Method for positioning multiple beacons in real time underwater

Abstract

The invention relates to a method for positioning multiple beacons in real time underwater, and belongs to the technical field of positioning multiple moving objects in real time underwater. The method can solve a problem of real-time positioning for multiple beacons underwater. The method is characterized by comprising six water surface receiving buoys forming a regular hexagon and a water surface transmitting and receiving main buoy located at the middle, wherein the buoys form a positioning area and realize synchronization in time through a DGPS (Differential Global Positioning System) synchronization technology. A positioned object carries a responsive acoustic positioning beacon and enters the positioning area, the central buoy positioning primitive transmits a distance measurement instruction which contains address information, addressed positioning beacons receive an instruction signal and send code return signals which are different in frequency, each receiving sub-primitive receives the code return signals, performs signal separation and multi-path distance measurement through an internal multi-path frequency selection circuit, and transmits distance measurement information and location information thereof to shore station platform through a high-frequency data transmission radio, and the shore station can simultaneously calculate the real-time three-dimensional locations of multiple positioning beacons according to a three-ellipse intersection algorithm.

Description

technical field [0001] The invention belongs to the technical field of real-time positioning of multiple underwater moving objects, and relates to a method for monitoring the positions and motion trajectories of multiple underwater targets, in particular to a positioning method based on the intersection of three ellipses using the acoustic long baseline positioning theory The method is a method for real-time positioning of multiple underwater moving objects in the form of carrying a positioning primitive on a water surface buoy, and carrying a responsive underwater acoustic beacon on an object to be positioned. Background technique [0002] At present, the underwater acoustic positioning methods in the world can be divided into three categories according to the length of the positioning baseline: long baseline (LBL) positioning, short baseline (SBL) positioning, and ultra-short baseline (USBL) positioning. Among them, the long baseline positioning requires at least three pri...

AI Technical Summary

Problems solved by technology

[0003] Synchronous ranging positioning, asynchronous ranging positioning, and responsive ranging positioning have their own advantages and disadvantages. Synchronous ranging positioning mostly uses the principle of three-circle intersection positioning. The algorithm is simple, the accuracy is high, and the number of primitives required is small, but it needs to be Before the test, it is necessary to synchronize the time base of the target beacon and the underwater positioning array. The target beacon needs to be designed with a synchronous clock, which is complex and expensive to design; asynchronous ranging positioning does not require a synchronous time base, but the algorithm is more complicated. The positioning accuracy is low; the responding ranging positioning essentially adopts the principle of three-circle intersection positioning, and does not require a synchronous time base, but since each primitive needs to be measured sequentially, the frequency of responding positioning measurement is much lower than that of synchronous positioning method, not suitable for real-time positioning and tracking of moving objects

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