an interrogator of a short-baseline acoustic positioning unit through an underwater responser, sending an answer signal; determining a pseudo-range value of the underwater responser; secondly, measuring the distance between the interrogator and the responser in a manner of interrogating and responding; recording position data of high-precision a DGPS (Differential Global Positioning System); taking the obtained position of the responser as an absolute reference position; and finally, calculating the distance between the responser to each array element of the short baseline; comparing the calculated real distance with the pseudo-range value which is measured by using the short baseline in a manner of responding; solving a correction value; using the correction value to correct the pseudo-rangevalue of the responser measured by the short-baseline positioning system; obtaining a position coordinate of the responser; and then, completing underwater positioning. In the method disclosed by theinvention, the algorithm is simple; a correction value is only necessary to be added in a positioning and ranging equation; the method is applicable for most underwater positioning systems; public errors of the systems can be effectively eliminated; and the object positioning precision can be improved.

Description

technical field [0001] The invention relates to an underwater positioning method. Background technique [0002] Due to the great attenuation of electromagnetic waves propagating in highly conductive seawater media, radio navigation equipment is limited. On the contrary, the propagation attenuation of acoustic signal in seawater is very small, and it can pass through a long distance. , mineral development and other fields have been widely used. The underwater acoustic positioning system mainly refers to a system that can be used for precise positioning and navigation in local areas. The underwater acoustic positioning system is divided into long baseline system, short baseline system and ultra-short baseline system. Compared with the long baseline positioning system, the short baseline positioning system is simple to deploy, calibrate and recover. Compared with the ultra-short baseline positioning system, its positioning accuracy is much higher than that of the ultra-shor...

Claims

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Application Information

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IPC IPC(8): G01S15/06
Inventor 乔钢李壮何超孙宗鑫马雪飞周峰
Owner HARBIN ENG UNIV
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