Underwater positioning method based on single acoustic beacon distance measurement

Abstract

The invention discloses an underwater positioning method based on single acoustic beacon distance measurement; the method comprises the following steps: an underwater vehicle carries out slope distance measurement with an acoustic beacon in a fixed position via an underwater acoustic communication set at a fixed frequency, the acoustic beacon sends self depth to the vehicle, the vehicle combines the acoustic beacon and self real time depth so as to calculate the depth difference and horizontal distance between the vehicle and the acoustic beacon; secondarily, in a navigation process, the vehicle uses a compass and a Doppler tachymeter to obtain self accuracy course and speed, thus obtaining the accurate navigation locus of the vehicle in certain period; finally, the vehicle uses the rangefinding sequence and the curse as constraints, uses the acoustic beacon position as reference, and matches and positions a real time relative navigation locus in an acoustic beacon coverage area, thusdetermining the present position. An existing underwater acoustic positioning method has more elements, is complex in structure, high in cost, and a curse reckoning method has accumulated errors andneeds the start point position information in calculation; the underwater positioning method based on single acoustic beacon distance measurement can solve said problems.

Description

technical field [0001] The invention belongs to the technical field of marine navigation and positioning, and in particular relates to an underwater navigation and positioning method based on distance measurement of a single underwater acoustic beacon. This method is mainly applied to the positioning estimation of the aircraft when it is navigating in an unknown underwater environment. Background technique [0002] Underwater navigation and positioning technology is a necessary technology for marine scientific investigation, resource exploration and development, and underwater acoustic positioning technology is one of the main directions of underwater navigation and positioning research. [0003] The traditional dead reckoning algorithm has the characteristics of high-precision positioning in a short period of time, but its positioning error will accumulate and increase over time, and the starting point position information needs to be known in the process of dead reckoning....

AI Technical Summary

Problems solved by technology

These traditional methods can provide high-precision positioning update information in the coverage area, but require more underwater acoustic elements, complex system layout, and high cost, and cannot be widely used in the navigation and positioning requirements of underwater vehicles.

[0005] The current research on single-beacon hydroacoustic positioning uses ranging as auxiliary information to provide observations for inertial navigation systems, thereby improving the accuracy of position estimation. However, in this way, the observability of the navigation system requires the There are strict requirements on the relative motion direction with the underwater acoustic beacon. When the relative heading is too single, the auxiliary effect will be greatly reduced, and the accuracy of navigation estimation will decrease rapidly.

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