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Underwater glider positioning system and method based on single beacon

An underwater glider and positioning system technology, applied in satellite radio beacon positioning systems, positioning, radio wave measurement systems, etc., can solve the problems of failure to send response signals, failure of underwater nodes to send signals, and underwater robots not equipped with signal transmission Device and other issues

Active Publication Date: 2020-08-25
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the sake of energy saving, some underwater robots are not equipped with signal transmitters and cannot send response signals
In addition, in scenarios with special security requirements, due to concealment considerations, underwater nodes cannot send signals

Method used

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  • Underwater glider positioning system and method based on single beacon
  • Underwater glider positioning system and method based on single beacon
  • Underwater glider positioning system and method based on single beacon

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Embodiment Construction

[0045] In order to explain the invention in more detail, it is intended to be illustrated in conjunction with the accompanying drawings, but is not limited to the accompanying drawings, where the structures in the accompanying drawings are omitted or the scale does not conform to the actual size, and are only for reference purposes .

[0046] Under the condition that the underwater glider is not equipped with a speedometer, the positioning is realized through the following positioning system.

[0047] The positioning system of the present invention includes a positioning acoustic receiving module, a positioning processing module, a pressure sensor, an attitude sensor and a satellite receiving module arranged in the underwater glider, and a positioning beacon deployed on the seabed or on the sea surface. The positioning acoustic receiving module includes a hydrophone and an underwater acoustic receiving module, which are used to receive the positioning message from the position...

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Abstract

The invention discloses an underwater glider positioning system and method based on a single beacon. The positioning system comprises a positioning acoustic receiving module, a positioning processingmodule, a pressure sensor, an attitude sensor and a satellite receiving module which are arranged in the underwater glider, and a positioning beacon arranged on the seabed or the sea surface. The method comprises the following steps: firstly, a single positioning beacon sends a positioning message containing longitude, latitude and elevation information at fixed time intervals; and the underwaterglider monitors and analyzes the positioning message, establishes a state vector, a measurement vector and a corresponding state equation and measurement equation in combination with message information and node attitude information, and calculates the estimated position of the underwater mobile node by using extended Kalman filtering. When the method is used for positioning the underwater glider,the underwater glider does not need to keep clock synchronization with the beacon, and a speedometer does not need to be arranged.

Description

technical field [0001] The invention belongs to the technical field of positioning, and relates to a positioning system and method for an underwater glider based on a single beacon, which realizes the positioning of an underwater glider by combining the positioning message information sent by a single positioning beacon and the attitude information of an underwater robot. Background technique [0002] In recent years, marine resource exploration, marine environment monitoring, and research and development of underwater equipment have become hot topics. Underwater robots, such as Autonomous Underwater Vehicles (AUV), Underwater Gliders (UG), Remote Operated Vehicles (ROV), etc., are increasingly used in marine environment monitoring. In the detection of underwater targets, and this type of underwater equipment often needs to maneuver to a designated area to perform corresponding underwater tasks. Therefore, the positioning and tracking of underwater robots is one of the supp...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00G01S5/18G01S19/14
CPCG01C21/203G01C21/005G01S19/14G01S5/18
Inventor 陈惠芳谢磊刘峰吕传磊徐文
Owner ZHEJIANG UNIV
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