Method for fusing ocean current observation data of unmanned undersea vehicle (UUV)

Abstract

The invention provides a method for fusing ocean current observation data of an unmanned undersea vehicle (UUV), which comprises the following steps of: 1, obtaining ocean current profile data, when the UUV underwater navigates at a certain depth, obtaining an ocean current profile with a certain water layer thickness at the upper part or lower part of the UUV; 2, filtering the ocean current profile data, filtering the obtained ocean current original data, eliminating a wild value, carrying out smooth correction on a measured random error; 3, carrying out time registering on the ocean current profile data, reducing asynchronous data into synchronous data under the same time moment; and 4, reducing position information of the UUV, starting from one known coordinate position of the UUV to reduce a coordinate position of the next time according to the navigation direction, the navigation speed and the navigation time of the UUV at the coordinate position; and 5, fusing the ocean current profile data, converting longitude and latitude position information obtained from the reduction of the position information into ASCII (American Standard Code For Information Interchange) codes, and inserting into corresponding positions of an ADCP (Acoustic Doppler Current Profiler) data packet. According to the invention, accurate and complete ocean current profile information can be obtained under a geodetic coordinate system.

Description

technical field [0001] The invention relates to a method for processing marine observation data of an underwater unmanned vehicle. Background technique [0002] Unmanned Underwater Vehicles (UUV for short), also known as unmanned underwater vehicles or underwater robots, is a kind of unmanned intelligent small equipment that uses surface ships as a support platform and can sail autonomously and long-distance underwater for a long time. platform. UUV carrying Doppler Current Profiler (Acoustic Doppler Current Profile, referred to as ADCP) ocean current measurement method belongs to the underwater self-propelled ocean observation technology. It overcomes the shortcomings of the traditional bottom-seat self-contained current monitoring method, such as the small observation range and difficulty in deployment and recovery, and also overcomes the defects that surface ships are seriously affected by the sea environment when carrying ADCP to observe currents, and cannot observe dee...

AI Technical Summary

Problems solved by technology

UUV carries the Doppler Current Profiler (Acoustic Doppler Current Profile, referred to as ADCP) ocean current measurement method, which belongs to the underwater self-propelled ocean observation technology. It overcomes the shortcomings of the traditional bottom-seat self-contained current monitoring method, such as small observation range and difficult deployment and recovery, and also overcomes the defects that surface ships are seriously affected by the sea environment when carrying ADCP to observe currents, and cannot observe deep-sea currents. However, when UUV carries ADCP to measure ocean currents underwater, it cannot receive GPS signals, resulting in inaccurate and comprehensive ocean current information due to lack of geographic location information.

However, in the domestic and foreign literature, there is no relevant report on the data fusion of the measured ocean current profile data when the UUV is equipped with ADCP for underwater navigation.

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