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Time delay treatment method of manned diving apparatus position measurement

A manned submersible, time-delayed processing technology, applied in the directions of measurement devices, instruments, surveying and navigation, etc., can solve the problem that the position data of the cableless submersible deviates from the position value, etc.

Inactive Publication Date: 2006-01-11
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to sensor data drift and long-term position estimation, the position data of the untethered submersible will deviate from the actual position value

Method used

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  • Time delay treatment method of manned diving apparatus position measurement
  • Time delay treatment method of manned diving apparatus position measurement
  • Time delay treatment method of manned diving apparatus position measurement

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Embodiment Construction

[0029] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0030] Integrate the currently obtained outdated ultra-short baseline position measurement value into the position calculation of the manned submersible to optimize the current position information of the manned submersible; specifically:

[0031] Assume that in the process of obtaining the position information of the manned submersible measured by the ultra-short baseline underwater acoustic positioning system, the propagation time of the sound wave in the water is t=d*T s , where d is the time interval, T s is the time unit of measurement; k is the kth measurement; the underwater acoustic transponder sends a response signal to the underwater acoustic receiving array at the time, and the manned submersible must be at t=(k+d) due to the time delay of sound wave transmission in water. *T s The position information X of the manned submersible measured by the ...

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Abstract

The present invention relates to a manned diving instrument position measurement time-delaying processing method. It is characterized by that it makes the currently-obtained over-time ultrashort baseline position measured value be compromised into manned diving instrument position culculation by means of Kallman filtering algorithm so as to implement optimum treatment of current manned diving instrument position information.

Description

technical field [0001] The invention relates to the positioning technology of a manned submersible in the ocean, in particular to a time-delay processing method for the position measurement of a manned submersible. technical background [0002] When a manned submersible is moving in the ocean, it needs to determine its current coordinates in real time. At present, position sensors are mostly used for real-time measurement to provide position information of manned submersibles. Through the calculation of the navigation processing system of the manned submersible, these position information are integrated to obtain an optimal position information of the manned submersible in the ocean. [0003] When the navigation processing system of the manned submersible is estimating the position of the manned submersible, the most basic state quantities that can be measured in real time include: heading angle θ, pitch angle ψ, and horizontal velocity values ​​u, v. The horizontal positi...

Claims

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Application Information

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IPC IPC(8): G01C21/00
Inventor 于开洋
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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