CN104794543B - The underwater subsurface buoy of manned underwater vehicle Long baselines positioning system is structured the formation optimization method - Google Patents
The underwater subsurface buoy of manned underwater vehicle Long baselines positioning system is structured the formation optimization method Download PDFInfo
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- CN104794543B CN104794543B CN201510194458.XA CN201510194458A CN104794543B CN 104794543 B CN104794543 B CN 104794543B CN 201510194458 A CN201510194458 A CN 201510194458A CN 104794543 B CN104794543 B CN 104794543B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 20
- 238000005457 optimization Methods 0.000 title claims abstract description 11
- 239000013535 sea water Substances 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000009189 diving Effects 0.000 abstract description 2
- 238000001558 permutation test Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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Abstract
The present invention relates to ocean detection technology fields, more particularly to a kind of underwater subsurface buoy of manned underwater vehicle Long baselines positioning system is structured the formation optimization method, it is designed to provide and obtains the subsurface buoys of exact test data in a kind of test of guarantee deep-sea and structure the formation, provide high-precision positioning service for subsequent submersible.The present invention includes the following steps: to travel lash ship the region to ocean depth for 5000m or so；It locks lash ship longitude and latitude, record, launch beacon；The position for the rectangle diagonal line intersection point that lash ship traveling beacon is constituted；Submersible is transferred, the line in three directions of traveling is located at the immediate vicinity of the four edges of rectangle respectively.It is structured the formation optimization method by this deep sea diving target, has established the basic steps of the accuracy of the experimental data in the test of deep-sea, reference is provided for the Long baselines test in the test of deep-sea, with significant progress.
Description
Technical field
The present invention relates to ocean detection technology fields more particularly to a kind of manned underwater vehicle Long baselines positioning system to dive under water
Mark optimization method of structuring the formation.
Background technique
In the prior art, it is still remained during subsurface buoy is structured the formation under water and structures the formation inaccurate, subsurface buoy is structured the formation inaccurate band
The consequence come is exactly that entire deep-sea test data inaccuracy causes ocean scientific research project to be had a greatly reduced quality, therefore be badly in need of a kind of technology
Scheme solves the problems, such as that it is not accurate that underwater subsurface buoy is structured the formation.
Summary of the invention
The purpose of the present invention is to provide obtain the prerequisite steps of exact test data in a kind of test of guarantee deep-sea ---
Subsurface buoy is structured the formation, and provides high-precision positioning service for subsequent submersible.
In order to achieve the above object the present invention the following steps are included:
The first step, take sounding depth, and lash ship is travelled the region to ocean depth for 5000m or so；
Second step locks lash ship longitude and latitude and records；
Third step launches beacon, including following small step:
1. launching 1# beacon, longitude and latitude is recorded, detects sea water advanced in launch process and records ultimate depth；
2. launching 2# beacon on the position of distance 1# beacon 2km-3.5km, longitude and latitude is recorded, is detected in launch process
It is sea water advanced and record ultimate depth；
3. 3# letter is launched in the position of distance 2# beacon 2km-3.5km on the direction perpendicular to 1# beacon, 2# beacon line
Mark records longitude and latitude, detects sea water advanced in launch process and record ultimate depth；
4. launching 4# beacon about the symmetrical position of 1#, 3# line in 2# beacon, longitude and latitude is recorded, is visited in launch process
It surveys sea water advanced and records ultimate depth；
Lash ship is travelled into third step the position of the rectangle diagonal line intersection point O point of beacon composition by the 4th step；
5th step transfers submersible from O point, travels three directions A, B, C respectively, and the line of OA, OB, OC are located at rectangle
The immediate vicinity of four edges, and the distance of OA, OB, OC are 3km-5km；
6th step recycles 2#, 3#, 4# beacon, and using 1# beacon as origin, the rectangle that beacon forms is launched beacon again,
It rotates by a certain angle, repeats second step to the 5th step；
Rectangle is deformed into triangle and launches beacon again by the 7th step, recycling 1#, 2#, 3#, 4# beacon using O as origin,
Second step is repeated to the 5th step.
Further, each beacon must realize effective covering to dive position and its near zone, guarantee
The positioning accuracy in the region.
Further, according to the depth design subsurface buoy of subsurface buoy placement position, beacon is made to be in submersible key operation depth
Within positive and negative 100 meters.
Further, the depth of water of each beacon position should approach.
It structures the formation optimization method the present invention provides a kind of deep sea diving target, has established the standard of the experimental data in the test of deep-sea
The basic steps of true property provide reference for the Long baselines test in the test of deep-sea, have significant progress.
Detailed description of the invention
Fig. 1 present invention structures the formation 1,2 schematic diagrames；
Fig. 2 present invention structures the formation 3 schematic diagrames.
In figure: 1#, 2#, 3#, 4# are beacon；22#, 33#, 44# are the beacon structured the formation in 2；16#, 17#, 18#, 19# are cloth
Beacon O, A, B, C in battle array 3 are that submersible travels terminal.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Embodiment 1
As shown in Figure 1
A kind of underwater subsurface buoy of manned underwater vehicle Long baselines positioning system is structured the formation optimization method, the following steps are included:
The first step, take sounding depth, and lash ship is travelled the region to ocean depth for 5000m or so；
Second step locks lash ship longitude and latitude and records；
Third step launches beacon, including following small step:
1. launching 1# beacon, longitude and latitude is recorded, detects sea water advanced in launch process and records ultimate depth；
2. launching 2# beacon on the position of distance 1# beacon 2km-3.5km, longitude and latitude is recorded, is detected in launch process
It is sea water advanced and record ultimate depth；
3. 3# letter is launched in the position of distance 2# beacon 2km-3.5km on the direction perpendicular to 1# beacon, 2# beacon line
Mark records longitude and latitude, detects sea water advanced in launch process and record ultimate depth；
4. launching 4# beacon about the symmetrical position of 1#, 3# line in 2# beacon, longitude and latitude is recorded, is visited in launch process
It surveys sea water advanced and records ultimate depth；
Lash ship is travelled into third step the position of the rectangle diagonal line intersection point O point of beacon composition by the 4th step；
5th step transfers submersible from O point, travels three directions A, B, C respectively, and the line of OA, OB, OC are located at rectangle
The immediate vicinity of four edges, and the distance of OA, OB, OC are 3km-5km；
Each beacon must realize effective covering to dive position and its near zone, guarantee the positioning accuracy in the region.
According to the depth design subsurface buoy of subsurface buoy placement position, beacon is made to be in positive and negative 100 meters of submersible key operation depth
Within.
The depth of water of each beacon position should approach.
It is as follows to record data:
Table 1
Embodiment 2
The first step recycles 1#, 2#, 3#, 4#, using 1# beacon as origin, the rectangle that beacon forms is launched beacon again, is revolved
Turn certain angle.
Second step launches beacon, including following small step:
1. launching 1# beacon, longitude and latitude is recorded, detects sea water advanced in launch process and records ultimate depth；
2. launching 2# beacon on the position of distance 1# beacon 2km-3.5km, longitude and latitude is recorded, is detected in launch process
It is sea water advanced and record ultimate depth；
3. 3# letter is launched in the position of distance 2# beacon 2km-3.5km on the direction perpendicular to 1# beacon, 2# beacon line
Mark records longitude and latitude, detects sea water advanced in launch process and record ultimate depth；
4. launching 4# beacon about the symmetrical position of 1#, 3# line in 2# beacon, longitude and latitude is recorded, is visited in launch process
It surveys sea water advanced and records ultimate depth；
Lash ship is travelled into third step the position of the rectangle diagonal line intersection point O point of beacon composition by third step；
4th step transfers submersible from O point, travels three directions A, B, C respectively, and the line of OA, OB, OC are located at rectangle
The immediate vicinity of four edges, and the distance of OA, OB, OC are 3km-5km；
Each beacon must realize effective covering to dive position and its near zone, guarantee the positioning accuracy in the region.
According to the depth design subsurface buoy of subsurface buoy placement position, beacon is made to be in positive and negative 100 meters of submersible key operation depth
Within.
The depth of water of each beacon position should approach.
Data record is as follows:
Table two
Claims (4)
- The optimization method 1. a kind of underwater subsurface buoy of manned underwater vehicle Long baselines positioning system is structured the formation, it is characterised in that: including following step Suddenly,The first step, take sounding depth, and lash ship is travelled the region to ocean depth for 5000m or so；Second step locks lash ship longitude and latitude and records；Third step launches beacon, including following small step:1. launching 1# beacon, longitude and latitude is recorded, detects sea water advanced in launch process and records ultimate depth；2. launching 2# beacon on the position of distance 1# beacon 2km-3.5km, longitude and latitude is recorded, detects seawater in launch process Depth simultaneously records ultimate depth；3. 3# beacon is launched in the position of distance 2# beacon 2km-3.5km on the direction perpendicular to 1# beacon, 2# beacon line, Longitude and latitude is recorded, detects sea water advanced in launch process and records ultimate depth；4. launching 4# beacon about the symmetrical position of 1#, 3# line in 2# beacon, longitude and latitude is recorded, detects sea in launch process Water depth simultaneously records ultimate depth；Lash ship is travelled into third step the position of the rectangle diagonal line intersection point O point of beacon composition by the 4th step；5th step transfers submersible from O point, travels three directions A, B, C respectively, and the line of OA, OB, OC are located at four of rectangle The immediate vicinity on side, and the distance of OA, OB, OC are 3km-5km.
- The optimization method 2. the underwater subsurface buoy of manned underwater vehicle Long baselines positioning system according to claim 1 is structured the formation, feature Be: each beacon must realize effective covering to dive position and its near zone, guarantee the positioning accuracy in the region.
- The optimization method 3. the underwater subsurface buoy of manned underwater vehicle Long baselines positioning system according to claim 1 is structured the formation, feature Be: according to the depth design subsurface buoy of subsurface buoy placement position, make beacon be in positive and negative 100 meters of submersible key operation depth with It is interior.
- The optimization method 4. the underwater subsurface buoy of manned underwater vehicle Long baselines positioning system according to claim 1 is structured the formation, feature Be: the depth of water of each beacon position should approach.
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| CN201510194458.XA CN104794543B (en) | 2015-04-22 | 2015-04-22 | The underwater subsurface buoy of manned underwater vehicle Long baselines positioning system is structured the formation optimization method |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6532192B1 (en) * | 1998-07-01 | 2003-03-11 | Coda Technologies Ltd. | Subsea positioning system and apparatus |
| US8220325B2 (en) * | 2009-07-27 | 2012-07-17 | Benton Frederick Baugh | Current measuring method |
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2015
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6532192B1 (en) * | 1998-07-01 | 2003-03-11 | Coda Technologies Ltd. | Subsea positioning system and apparatus |
| US8220325B2 (en) * | 2009-07-27 | 2012-07-17 | Benton Frederick Baugh | Current measuring method |
Non-Patent Citations (3)
| Title |
|---|
| 一种基于测深仪的声学Pinger距底高度测量方法;张同伟 等;《海洋开发与管理》;20150331(第3期);第73-77页 |
| 水下声学定位系统及其应用;吴永亭等;《海洋测绘》;20030731;第23卷(第4期);第18-21页 |
| 载人潜水器在深海海洋测绘中的应用;丁忠军等;《海洋测绘》;20130131;第33卷(第1期);第80-82页 |
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