The invention provides a method for carrying out high-precision real-time dynamic positioning on a damaged part of an underwater inclined dam surface, and belongs to the technical field of underwater target positioning. The method has the advantages that the problem that the geodetic coordinates of the damage position cannot be accurately obtained when the underwater robot detects the damage to the inclined dam face is solved. According to the method, an underwater target acoustic ranging system is installed in the detection direction of an underwater robot, and an underwater robot underwater three-dimensional positioning system is installed over the underwater robot to position a sound source, so that flaw detection positioning is performed on an inclined dam surface. The target acoustic ranging system obtains the distance between the target acoustic ranging system and the inclined dam face, the geodetic coordinates of a positioning sound source on the underwater robot are determined in combination with a receiving array in the underwater three-dimensional positioning system on the water surface, and the distance between the positioning sound source on the robot and the target acoustic ranging system is calculated in a combined mode. Geodetic coordinates of the flaw detection area at different moments are calculated, and the position of the dam where the dam face damage area is located is dynamically positioned in high precision and in real time.
本发明提供一种在对水下倾斜坝面对损伤处进行高精度实时动态定位的方法,属于水下目标定位技术领域。本发明的效果和益处是解决了水下机器人在探测到倾斜坝面损伤时无法精确获取损伤处大地坐标的问题。采取在水下机器人探测方向上安装水下目标声学测距系统,在正上方安装水下机器人水下三维定位系统中定位声源的方法,对倾斜坝面进行探伤定位。目标声学测距系统获取其与倾斜坝面之间距离,结合水面上水下三维定位系统中的接收基阵确定水下机器人上定位声源的大地坐标,以及机器人上定位声源与目标声学测距系统之间的距离进行联合解算,计算出不同时刻的探伤区域的大地坐标,高精度实时动态定位坝面损伤区域所处大坝的位置。
High-precision real-time dynamic positioning method in underwater inclined dam face flaw detection
水下倾斜坝面探伤中的高精度实时动态定位方法
2024-04-30
Patent
Electronic Resource
Chinese
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