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Underwater moving target positioning algorithm based on single beacon

A technology of moving targets and positioning algorithms, applied in the field of positioning and navigation, can solve problems such as increasing the workload of aircraft

Active Publication Date: 2016-08-03
OCEAN UNIV OF CHINA
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AI Technical Summary

Problems solved by technology

This technology requires the aircraft to regularly update the position information on the water surface, which increases the workload of the aircraft

Method used

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  • Underwater moving target positioning algorithm based on single beacon
  • Underwater moving target positioning algorithm based on single beacon
  • Underwater moving target positioning algorithm based on single beacon

Examples

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Embodiment Construction

[0106] Specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0107] The single-beacon-based underwater moving target positioning algorithm uses a water moving beacon to locate the underwater moving target; it is used to calibrate the relative distance between the aircraft and the beacon in the area supported by the beacon. The mobile beacon is equipped with a satellite positioning receiver, an underwater acoustic transducer and a synchronous clock system. The location information of the beacon is obtained through the global positioning system, and its location information and clock information are encoded into the underwater acoustic signal. The work of the beacon is to broadcast the underwater acoustic signal. Signal.

[0108] The underwater moving target is equipped with a horizontal attitude sensor, a speed sensor and a vertical azimuth sensor. The horizontal attitude sensor can obtain the pitch angle ...

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Abstract

An underwater moving target positioning algorithm based on single beacon is characterized in that one overwater moving beacon is used to position an underwater moving target; the moving beacon is provided with a satellite positioning receiver; and the underwater moving target is provided with a horizontal gesture sensor, a navigation speed sensor, and a vertical position sensor. Through the technology, the linear distance between the underwater target and the beacon can be obtained, at the same time, measured values of gesture, speed, and depth of underwater target can be obtained by the sensors carried by the underwater target; on the basis of the linear distance and measured values, a system model is established, the initial state is calculated, the state observability analysis is performed, the state equation is discretized, and finally Kalman filtering is carried out so as to obtain the estimate value of position of the underwater target.

Description

technical field [0001] The invention belongs to the technical field of positioning and navigation, and relates to a positioning technology of an underwater moving target, in particular to an underwater moving target positioning algorithm based on a single beacon. Background technique [0002] Underwater positioning and navigation technology is an essential means for marine scientific investigation, marine resource exploration, marine resource development, and deep-sea space station construction. However, underwater electromagnetic wave signals attenuate quickly, and GPS signals on land cannot be directly applied to underwater target positioning. Therefore, underwater acoustic positioning technology is the main research direction of underwater positioning system at present. [0003] Traditionally, according to the distance between underwater positioning beacons, we divide underwater positioning systems into three types: long baseline positioning system (LBL), short baseline p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/12
CPCG01C21/12
Inventor 周琳赵庆胜鹿鑫迟书凯
Owner OCEAN UNIV OF CHINA
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