UUV (unmanned underwater vehicle) aided navigation method based on current profile

Abstract

The invention provides a UUV (unmanned underwater vehicle) aided navigation method based on current profile. The method comprises the following steps: firstly setting up a Kalman filter model of current profile data, secondly determining the observation noise variance R and process noise variance Q in a Kalman equation according to variations of the environment and the UUV own velocity and finally setting up a UUV velocity-current profile relation database, utilizing the relation database and the current profile information measured by an ADCP (acoustic Doppler current profile) to reckon the UUV velocity at the time of DVL (Doppler velocity log) failure and further obtaining the navigation position of the UUV by deadreckoning. The method has the following beneficial effects: when the UUV performs a task under water, once the sonar data of the DVL have failure, the UUV velocity can be reckoned by using the current profile information measured by the ADCP, so that the UUV can continue performing the ocean exploration task in the complex ocean environments such as great depth, thus improving the environmental adaptation capability of the UUV.

Description

technical field [0001] The present invention relates to a UUV navigation method, in particular to an ocean current profile auxiliary navigation method based on the failure of DVL sonar data carried by the UUV. Background technique [0002] As the underwater unmanned vehicle UUV (Unmanned Underwater Vehicle) is more and more widely used in ocean development, the accuracy requirements for the UUV navigation system are also getting higher and higher. Traditional dead reckoning is one of the most commonly used navigation methods in UUVs, which relies on velocity data collected by Doppler Velocimeters (DVL) and attitude data collected by attitude sensors. However, when the UUV may fail when it is turning or the sea water is deeper than the maximum range of DVL bottom tracking, once the DVL fails or the real-time speed of the UUV cannot be obtained due to performance degradation, only the speed information of the few beats before the DVL failure can be used , while the speed of U...

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Problems solved by technology

For example, Mo Jun proposed an underwater navigation information fusion method based on the current database in the document "Discussion on the Fusion Method of Underwater Navigation Information Based on the Ocean Current Database" (Journal of System Simulation, 2002, Volume 14, No. 10). A large amount of ocean current information in the working sea area, the workload is heavy, and it is difficult to promote

In 2009, Wu Taiqi and others from China Naval University of Engineering proposed the use of gravity field A method for assisted navigation of underwater unmanned vehicles, which requires additional hardware and software such as gravity sensors and gravity reference map data, which increases the complexity of the UUV system

2007, Norway et al. proposed a method of using the UUV dynamic model to assist navigation in the document "Comparison of Mathematical Models for the HUGIN 4500 AUV Based on Experimental Data" (International Symposium on Underwater Technology), and the UUV dynamic model involves many parameters , it is difficult to accurately determine the dynamic model of UUV, so the accuracy of navigation cannot be guaranteed

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