Underwater Impulse Acoustic Positioning System Based on Multiacoustic Wave Glider and Unmanned Surface Vehicle

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: 2022-06-21
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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-acoustic wave glider in the prior art, propose a kind of underwater pulse sound positioning system based on multi-acoustic wave glider and surface unmanned boat

Method used

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  • Underwater Impulse Acoustic Positioning System Based on Multiacoustic Wave Glider and Unmanned Surface Vehicle
  • Underwater Impulse Acoustic Positioning System Based on Multiacoustic Wave Glider and Unmanned Surface Vehicle
  • Underwater Impulse Acoustic Positioning System Based on Multiacoustic Wave Glider and Unmanned Surface Vehicle

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specific Embodiment approach 1

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

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

[0063] The AWG node is used to receive the target acoustic signal in the water and perform signal detection, positioning and other processing, obtain the GPS location 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, intercept the background noise signal received by the hydrophone connected to the AWG for 1 second, take the squ...

specific Embodiment approach

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

[0116] (2) Each of the four acoustic wave gliders (AWGs) is connected to a quaternary cross-type hydrophone array and placed in a designated position in the water.

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Abstract

The underwater pulse sound positioning system based on the multi-acoustic wave glider and the surface unmanned boat relates to the technical field of underwater positioning. In order to solve the problem of communication difficulties in the underwater pulse sound positioning based on the multi-acoustic wave glider in the prior art, the present invention realizes A multi-acoustic wave glider local positioning network is developed. The present invention determines the number of AWGs and designs the optimal formation of AWGs and USVs according to the sea depth, sound velocity profile and mission requirement positioning area, and monitors and controls the formation of AWGs through USVs, while maintaining The USV itself is at the center of the AWG to make communication easy and smooth, and the communication is efficient.

Description

technical field [0001] The invention relates to the technical field of underwater positioning, in particular to an underwater pulse sound positioning system based on a multi-acoustic wave glider and a surface unmanned boat. Background technique [0002] Among the existing underwater pulse acoustic positioning systems, the long-baseline positioning system has the highest accuracy. [0003] For the long-baseline positioning based on the submersible method, the advantage is that the base station position is fixed, and the formation can be maintained in an optimal state with high positioning accuracy. [0004] For the long-baseline positioning of the buoy method, the advantage is that the position of the base station can be accurately measured in real time by satellites. [0005] For both methods, the estimated delay parameters are used for positioning after node processing. In contrast, the long-baseline positioning system based on unmanned boats can not only control the form...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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