Small-sized underwater robot combined navigation system and navigation method

Abstract

The invention provides small-sized underwater robot combined navigation system and navigation method. The combined navigation system comprises an embedded navigation processor, a pressure-resistant global position system (GPS), a micro attitude sensor, a speedometer, a depth meter and underwater acoustic communication equipment. When an underwater robot carrier is underwater and after the combined navigation system is electrified, the navigation system autonomously runs, a relay is controlled through an input / output (IO) channel of an analog / digital (AD) board to open the sensor for performing data acquisition so as to acquire an initial navigation position, a magnetic declination is calculated according to a magnetic declination database, and planned navigation position correcting instruction information is received for navigation position calculation so as to acquire longitude and latitude position information of an underwater robot. The system has small volume, light weight and lowcost, is favorable for the miniaturization of an underwater navigation system, and can be applied to small-sized underwater robots for underwater observation and detection, which require small size and light weight.

Description

technical field [0001] The invention relates to a small-scale underwater integrated navigation system, and also relates to a small-scale underwater integrated navigation method. Background technique [0002] At present, the miniaturization of intelligent underwater robots is one of the development trends. Due to its small size, flexible maneuverability, low cost, and convenient carrying, small underwater robots have broad application prospects in military and civilian use. Navigation problem is still one of the main key technologies faced by underwater robot design. Now the commonly used methods for underwater robot navigation include dead reckoning, inertial navigation and acoustic methods. The inertial navigation system is generally large in size and expensive. The most important thing is that the positioning error of the pure inertial navigation system navigation will accumulate and diverge with time and voyage without compensation from other sensor data information. Th...

AI Technical Summary

Problems solved by technology

Micro underwater robots are limited by volume, cost, energy and other limitations, which put forward higher requirements for the navigation system, which increases the difficulty of constructing a miniaturized integrated navigation system

The navigation system is generally composed of miniaturized and low-cost sensors, and the accuracy of the sensors is reduced. At the same time, underwater robots generally work in the unique underwater environment of the ocean, and the interference noise signal is large. Various underwater acoustic sensors generally have low accuracy and high wild point rate. Disadvantages, it is especially important to filter out the wild point information better to filter the sensor data

Dead reckoning navigation generally requires regular position corrections. If the dive depth is large, it will consume more energy by surfacing and readjusting the position through GPS. This is especially unfavorable for tiny underwater robots with limited energy.

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