The high-precision relative positioning method for the underwater cleaning robot is used for positioning the underwater cleaning robot on a working mother ship, a second synchronous sound source is installed on the underwater cleaning robot, the cleaning ship is placed in water near the working mother ship, a first synchronous sound source is fixed to the side wall of a bow or a stern of the working mother ship, and a second synchronous sound source is fixed to the side wall of the working mother ship. A first short-base array element and a second short-base array element are fixed on a cleaning ship, a first short-base-line transducer and a second short-base-line transducer are located at the same water depth on the same side of the cleaning ship, and the vertical distance between the first short-base-line transducer and the second short-base-line transducer is a, according to the method, in the same period, the influence of the attitude and course of the array caused by the shaking of the cleaning ship and the working open ship due to the sea storm can be effectively reduced, and the underwater cleaning robot can be effectively cleaned. And actual operation measurement requirements under complex sea conditions on the sea are met.

    本发明用于水下清洗机器人的高精度相对定位方法用于工作母船上的水下清洗机器人定位,在水下清洗机器人上装有第二同步声源,清洗船放置在工作母船附近的水中,在工作母船的船头或船尾侧壁上固定有第一同步声源,在清洗船上固定有第一短基阵元和第二短基阵元,第一短基线换能器和第二短基线换能器位于清洗船同一侧的相同水深处,第一短基线换能器和第二短基线换能器之间的垂直距离为a,计算出水下清洗机器人和第一同步声源在相对坐标系的坐标,画出水下清洗机器人的运动轨迹,本发明在同一周期内,可有效降低由海上风浪引起的清洗船只和工作明船晃动引起的基阵姿态和航向影响,满足海上复杂海况下实际作业测量需求。


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    Title :

    High-precision relative positioning method for underwater cleaning robot


    Additional title:

    用于水下清洗机器人的高精度相对定位方法


    Contributors:
    FAN ZAN (author) / LIU QING (author) / KUANG BIAO (author) / FU CHUANBAO (author) / YAO QINGSHENG (author)

    Publication date :

    2023-03-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01S RADIO DIRECTION-FINDING , Funkpeilung



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