Ultra-short baseline system for underwater positioning in shallow waters and calibration method

Abstract

The present invention provides an ultra-short baseline system for underwater positioning in shallow waters. The system includes an underwater array, a deck control unit, an attitude sensor and a satellite positioning device; after being fully configured, the satellite positioning device and the attitude sensor are fixed to a mother ship; the satellite positioning device and the attitude sensor establish data connections with the deck control unit; the underwater array is fixedly connected with the mother ship through a mounting frame; the underwater array has an initial mounting angle with respect to a mother ship coordinate system; and the degrees of the initial mounting angle are determined according to a condition that ensures the predetermined trajectory of an object to be positioned to be near the middle position of the detection opening angle of the underwater array. According to the calibration method of the invention, on the basis of the global optimization of a genetic algorithm, the approximate value of the exact solution of a calibration equation is obtained and is adopted as the initial value of the iterative solution of the Gaussian-Newton least squares method, and therefore, a calibration result can be more accurate and reliable.

Description

technical field [0001] The invention relates to an underwater target positioning system, in particular to an ultra-short baseline underwater target positioning system. The invention also relates to a calibration method of an ultra-short baseline underwater target positioning system. Background technique [0002] Ultra-short baseline is an underwater positioning technology. Compared with other baseline systems, the ultra-short baseline is small in size and easy to install. At present, it is widely used in marine production and development such as offshore oil exploration and development, marine salvage, etc. It is mainly used to determine the underwater precise position of ROV, AUV, divers, and other underwater carriers. [0003] Usually there is an acoustic detection opening angle for the underwater array with ultra-short baseline. In the case of large water depth, its horizontal detection distance can basically meet the requirements of use, but in shallow water areas (such...

AI Technical Summary

Problems solved by technology

[0005] At present, the calibration equation of the ultra-short baseline system is mostly solved iteratively by the least square method. The advantage of this method is that the calculation convergence speed is fast and the calculation accuracy is relatively high, which meets the positioning accuracy requirements. The dependence degree is very high. If the initial value is not selected properly, the convergence speed will be slow, the calculation will diverge, and the result will be false.

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