Combined navigation method of integrated sonar micro navigation autonomous underwater robot

An underwater robot and integrated navigation technology, applied in navigation, surveying and navigation, re-radiation of sound waves, etc., can solve the problems of accumulation, estimation, accuracy, etc., and achieve the effect of improving navigation accuracy

Inactive Publication Date: 2010-12-01
ZHEJIANG UNIV
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  • Application Information

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Problems solved by technology

However, due to certain errors in the above attitude and speed data, these errors will accumulate over time in the process of integrated navigation. After the AUV sails for a certain distance, the AUV position error will accumulate to an unacceptable level
The research results show that the micro-navigation technology based on sonar processing can provide measurement accuracy of one to two orders of magnitude higher than conventional inertial navigation technology for some motion parameters such as lateral velocity and forward velocity, while for other parameters such as yaw angle estimation is not as accurate as conventional inertial navigation equipment

Method used

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  • Combined navigation method of integrated sonar micro navigation autonomous underwater robot
  • Combined navigation method of integrated sonar micro navigation autonomous underwater robot
  • Combined navigation method of integrated sonar micro navigation autonomous underwater robot

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Embodiment

[0067] Let the AUV sail along a straight line with a speed of 1m / s. The AUV is equipped with a row of horizontal receiving arrays, the number of array elements is 8, and the distance between array elements is 0.1m. During the voyage, the acoustic signal is transmitted to the seabed and the echo is received, and the signal (ping) interval is 0.1s, so there are 6 coincident equivalent phase centers between adjacent pulses. According to the correlation between adjacent pulses, the DPCA algorithm is used to estimate the AUV lateral velocity results as follows: Figure 5 As shown, it can be seen that DPCA can accurately estimate the lateral velocity of the vehicle. Use the forward speed of AUV and the lateral speed estimated by DPCA to calculate the trajectory, the results are as follows Image 6 As shown, within 400 pulses, the AUV has moved 40 meters, and the estimation error is at the centimeter level. The simulation environment is ideal, and the actual example is given below....

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Abstract

The invention discloses a combined navigation method of an integrated sonar micro navigation autonomous underwater robot, mainly comprising the following steps of: (1) acquiring initial absolute position information of the autonomous underwater robot by using a global positioning system, acquiring speed information and posture information of the autonomous underwater robot by using a sensor and estimating the speed information and/or posture information of the autonomous underwater robot by using a sonar system; and (2) fusing the speed information and the posture information which are acquired by the sensor and the speed information and/or posture information estimated by the sonar system by using a data fuse method and acquiring absolute position information and posture information of the autonomous underwater robot by combing the initial absolute position information of the autonomous underwater robot. The invention has the advantages that the absolute position of an AUV (Autonomous Underwater Vehicle) can be estimated and the navigation precision of the AUV can be improved by fusing the speed and/or posture information estimated by AUV-boarded sonar and the speed and posture information acquired by the sensor.

Description

technical field [0001] The invention relates to autonomous underwater robot (Autonomous Underwater Vehicle, AUV) navigation technology and sonar micro-navigation technology, and belongs to the field of marine engineering. Background technique [0002] Autonomous underwater robots are currently a hot spot in the development of marine engineering technology, and are increasingly used in military fields such as underwater environmental monitoring, offshore petroleum engineering operations, underwater search and mapping, mine countermeasures, and real-time theater alert. Navigation technology is the key to realizing AUV autonomous navigation, and AUV has the characteristics of long working hours, complex environment, few information sources, and high concealment requirements, which bring great challenges to the realization of stable and accurate navigation. [0003] In recent years, the international research on AUV navigation technology has been very active. Underwater navigat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S15/88
Inventor 李建龙孙锋徐文张博
Owner ZHEJIANG UNIV
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