Offshore submarine cable positioning method based on USBL and SINS/GPS system

• Main Authors: YUE YANJIE, LIN XIAOBO, XU BEIBEI, ZHANG LEI, TAO SHIJIE, LI YUAN, RUAN TIANYU, LEI ZHICHU, GAO ZHEN, XIE LONG
• Format: Patent
• Language: Chinese; English
• Published: 16.01.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention discloses an offshore submarine cable positioning method based on a USBL and an SINS/GPS system, and relates to the field of submarine cable positioning. A traditional calibration method based on separation only carries out partial calibration on system installation parameters, and the overall precision is affected. In an installation error setting stage, based on a whale optimization algorithm (WOA), the installation error of an ultra-short base line (USBL) and a strapdown inertial navigation (SINS)/global positioning system (GPS) combined positioning system is optimally solved, the SINS/GPS system is directly installed on a ship, and the USBL is installed on a six-degree-of-freedom stabilizing device for the ship; and meanwhile, the position of the beacon relative to the USBL transducer is uniformly reduced to an earth coordinate system, so that accurate positioning of the submarine cable is realized. According to the technical scheme, by minimizing a cost function and eliminating extra requir