Underwater pulse acoustic positioning system based on multi-acoustic wave glider and water surface unmanned boat

A technology of unmanned boats and glider, applied in satellite radio beacon positioning system, radio wave measurement system, positioning, etc., can solve communication difficulties and other problems, and achieve high communication efficiency, easy and smooth communication

Active Publication Date: 2020-01-17
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is: to solve the problem of difficult communication in the underwater pulse sound positioning based on multi-aco

Method used

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  • Underwater pulse acoustic positioning system based on multi-acoustic wave glider and water surface unmanned boat
  • Underwater pulse acoustic positioning system based on multi-acoustic wave glider and water surface unmanned boat
  • Underwater pulse acoustic positioning system based on multi-acoustic wave glider and water surface unmanned boat

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specific Embodiment approach 1

[0061] Specific implementation mode one: refer to Figure 1 to Figure 4 Specifically illustrate this embodiment, the underwater pulse sound positioning system based on the multi-acoustic wave glider and the surface unmanned boat described in this embodiment includes: an unmanned boat node and an AWG node,

[0062] The unmanned boat node is used to perform positioning calculation on the data obtained by the AWG node through underwater transmission, and transmit the positioning calculation to the shore station for display;

[0063] The AWG node is used to receive the acoustic signal of the target in the water and perform signal detection, positioning and other processing, obtain the GPS position information and time of each node of the AWG through GPS, and transmit the data to the unmanned boat node;

[0064] The specific steps of the signal detection are: when there is no pulse signal, the background noise signal received by the hydrophone connected on the AWG is intercepted fo...

specific Embodiment approach

[0115] (1) Use a depth gauge and a sound velocity profiler to measure in the test sea area, and obtain the sea depth and sound velocity profile information of the test sea area.

[0116] (2) Each of the four acoustic wave gliders (AWG) is connected to a four-element cross-shaped hydrophone array, which is placed at a designated position in the water.

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Abstract

The invention provides an underwater pulse acoustic positioning system based on a multi-acoustic wave glider and a water surface unmanned boat, and relates to the technical field of underwater positioning. In order to solve the problem of communication difficulty in the underwater pulse acoustic positioning based on the multi-acoustic wave glider in the prior art, the underwater pulse acoustic positioning system provided by the invention implements local positioning networking of the multi-acoustic wave glider, determines the number of AWGs and designs an optimal formation of AWGs and USV according to a sea depth, a sound velocity profile and a positioning area required for a task, and monitors and controls the formation of the AWGs through the USV, meanwhile maintains the USV at the central positions of the AWGs to ensure easy and smooth communication, and furthermore, the communication efficiency is high.

Description

technical field [0001] The invention relates to the technical field of underwater positioning, in particular to an underwater impulse acoustic positioning system based on a multi-acoustic wave glider and a surface unmanned boat. Background technique [0002] Among the existing underwater pulse sound positioning systems, the long-baseline positioning system has the highest accuracy, and its working mode includes submersible buoys, surface buoys and surface unmanned vehicles deployed on the seabed. [0003] For the long-baseline positioning based on the submarine mark method, the advantage is that the position of the base station is fixed, and the formation can be kept in the optimal state with high positioning accuracy. The existing problems are that the deployment is difficult and the calibration is time-consuming, especially in the case of deep sea. [0004] For the long baseline positioning of the buoy method, the advantage is that the position of the base station can be a...

Claims

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Application Information

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IPC IPC(8): G01S5/22G01S19/48
CPCG01S5/22G01S19/48
Inventor 孙大军兰华林吕云飞师俊杰梅继丹滕婷婷靳建嘉
Owner HARBIN ENG UNIV
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