阅读说明：本技术 一种遥控无人潜航器水下定位方法及系统 (Underwater positioning method and system for remote control unmanned underwater vehicle ) 是由 商志刚 杨丰茂 安妍妍 楚立鹏 付圣峰 张博 于 2020-04-19 设计创作，主要内容包括：本发明公开了一种遥控无人潜航器水下定位方法及系统,本发明由遥控无人潜航器上的声信标发射定位信号,通过水面平台上设有矢量水听器监测该信号,最后由控制器对该定位信号进行处理,最终确定了ROV的位置,从而低成本了实现了对ROV的定位。(The invention discloses a method and a system for positioning a remote-control unmanned underwater vehicle underwater, which are characterized in that a positioning signal is transmitted by an acoustic beacon on the remote-control unmanned underwater vehicle, a vector hydrophone is arranged on a water surface platform to monitor the signal, and finally the positioning signal is processed by a controller to finally determine the position of an ROV, so that the ROV is positioned at low cost.)

1. An underwater positioning method of a remote control unmanned underwater vehicle is characterized by comprising the following steps: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;

the acoustic beacon transmits a positioning signal under the trigger of the controller;

after the vector hydrophone monitors the positioning signal, the sound pressure and the vibration speed of the acoustic beacon are obtained according to the positioning signal and are sent to the controller;

and the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.

2. The method of claim 1,

the acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal comprises:

acquiring the sound pressure and the vibration speed in the three-dimensional direction of the acoustic beacon according to the positioning signal;

the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform, and the position information comprises the following steps:

the controller converts the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, pre-processes and compensates the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction, and then determines the position information of the ROV based on the compensated sound pressure digital signal, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.

3. The method of claim 2, wherein obtaining the position information of the ROV based on the compensated acoustic pressure digital signal, the vibration velocity digital signal in three-dimensional directions, and the attitude information of the surface platform comprises:

determining time delay information according to the compensated sound pressure digital signal, and determining distance information between the vector hydrophone and the acoustic beacon based on the time delay information;

according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm;

and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.

4. The method of claim 3, wherein determining the position information of the ROV based on the distance information, the orientation information, and the attitude information of the surface platform comprises:

calculating the position of the ROV relative to the water surface platform according to the distance information, the azimuth information and the attitude information of the water surface platform;

and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.

5. The utility model provides a remote control unmanned underwater vehicle positioning system, its characterized in that includes: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;

the acoustic beacon is used for transmitting a positioning signal under the trigger of the controller;

the vector hydrophone is used for acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal after monitoring the positioning signal and sending the sound pressure and the vibration speed to the controller;

and the controller is used for determining the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.

6. The system of claim 5,

the vector hydrophone is also used for acquiring the sound pressure and the vibration speed in the three-dimensional direction of the acoustic beacon according to the positioning signal;

the controller further comprises:

the signal preprocessing module is used for converting the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, and preprocessing and free field compensation are carried out on the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;

and the processing module is used for determining the position information of the ROV based on the sound pressure digital signal compensated by the signal preprocessing module, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.

7. The system of claim 6,

the processing module is further used for determining time delay information according to the compensated sound pressure digital signal and determining distance information between the vector hydrophone and the acoustic beacon based on the time delay information; according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm; and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.

8. The system of claim 7,

the processing module is further configured to calculate a position of the ROV relative to the water surface platform according to the distance information, the azimuth information, and the attitude information of the water surface platform; and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.

9. The system according to any one of claims 5-8, further comprising: the attitude sensor is arranged on the water surface platform;

the attitude sensor is used for acquiring attitude information of the water surface platform and sending the acquired attitude information to the controller.

10. A computer-readable storage medium storing a signal-mapped computer program which, when executed by at least one processor, implements the method of remotely controlling an unmanned underwater vehicle underwater positioning according to any one of claims 1 to 4.

Technical Field

The invention relates to the technical field of communication, in particular to an underwater positioning method and system for a remote control unmanned underwater vehicle.

Background

A Remote Operated Vehicle (ROV) can swim underwater and carry specific appliances to execute and complete specific tasks. The great advantage of this type of underwater robot is that the mother ship can continuously supply energy to it, so that it can work underwater for a long time. The ROV has wide application, can be used for installing operation tools such as a mechanical arm and the like, and has practical application in the aspects of underwater resource development, archaeology, salvage, rescue and the like. The ROV first specifies its location before performing the task. The current general method is to measure the position of an ROV body by using a baseline positioning system and form a combined navigation system by being assisted by other attitude sensors to obtain high-precision underwater position information. However, the cost of the existing remote control unmanned underwater vehicle is higher because the base line positioning system is more expensive.

Disclosure of Invention

The invention provides an underwater positioning method and system for a remote control unmanned underwater vehicle, which aim to solve the problem that the cost of the remote control unmanned underwater vehicle in the prior art is high.

In a first aspect, the invention provides a method for remotely positioning an unmanned underwater vehicle, which comprises the following steps: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;

the acoustic beacon transmits a positioning signal under the trigger of the controller;

after the vector hydrophone monitors the positioning signal, the sound pressure and the vibration speed of the acoustic beacon are obtained according to the positioning signal and are sent to the controller;

and the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.

Optionally, the acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal includes:

acquiring the sound pressure and the vibration speed in the three-dimensional direction of the acoustic beacon according to the positioning signal;

the controller determines the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform, and the position information comprises the following steps:

the controller converts the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, pre-processes and compensates the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction, and then determines the position information of the ROV based on the compensated sound pressure digital signal, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.

Optionally, obtaining the position information of the ROV based on the compensated sound pressure digital signal, the vibration velocity digital signal in the three-dimensional direction, and the attitude information of the water surface platform, includes:

determining time delay information according to the compensated sound pressure digital signal, and determining distance information between the vector hydrophone and the acoustic beacon based on the time delay information;

according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm;

and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.

Optionally, determining the position information of the ROV according to the distance information, the azimuth information, and the attitude information of the surface platform includes:

calculating the position of the ROV relative to the water surface platform according to the distance information, the azimuth information and the attitude information of the water surface platform;

and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.

In a second aspect, the invention provides a remote control unmanned underwater vehicle positioning system, comprising: the system comprises an acoustic beacon arranged on a remote-control unmanned underwater vehicle (ROV), and a vector hydrophone and a controller which are arranged on a water surface platform;

the acoustic beacon is used for transmitting a positioning signal under the trigger of the controller;

the vector hydrophone is used for acquiring the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal after monitoring the positioning signal and sending the sound pressure and the vibration speed to the controller;

and the controller is used for determining the position information of the ROV according to the sound pressure and the vibration speed sent by the vector hydrophone and the attitude information of the water surface platform.

Optionally, the controller further comprises:

the signal preprocessing module is used for converting the sound pressure and the vibration velocity in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction, and preprocessing and free field compensation are carried out on the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;

and the processing module is used for determining the position information of the ROV based on the sound pressure digital signal compensated by the signal preprocessing module, the vibration velocity digital signal in the three-dimensional direction and the attitude information of the water surface platform.

Optionally, the processing module is further configured to determine time delay information according to the compensated sound pressure digital signal, and determine distance information between the vector hydrophone and the acoustic beacon based on the time delay information; according to the compensated vibration speed digital signals in the three-dimensional direction, azimuth information of the acoustic beacon relative to the vector hydrophone is calculated through a direction finding algorithm; and determining the position information of the ROV according to the distance information, the azimuth information and the attitude information of the water surface platform.

Optionally, the processing module is further configured to calculate a position of the ROV relative to the water surface platform according to the distance information, the azimuth information, and the attitude information of the water surface platform; and acquiring the position of the water surface platform, and calculating the position of the ROV according to the position of the ROV relative to the water surface platform and the position of the water surface platform.

Optionally, the system further comprises: the attitude sensor is arranged on the water surface platform; the attitude sensor is used for acquiring attitude information of the water surface platform and sending the acquired attitude information to the controller.

In a third aspect, the present invention provides a computer-readable storage medium storing a signal-mapped computer program, which when executed by at least one processor, implements any one of the above-mentioned methods for underwater positioning of a remotely-controlled unmanned underwater vehicle.

The invention has the following beneficial effects:

according to the invention, the vector hydrophone is arranged on the remote control unmanned underwater vehicle, so that the remote control unmanned underwater vehicle can finish underwater positioning according to the vector hydrophone, and the cost of the remote control unmanned underwater vehicle can be greatly reduced due to the low price of the vector hydrophone.

Drawings

Fig. 1 is a schematic flow chart of a method for remotely controlling underwater positioning of an unmanned underwater vehicle according to a first embodiment of the invention;

fig. 2 is a schematic structural diagram of a remote-control unmanned underwater vehicle positioning system provided by a first embodiment of the invention;

FIG. 3 is a schematic diagram of a first embodiment of the underwater positioning method according to the present invention;

FIG. 4 is a schematic view of the attitude correction of a water platform according to a first embodiment of the present invention;

fig. 5 is a schematic structural diagram of a remote-control unmanned underwater vehicle positioning system according to a second embodiment of the invention.

Detailed Description

Aiming at the problem that the cost of the existing remote control unmanned underwater vehicle is high, the embodiment of the invention realizes the underwater positioning of the remote control unmanned underwater vehicle by arranging the vector hydrophone with low price, thereby reducing the cost of the remote control unmanned underwater vehicle and further improving the user experience. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

A first embodiment of the present invention provides an underwater positioning method for a Remote-controlled unmanned underwater Vehicle, where an acoustic beacon is provided on the Remote-controlled unmanned underwater Vehicle (ROV), and a vector hydrophone and a controller are provided on a horizontal stage, as shown in fig. 1, and the method includes:

s101, the acoustic beacon transmits a positioning signal under the trigger of the controller;

that is, the acoustic beacon according to the embodiment of the present invention is a positioning signal generating device, and in practical implementation, the acoustic beacon is controlled by the controller to emit the positioning signal.

S102, after monitoring the positioning signal, the vector hydrophone acquires the sound pressure and the vibration speed of the acoustic beacon according to the positioning signal and sends the sound pressure and the vibration speed to the controller;

specifically, the vector hydrophone in the embodiment of the invention is in a real-time monitoring state, is a device for sensing sound pressure and vibration velocity at the arrangement position, and outputs analog signals of the sound pressure and the vibration velocity;