The invention provides a positioning method of an autonomous underwater vehicle and an underwater lighthouse positioning system, and the method comprises the steps: receiving positioning coding information sent by a positioning lighthouse, and analyzing a lighthouse clock pulse and lighthouse position information included in the positioning coding information; determining a target time difference between each lighthouse clock pulse and a clock signal corresponding to the data receiving equipment; according to the target time difference, determining a target distance between the autonomous underwater vehicle and the positioning lighthouse corresponding to the target time difference; and determining target position information corresponding to the autonomous underwater vehicle according to each target distance and the lighthouse position information of the corresponding positioning lighthouse. According to the invention, high-precision and wide-coverage real-time positioning of the autonomous underwater vehicle can be realized, the drift error of an inertial navigation system can be effectively eliminated, and the real-time performance and reliability of acoustic positioning can be improved.
本公开提供了一种自主水下航行器的定位方法及水下灯塔定位系统,通过接收定位灯塔发送的定位编码信息,并解析定位编码信息中所包括的灯塔时钟脉冲以及灯塔位置信息;确定每个灯塔时钟脉冲与数据接收设备对应的时钟信号之间的目标时间差;根据目标时间差,确定自主水下航行器与该目标时间差对应定位灯塔之间的目标距离;根据每个目标距离以及对应定位灯塔的灯塔位置信息,确定自主水下航行器对应的目标位置信息。可以实现对自主水下航行器的高精度、广覆盖的实时定位,不仅能够有效消除惯性导航系统的漂移误差,还能够提高声学定位的实时性和可靠性。
Autonomous underwater vehicle positioning method and underwater lighthouse positioning system
一种自主水下航行器的定位方法及水下灯塔定位系统
2024-11-08
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G10L Analyse oder Synthese von Sprache , SPEECH ANALYSIS OR SYNTHESIS / H04B TRANSMISSION , Übertragung |
UNDERWATER POSITIONING SYSTEM, WATERCRAFT, UNDERWATER VEHICLE, AND UNDERWATER POSITIONING METHOD
European Patent Office | 2019
|Underwater vehicle, underwater positioning method and underwater positioning device
European Patent Office | 2024
|AUV (Autonomous Underwater Vehicle) underwater positioning monitoring device and method
European Patent Office | 2023
|UNDERWATER POSITIONING SYSTEM AND UNDERWATER POSITIONING METHOD
European Patent Office | 2023
|Beacon for underwater positioning self-rescue of autonomous underwater vehicle
European Patent Office | 2022
|