Combined navigation and positioning method of small underwater robot

A technology that combines navigation and positioning methods, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., and can solve problems such as model mismatch of navigation and positioning systems

Inactive Publication Date: 2011-05-11
HARBIN ENG UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to provide a method that can effectively solve the problem of model mismatch in the navigation and positioning system of a small underwater robot caused by ocean current or wave interference, and can smooth the course, depth and in-ship conditions requ

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  • Combined navigation and positioning method of small underwater robot
  • Combined navigation and positioning method of small underwater robot
  • Combined navigation and positioning method of small underwater robot

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Embodiment Construction

[0079] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0080] The underwater and underwater parts of the small underwater robot navigation and positioning system are as follows: figure 1 shown. The above water part includes: water surface monitoring computer (including upper computer data processing system, small underwater robot status information display system), underwater part system of underwater acoustics and radio communication equipment. The underwater part of the navigation and positioning system includes: embedded navigation computer, pressure-resistant GPS receiver, attitude reference system, Doppler speed measuring sonar, depth gauge, underwater acoustics and radio communication equipment. Among them, the attitude reference system consists of three MEMS gyroscopes, MEMS accelerometers, and magnetometers. The above sensors are all installed along the hull of the underwater robot, and are used to provi...

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Abstract

The invention provides a combined navigation and positioning method of a small underwater robot, which comprises the following steps: fusing measurement data of various navigation facilities by means of a strong tracking unscented Kalman filter; using position vectors and heading angles under a navigation system as well as speed vectors and acceleration vectors under a vector system as state vectors of the filter; using the strong tracking unscented Kalman filter to implement autonomous navigation and data filtering of the underwater robot; based on horizontal position information output by a GPS (global positioning system) receiver, using the strong tracking unscented Kalman filter to implement autonomous correction and data filtering of the underwater robot; and implementing the switching between two different measurement equations (i.e. overwater and underwater measurement equations) based on the significance bit of the output signal of the GPS receiver. The invention can fuse the position, depth and attitude information of the small underwater robot measured by various navigation facilities, and can implement the autonomous navigation and autonomous correction of the small underwater robot under the interference of sea current or sea wave.

Description

technical field [0001] The invention relates to a method for autonomous navigation and autonomous correction of a small underwater robot. Background technique [0002] When a small underwater robot performs underwater tasks, its control system and guidance system need to provide accurate and smooth position, depth, attitude, and speed and acceleration information under the carrier system, and can automatically float to the water surface for autonomous correction. The navigation and positioning system of small underwater robots often has the problem of system model mismatch caused by ocean current or wave interference, and the navigation and positioning system generally can only provide unfiltered acceleration, depth information and speed information under the navigation system. Filtering and coordinate transformation to the boat system can be used by the robot control system. However, the navigation method using multiple navigation signals is usually a backup of simple navi...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 万磊张强孙玉山王建国张国成
Owner HARBIN ENG UNIV
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