Autonomous underwater vehicle autonomous navigation locating method

A technology of underwater vehicles and positioning methods, which is applied in navigation calculation tools and other directions, and can solve the problem of low approximation accuracy

Active Publication Date: 2015-04-08
哈尔滨船海智能装备科技有限公司
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Problems solved by technology

However, STF still has theoretical limitations that cannot be overcome by itself, such as the low accuracy of the first-order linearization approximation to the nonlinear state posterior distribution, and the need to calculate the Jacobian matrix of the nonlinear function.

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  • Autonomous underwater vehicle autonomous navigation locating method
  • Autonomous underwater vehicle autonomous navigation locating method
  • Autonomous underwater vehicle autonomous navigation locating method

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Embodiment Construction

[0042] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0043] The structure block diagram of a kind of AUV autonomous navigation positioning method proposed by the present invention is as attached figure 1 As shown, the main steps of the method are as follows:

[0044] 1) Select AUV motion model

[0045] as attached figure 2 Shown by AUV initial position and initial heading angle Establish the global coordinate system L; V is the AUV hull coordinate system; E is the northeast coordinate system, and the North direction is the geomagnetic north direction. x, y are the position of AUV in L; Ψ is the heading angle of AUV in L, obviously where z Ψ is the AUV heading angle measured by the motion sensor OCTANS.

[0046] The present invention selects a simple four-degree-of-freedom, constant velocity dynamics model x of formula (1) k =f(x k-1 )+w k-1 Model the motion process of AUV:

[0047] ...

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Abstract

The invention relates to an autonomous underwater vehicle autonomous navigation locating method, in particular to an autonomous underwater vehicle autonomous navigation locating method based on a strong tracking volume Calman filter. The autonomous underwater vehicle autonomous navigation locating method includes the steps of selecting an autonomous underwater vehicle motion model, selecting an autonomous underwater vehicle measurement model, building a dynamic system through the autonomous underwater vehicle motion model and the autonomous underwater vehicle measurement model, initializing a filter parameter, selecting fading factor, updating filter time, updating filter measuration data, updating to a next moment from the present moment, repetitively executing the step (5) to the step (7) until a terminal moment is reached, finishing calculating and outputting a result. Filtering gaining matrix is adjusted in real time by introducing the fading factor, outputting residual error sequence is forced to keep orthogonal to each other to reduce weight number of an old data. The weight number of a new data is relatively increased. Estimated accuracy and stability of the filter are improved.

Description

technical field [0001] The present invention relates to an autonomous navigation and positioning method for an autonomous underwater vehicle, in particular to an autonomous navigation and positioning method for an autonomous underwater vehicle based on a strong tracking volumetric Kalman filter (Strong Tracking Cubature Kalman Filter, STCKF). Background technique [0002] As a device that can move underwater, autonomous underwater vehicle (AUV) has the characteristics of self-powered and autonomous activities. Widely used in marine exploration and resource development and other fields. However, the problem of underwater navigation, that is, how to determine the position of AUV in the underwater environment so that it can take correct actions to complete the task successfully, is still one of the main key technologies faced by AUV design. [0003] At present, domestic and foreign countries are trying to find an effective means for AUV autonomous navigation and positioning. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 王宏健傅桂霞严浙平边信黔李娟刘向波
Owner 哈尔滨船海智能装备科技有限公司
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