Underwater acoustic positioning system
A positioning system has at least one underwater apparatus, which includes an acoustic receiver and a computer. The system includes a base station placed in the sea environment, the base station transmitting an acoustic signal received by the acoustic receiver, wherein the acoustic receiver includes a hydrophone, the base station includes at least two acoustic transmitters forming an antenna, the distances between the acoustic transmitters of the antenna being known and the transmitters being synchronized therebetween. According to the invention, the computer includes an element for calculating differences in arrival time and differences in phases of acoustic signals coming from the base station transmitters, and an element for calculating the possible geometric loci of the position of the apparatus relative to the base station and to the orientation thereof, and the position of the underwater apparatus is predetermined from these possible geometric loci.
1. A positioning system ( 30 ) of at least one underwater apparatus ( 2 ), said underwater apparatus ( 2 ) comprising:
an acoustic receiver ( 4 ) comprising a hydrophone, and
a computer ( 6 ),
said system comprising :
a base station ( 8 ) placed in the sea environment, comprising at least two acoustic transmitters ( 10 ) forming an antenna ( 11 ), wherein the distances between the acoustic transmitters ( 10 ) of the antenna ( 11 ) are known and said transmitters are synchronized to each other,
wherein said base station transmits through each of its transmitters ( 10 ) an acoustic signal that is received by the acoustic receiver ( 4 ), wherein,
the acoustic receiver ( 4 ) comprises signal processing means for detecting the difference between the arrival times of the signals respectively transmitted by the transmitters ( 10 ), taken by pairs, and to attribute to each pair of transmitters ( 10 ) a corresponding arrival time difference; and said signal processing means being adapted for measuring the phase differences, at the time of their arrival on the acoustic receiver ( 4 ), between the signals respectively transmitted by each pair of transmitters ( 10 ), and
the computer ( 6 ) comprises means configured for calculating, from the arrival time differences and phase differences of acoustic signals coming from the transmitters of the base station ( 8 ), the precise time differences of the signals transmitted for each pair of transmitters ( 10 ) and received by the acoustic receiver ( 4 ) and means for calculating, from the precise time differences of the signals transmitted by each of the transmitters ( 10 ) and received by the acoustic receiver ( 4 ), the possible geometric loci ( 14 ) of the relative position of the apparatus ( 2 ) with respect to said base station ( 8 ) and to the orientation thereof, and the position ( 17 ) of the underwater apparatus is determined based on these possible geometric loci ( 14 ).
2. The system according to claim 1 , characterized in that the base station ( 8 ) comprises only two transmitters ( 10 ), wherein the possible geometric locus ( 14 ) of the relative position of the apparatus with respect to the base station is, within the uncertainty, a hyperboloid the axis of which is the line containing the two transmitters ( 10 ).
3. The system according to claim 2 , characterized in that the system comprises means for acquiring the distance separating the apparatus ( 2 ) from the base station ( 8 ) and permitting to localize the relative position of the system with respect to this base station ( 8 ) on a sphere.
4. The system according to claim 1 , characterized in that the base station ( 8 ) comprises three transmitters ( 10 ) in a non-colinear geometric arrangement, wherein the possible geometric locus ( 14 ) of the relative position of the apparatus ( 2 ) with respect to the base station ( 8 ) is, within the uncertainty, the intersection of two hyperboloids that is considered, at a great relative distance, as being two half-lines.
5. The system according to claim 4 , characterized in that the system comprises means for acquiring the distance separating the apparatus ( 2 ) from the base station ( 8 ) and permitting to localize the relative position of the system with respect to this base station ( 8 ) on a sphere.
6. The system according to claim 1 , characterized in that the base station ( 8 ) comprises four transmitters ( 10 ) whose positions are not contained in a same plane, wherein the possible geometric locus ( 14 ) of the relative position of the apparatus ( 2 ) with respect to the base station ( 8 ) is, within the uncertainty, the intersection of three hyperboloids that can be approximated by a point at a small relative distance, or by a half-line at a great distance.
7. The system according to claim 6 , characterized in that the system comprises means for acquiring the distance separating the apparatus ( 2 ) from the base station ( 8 ) and permitting to localize the relative position of the system with respect to this base station ( 8 ) on a sphere.
8. The system according to claim 1 , characterized in that the system comprises means for acquiring the distance separating the apparatus ( 2 ) from the base station ( 8 ) and permitting to localize the relative position of the system with respect to this base station ( 8 ) on a sphere.
9. The system according to claim 8 , characterized in that the absolute position and orientation of the antenna ( 11 ) of the base station ( 8 ) are known or estimated by any known means.
10. The system according to claim 9 , characterized in that the means for acquiring the distance separating the apparatus ( 2 ) from the base station ( 8 ) comprise an acoustic transmitter ( 24 ), and in that the base station comprises an acoustic receiver ( 15 ) adapted to said transmitter, wherein the transmission by the base station ( 8 ) is triggered by an acoustic control signal comprising a polling command sent by the apparatus ( 2 ).
11. The system according to claim 8 , characterized in that the means for acquiring the distance separating the apparatus ( 2 ) from the base station ( 8 ) comprise an acoustic transmitter ( 24 ), and in that the base station comprises an acoustic receiver ( 15 ) adapted to said transmitter, wherein the transmission by the base station ( 8 ) is triggered by an acoustic control signal comprising a polling command sent by the apparatus ( 2 ).
12. The system according to claim 1 , characterized in that the apparatus ( 2 ) and the base station ( 8 ) each comprise a clock, said clocks being synchronized to each other and permitting the measurement of the acoustic signal travel time between the base station ( 8 ) and the apparatus ( 2 ).
13. The system according to claim 12 , characterized in that the clocks can be resynchronized by the transmission of a polling signal transmitted by the underwater apparatus ( 2 ).
14. The system according to claim 1 , characterized in that the relative displacement of the apparatus ( 2 ) with respect to the base station ( 8 ) between the receptions of two sets of acoustic signals is known or measured, and in that the computer determines the position of the apparatus by comparing this displacement with couples of possible geometric loci ( 14 ) defined at the reception of these two sets of acoustic signals.
15. The system according to claim 1 , characterized in that it comprises at least two base stations ( 8 ) not synchronized to each other, and in that the computer determines the position ( 17 ) of the apparatus ( 2 ) by the intersection of the different possible geometric loci ( 14 ) relative to each of the base stations ( 8 ).
16. The system according to claim 1 , characterized in that the computer comprises means for taking into account the sound velocity and velocity profile in the sea environment.