The invention relates to an unmanned underwater vehicle device for depth setting of an underwater suspended target and a use method thereof, and the method comprises the steps: carrying out the fine reprobing of the underwater suspended target through a mowing machine route, and obtaining the side-scan sonar imaging of the target and the corresponding position and depth information of an unmanned underwater vehicle in different measuring lines. According to a target multi-point common view and ray acoustics principle, a geometric acoustics method is adopted to establish an equation for the depth of the suspended target, a Newton dichotomy method is adopted to carry out numerical solution on the equation, depth information of the suspended target is calculated, and then the position of the suspended target is calculated. According to the method, accurate space positioning of the underwater suspension target is realized, the problem that conventional side-scan sonar target detection lacks depth information is solved, the dimension of target position information detection is increased, and the positioning accuracy is improved.
本发明涉及一种用于水下悬浮目标定深的无人潜航器装置及其使用方法,通过割草机路线对水下悬浮目标进行精细复探,在不同测线中获取目标的侧扫声呐成像及对应的无人潜航器位置、深度信息。根据目标多点共视和射线声学原理,采用几何声学的方法对悬浮目标的深度建立方程,并采用牛顿二分法对方程进行数值求解,计算出悬浮目标的深度信息,进而计算出悬浮目标的位置。本发明实现了水下悬浮目标的精确空间定位,解决了常规侧扫声呐目标探测缺乏深度信息的问题,增加了探测目标位置信息的维度,提升了定位精度。
Unmanned underwater vehicle device for depth setting of underwater suspension target and use method thereof
一种用于水下悬浮目标定深的无人潜航器装置及其使用方法
2024-11-26
Patent
Electronic Resource
Chinese
Suspension docking device for underwater unmanned aerial vehicle
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