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A positioning method for underwater glider based on single beacon

The technology of an underwater glider and a positioning method, which is applied in the field of positioning, can solve the problems that underwater nodes cannot send signals, cannot send response signals, and underwater robots are not equipped with signal transmitting devices, etc., and achieve simple structure, strong economy, and positioning The effect of process energy saving

Active Publication Date: 2021-12-21
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, for concealment considerations, underwater nodes cannot send signals

Method used

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  • A positioning method for underwater glider based on single beacon
  • A positioning method for underwater glider based on single beacon
  • A positioning method for underwater glider based on single beacon

Examples

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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 includes a positioning acoustic receiving module, a positioning processing module, a pressure sensor, an attitude sensor and a satellite receiving module in the underwater glider, and a positioning beacon deployed on the seabed or on the sea surface. First, a single positioning beacon sends a positioning message containing latitude, longitude and elevation information at fixed intervals, and the underwater glider listens to and analyzes the positioning message, and combines the message information and node attitude information to establish a state vector, a measurement vector, and a corresponding state equation. and measurement equations, using the extended Kalman filter, to calculate the estimated position of the underwater mobile node. When the method locates the underwater glider, it is not necessary for the underwater glider to maintain clock synchronization with the beacon, and it is not necessary to be equipped with a speedometer.

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 the underwater glider by combining positioning message information sent by a single positioning beacon and 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 and In the detection of underwater targets, such underwater equipment often needs to maneuver to designated areas to perform corresponding underwater tasks. Therefore, the positioning and tracking of underwater robots is one of the supporting technologi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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