The invention relates to the technical field of buoy type short base line underwater positioning, and discloses a method of a buoy type short base line underwater positioning system of an underwater robot, which comprises the following steps: determining the longitude, latitude and height of a position indicator on a net point buoy; array measuring net points are arranged on the sea surface of the sea area through a sound listening device, and the array is arranged on the water bank; meanwhile, the array measuring net points are distributed in the sea area in a square shape, so that the dot matrixes form a square array; any two array measurement net points are within the action distance of each other, and each array measurement net point is calibrated to confirm the absolute geodetic coordinate value of the array measurement net point; as the position of the buoy is known, the coordinate position of the hydrophone can be obtained; according to the method of the buoy type short base line underwater positioning system of the underwater robot, a set of positioning system based on the buoy type short base line is designed aiming at the requirements of flexibility, autonomy and the like of the underwater robot in engineering application. The synchronous transmitting transducer and the water surface buoy array jointly form the system, and the synchronous transmitting transducer and the water surface buoy array are arranged on an underwater robot.
本发明涉及浮标式短基线水下定位技术领域,且公开了一种水下机器人的浮标式短基线水下定位系统的方法,通过网点浮标上的定位仪确定其经度、纬度和高度;再通过听声器在海域海面布置测阵网点,基阵形式为水岸布放;同时测阵网点按照正方型分布于海域内,使点阵形成正方型阵列;并且使任意两个测阵网点在彼此作用距离之内,并对每一个测阵网点进行标定确认该测阵网点的绝对大地坐标值;由于浮标位置已知,可得到水听器坐标位置;该水下机器人的浮标式短基线水下定位系统的方法,通过针对工程应用中水下机器人灵活、自主性等需求,设计了一套基于浮标式短基线定位系统。同步发射换能器和水面浮标基阵共同构成本系统,前者是安置在水下机器人上的。
Method of buoy type short baseline underwater positioning system of underwater robot
一种水下机器人的浮标式短基线水下定位系统的方法
16.05.2023
Patent
Elektronische Ressource
Chinesisch
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