Passive underwater sound positioning method based on moving time window periodically

Abstract

The present invention discloses a passive underwater sound positioning method based on moving a time window periodically. The method is composed of a strapdown inertial navigation system (SINS), a single hydrophone (receiver) at the bottom of an autonomous underwater vehicle (AUV) and a seafloor single hydrophone (band sound source), adopts a time window model which moves based on the cycle of an ultrasonic wave sent out by the seafloor hydrophone, and comprises the steps of carrying out the generalized cross correlation on the sound source signals received when the AUV is located at different positions in a time window to obtain the delay inequality, and then calculating a time window internal AUV multi-point model to obtain the latest position coordinate of the AUV. According to the present invention, by calculating the time window internal AUV multi-point model, the AUV does not need to navigate too far, so that a positioning error of an inertial navigation system which accumulates along with the time continuously is reduced effectively. According to the present invention, the AUV does not need to emerge from the water to update the position, does not need the digital communication, and receives an ultrasonic signal passively, so that the position of the AUV is difficult to expose, and the invisibility and the safety of the AUV are improved.

Description

technical field [0001] The invention belongs to the technical field of strapdown inertial navigation, and in particular relates to a passive underwater acoustic positioning method based on a periodically moving time window. Background technique [0002] AUV (Autonomous Underwater Vehicle, autonomous underwater vehicle) now plays an important role in performing various underwater tasks, including ocean detection, underwater mine clearance, and collecting bathymetric data of oceans and rivers. In order to ensure that AUV can successfully complete its tasks underwater and obtain relatively accurate underwater measurement data, it must have long-term autonomous high-precision positioning and navigation capabilities underwater and have high concealment. [0003] At present, most AUVs use DVL and SINS for integrated navigation, and estimate the position through ship position reckoning, but this will cause the positioning error of the inertial navigation system to accumulate over t...

AI Technical Summary

Problems solved by technology

Using this scheme, although the purpose of correcting the cumulative error can be achieved, it is necessary to require the AUV to continuously travel between the underwater operation site and the water surface.

Doing so not only affects work efficiency, but also makes it easier to expose the position of the AUV

Especially when the AUV is operating in deep sea or under ice, this solution is even more impractical

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