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

An auxiliary navigation and ocean current technology, applied in the field of UUV navigation, can solve problems such as difficulty in popularization, increasing the complexity of UUV systems, and inability to guarantee navigation accuracy, and achieve the effect of improving environmental adaptability
CN102323586BActive Publication Date: 2013-02-06哈尔滨船海智能装备科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
哈尔滨船海智能装备科技有限公司
Publication Date
2013-02-06

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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.
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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...

Claims

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