海洋潜标技术的应用与发展

1 海洋潜标系统 海洋潜标系统又称水下浮标系统,是海洋环境观测的重要设备之一。 海洋潜标系统一般由水下部分和水上机组成。水下部分一般由主浮体(标体)、探测仪器、浮子、锚系系统、释放器等组成。通常,主浮体布放在海面下100m左右或更大深度的水层中,因而避免海表面的扰动;锚系系统将整个系     

自升式连体潜标测量系统的设计与实施

针对有缆潜标系统测量质量不稳定,缆绳阻力大、浮球浮力不足,测量系统难以绷紧,导致潜标摇摆、缆绳倾斜,受海洋环境的其他外力作用,影响采集资料的质量等问题,设计了自升式连体潜标测量系统。该系统最大特点是把各种仪器设备与释放器搭载组合到同一平行面的潜标内,把仪器设备、释放器与浮体材料合成为单位体积最小的潜标测量平台。该系统还有体积小、质量轻、造价低、操作简便等特点,适用于水深1 200 m内的海区,采用座底方式进行测量。系统通过释放装置脱钩,脱钩后连体潜标可自行升浮到海面,并具有隐蔽性好不易被破坏的优点。经过近1 a的试验,已多次在南海水深400 m多的海区顺利完成了海上投放与回收试验,试验结果良好。     

基于单水声信标距离量测的匹配定位方法

水声通信和测距能力是实现水下航行器准确定位的重要技术手段。当前基于水声定位的方法主要有利用测距和测向功能的水声定位技术以及水声测距辅助导航技术,二者的系统物理复杂度都比较高。本文提出了一种基于单水声信标距离量测的匹配定位方法,航行器在水声信标测距覆盖范围内,利用航行过程中多次测距信息构建测距圆序列形成位置约束,基于航位推算导航信息,将航行器在连续测距时间段内的相对航迹在圆序列上进行最优匹配,从而获得位置估计,通过对测距误差进行补偿可进一步提升定位精度。本方法所需物理系统结构复杂度低、可操作性强,仿真实验表明,该方法可以独立实现较高精度的定位。     

千米潜标系统的防护技术研究

千米潜标系统是放置在1000m左右水深的海洋中的一套承载装置。该系统由布放船进行卫星导航定位,用声学释放器回收。系统上可以挂测量海洋环境参数的仪器,也可以挂试验框架,作挂板试验。千米潜标系统防护技术研究的任务是:保证潜标系统所有的连接部件,主浮体及所挂仪器与装置在90(+15)天内不发生影响其正常工作与回收的腐蚀与污损。国内没有深海腐蚀与污损方面的资料,参考浅海资料及国外有关资料,从各个分机每个零部件着手,又要考虑各分机在系统中的关系,使它们在海水中互相不影响其耐腐蚀性     

千米潜标测流系统海上试验获得成功

海洋技术研究所研制的千米潜标测流系统,于今年四月初至五月底在南中国海(N19°,E113°30′附近)成功地进行了三次布放回收试验。试验共分三个航次进行,第一航次是在向阳红14号调查船上对本所研制的释放器进行可靠性试验,试验结果表明,释放器工作良好。     

一种水声组网定位一体化系统设计与实现

水声网络已在海洋信息立体化获取、传输、感知领域中得到广泛研究和应用,水声网络节点的位置是水声网络协议设计、多样化应用中常常需要的重要信息。依托全球定位系统定位、采用常规水声定位技术获取水声网络节点位置等解决方案存在着无法直接水下应用、多节点需多次定位效率低、需要精确时间同步等问题。提出一种水声组网定位一体化方案,该方案利用水声网络运行过程中网络节点互联互通进行的交互可以直接通过应答测距方式进行节点位置解算,从而实现在不影响网络通信的情况下,无需精确同步的通信定位一体化功能。给出了系统组网通信、测距、定位、误差校正等核心环节的设计过程,设计了一套小规模水声网络通信定位试验系统,并开展湖试试验。湖试试验结果初步表明了该系统组网、定位一体化的有效性。     

应用潜标测流系统对中国南海深海区海流的测量

一、概述由国家海洋局海洋技术研究所研制的千米潜标测流系统,于1986年4月28日在中国南海的千米深海区进行了投放,该系统在水下工作80多天,于1986年7月19日成功的进行了回收,顺利的收回了海流计、释放器、浮子等部件。海流计回收后取出磁带,进行回放和数据处理。这次利用潜标测流取得了很有规律性数据,这份长期的、连续的、深海的(近1000米)海流资料,这在国内还是第一次,对研究海洋,开发海洋提供了很有价值的资料。     

一种快速自适应船载水声定位系统设计

提出一种可快速布置、自动适应阵型、基于同步信标的高精度船载短基线水声定位系统。该定位系统采用柔性短基线四元阵,可布置在各型试验船或测量船,利用回波测距,自动计算出试验船上4个声基元布放点的坐标位置关系,再结合双天线卫星罗经的GPS高精度定位、定向数据,快速生成短基线阵在大地坐标系中的位置。描述了该定位系统的系统原理、组成和工作过程,并完成了一套用于湖上试验场的定位系统,试验效果较为理想。     

一种海洋潜标适用的新型GPS信标机

本研究设计了一种潜标适用的新型信标机,它集成了GPS模块、数传模块、微处理器和压力开关等部件,可有效提高潜标回收过程中的目标定位能力。该信标机安装于潜标主浮体,通过压力开关控制电源。当主浮体位于海面时,信标机处于工作状态,它可以不断地将GPS位置数据通过无线传输方式向外发送,配套的接收端可以将接收的位置信息直观地显示在...     

海洋大地测量水声定位系统通过鉴定

由海军海洋测绘研究所和国家海洋局海洋技术研究所联合研制的海洋大地测量水声定位系统于1988年7月15日通过鉴定。该系统采用超短基线定位原理,结构简单,操作方便,由计算机进行数据处理和直观显示,并可现场打印和磁带记录。作用距离超过5000米,测距精度高于1％,测向精度小于士5°(朱经摇摆修正)。到会专家一致认为该系统已全部达到或超过     

Accuracy assessment of GPS/Acoustic positioning using a Seafloor Acoustic Transponder System

The accuracy of GPS/Acoustic positioning is crucial for monitoring seafloor crustal deformation. However, the slant range residual is currently the only indicator used to evaluate the precision of positioning seafloor transponders. This study employs a unique Seafloor Acoustic Transponder System (SATS) to evaluate the accuracy of GPS/Acoustic seafloor positioning. The SATS has three transponders and an attitude sensor in a single unit, which provides true lengths of transponder baselines and true attitude of the SATS to ensure assessment reliability and validity. The proposed approach was tested through a GPS/Acoustic experiment, in which an off-the-shelf acoustic system was used to collect range measurements. Using GPS/Acoustic geodetic observations, the positions of three transponders on the SATS were estimated by an optimization technique combined with ray-tracing calculations. The accuracy of the GPS/Acoustic seafloor positioning is assessed by comparing the true baselines and attitude with the results derived from the position estimates of the three transponders. A sensitivity analysis is conducted to investigate the robustness of the GPS/Acoustic positioning results to changes of sound speed. Experimental results demonstrate that the use of the SATS can help to assess the validity of the GPS and acoustic travel time measurements in the GPS/Acoustic seafloor positioning.     

Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements

Kinematic global positioning system (GPS) positioning and underwater acoustic ranging can combine to locate an autonomous underwater vehicle (AUV) with an accuracy of /spl plusmn/30cm (2-/spl sigma/) in the global International Terrestrial Reference Frame 2000 (ITRF2000). An array of three precision transponders, separated by approximately 700 m, was established on the seafloor in 300-m-deep waters off San Diego. Each transponder's horizontal position was determined with an accuracy of /spl plusmn/8 cm (2-/spl sigma/) by measuring two-way travel times with microsecond resolution between transponders and a shipboard transducer, positioned to /spl plusmn/10 cm (2-/spl sigma/) in ITRF2000 coordinates with GPS, as the ship circled each seafloor unit. Travel times measured from AUV to ship and from AUV to transponders to ship were differenced and combined with AUV depth from a pressure gauge to estimate ITRF2000 positions of the AUV to /spl plusmn/1 m (2-/spl sigma/). Simulations show that /spl plusmn/30 cm (2-/spl sigma/) absolute positioning of the AUV can be realized by replacing the time-difference approach with directly measured two-way travel times between AUV and seafloor transponders. Submeter absolute positioning of underwater vehicles in water depths up to several thousand meters is practical. The limiting factor is knowledge of near-surface sound speed which degrades the precision to which transponders can be located in the ITRF2000 frame.     

Survey of underwater robot positioning navigation

Underwater robot positioning and navigation achieve autonomous underwater robot movement based on the premise that positioning obtains the coordinates of the relative position of the underwater robot using a sensor, and navigation yields a known location to the destination path planning. Due to the location of an underwater robot and the complex and changing environment in which it operates, it is difficult to achieve precise positioning using the traditional positioning method. This paper systematically analyzes and summarizes several typical localization and navigation methods of underwater robots, such as multisensor information fusion technology, underwater acoustic localization and navigation methods, GPS buoy, underwater vision, SLAM and coordinate localization and navigation of multiple underwater robots. Multisensory information fusion technology integrates the advantages of the above methods, enhances the system stability and robustness, overcomes the disadvantages of traditional positioning and navigation, and enables the autonomous navigation and positioning of underwater robots. Underwater acoustics enable flexible and convenient positioning, whereas GPS can achieve high-precision and high-positioning navigation information, and visual positioning effectively overcomes the problem of error accumulation. Multirobot cooperative positioning resolves the problem of positioning failure caused by the collapse of a single system and completes complex tasks that cannot be completed by a single robot, thus enhancing the stability and robustness of the system. This paper systematically describes the realization of these methods, presents an actual analysis of their respective advantages and problems, and discusses the development of the field of research prospects and application prospects.     

无法到达区动态定位方法研究

研究了在动态条件下对人员无法到达区目标定位的方法,分别研制了GPS激光测距定位系统和GPS近景信息采集系统。设计了水上动态实验,分析了两套系统的定位精度,验证了两套系统在动态测量模式下的可用性,提出了对人员无法到达区目标定位的新手段。     

Shipboard towers for Global Positioning System antennas

Two 12.2 m-high towers for mounting Global Positioning System (GPS) receiver antennas were designed and constructed to provide millimeter-level stability while maintaining portability and accessibility to satellites and deck spaces. A combination of guys and a 3-m horizontal strut provide roll and pitch stability of 2–3 mm observed from 0.1 seconds to 12 days using a combination of GPS and optical/laser devices. The shipboard antenna mounts connect sub-aerial GPS positioning to underwater acoustic ranging that determine the centimeter-level location of seafloor transponders. Observed annually, these seafloor geodetic positions measure seafloor crustal motion for geophysical studies.     

A long‐range and high‐resolution underwater acoustic positioning system

Abstract

It is desired to track the location of an underwater data collecting platform using acoustic range data. A long‐range and high‐resolution acoustic system for underwater locating has been investigated. The system provides continuous and highly accurate tracking of a platform referenced to bottom‐mounted buoys. Each reference buoy contains an acoustic transponder, which is used to obtain ranging data from the transponder to the platform. The transponder has a signal source that is phase‐modulated by a maximal‐length binary sequence and a correlation processing unit to be capable of detecting received acoustic signals with high SNR in a noisy environment or in attenuation due to long‐range propagation, and to identify multipath acoustic signals. The acoustic system has been designed and sea tests tried. The results of that experiment have yielded capability of a submeter underwater acoustic positioning system.     

Sub‐meter acoustic surveying

Abstract

During May 1985, a comprehensive GPS and acoustic navigation data set was collected off the Monterey, California coast. Three types of GPS units, a LORAN‐C, and a Miniranger operated concurrently with an OCEANO acoustic system to resolve state‐of‐the‐art accuracies for at‐sea geodetic positioning. This report details the acoustic system which displayed baseline errors of only ±0.25 m over distances to 2600 m. Unfiltered point‐to‐point acoustic navigation errors had a standard deviation of ± 1.25 m, which included ship motion errors in addition to surveying errors. Ninety percent of the stations had navigation standard deviations below ±0.75 m The experiment showed that sub‐meter acoustic surveying is the state‐of‐the‐art.     

Optimal localization of a seafloor transponder in shallow water using acoustic ranging and GPS observations

This study utilized circular and straight-line survey patterns for acoustic ranging to determine the position of a seafloor transponder and mean sound speed of the water column. To reduce the considerable computational burden and eliminate the risk of arriving at a local minimum on least-squares inversion, the position of a seafloor transponder was estimated by utilizing optimization approaches. Based on the implicit function theorem, the Jacobian for this inverse problem was derived to investigate the constraints of employing circular and straight-line survey patterns to estimate the position of a transponder. Both cases, with and without knowledge of the vertical sound speed profile, were considered. A transponder positioning experiment was conducted at sea to collect acoustic and GPS observations. With significant uncertainties inherent in GPS measurements and the use of a commercial acoustic transponder not designed for precise ranging, experimental results indicate that the transponder position can be estimated accurately on the order of decimeters. Moreover, the mean sound speed of the water column estimated by the proposed optimization scheme is in agreement with that derived from conductivity, temperature, and density (CTD) measurements.