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Method for navigating underwater robot by matching surface terrain

An underwater robot, terrain matching technology, applied in the field of navigation, can solve problems such as unfavorable long-term operation of AUV

Active Publication Date: 2013-04-17
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] It is necessary to go up regularly to receive GPS for correction, which is not conducive to long-term underwater operation of AUVs

Method used

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  • Method for navigating underwater robot by matching surface terrain
  • Method for navigating underwater robot by matching surface terrain
  • Method for navigating underwater robot by matching surface terrain

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Embodiment Construction

[0020] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0021] combine Figure 1~3 , the underwater robot line terrain matching device consists of a sound velocity profiler 1, a hydraulic depth gauge 2, a PC / 104 computer 3, a PC / 104 bus AD acquisition card 4, a PC / 104 bus serial port board 5, and an inertial navigation device 6 , main control computer 7, multi-beam sonar 8. Simultaneously combine figure 2 , PC / 104 computer 3, PC / 104 bus AD acquisition card 4 and PC / 104 bus serial port board 5 are plugged in through the bus, and are sealed together in the PC / 104 computer watertight casing 9, and four pieces are arranged on the PC / 104 computer watertight casing Watertight plug, watertight plug 10 connects sound velocity profiler 1 and PC / 104 bus serial port board 5, watertight plug 11 connects pressure depth gauge 2 and PC / 104 bus AD acquisition card 4, watertight plug 12 leads three connection lines, The PC / 104 comp...

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Abstract

The invention aims to provide a method for navigating an underwater robot by matching a surface terrain. The method comprises the following steps of: starting a multi-beam sonar and a multi-beam sonar to collect surface terrain data, correcting the surface terrain data collected by the multi-beam sonar according to sound velocity data collected by a sound-velocity profiler at the same time, determining the matching range of a chart by an inertial navigation device, comparing the collected surface terrain with the chart, determining the precise position of the underwater robot, and feeding the current navigation position information obtained by computing to a main control computer to finish correcting the navigation. The signal of a GPS (global positioning system) does not need to be received in a floating way, an external sonar array does not need to be arranged, the accurate underwater navigation can be finished through an internal sensor, and the return value is the navigation data which can be directly used by the underwater robot to work.

Description

technical field [0001] The invention relates to a navigation, in particular to an underwater navigation method. Background technique [0002] As an interdisciplinary field of marine engineering and robotics, underwater robots have been highly valued by countries all over the world. In the research of underwater robot technology, how to realize long-distance and high-precision underwater navigation is an important and difficult point of underwater robot research technology. [0003] Existing underwater navigation and positioning methods for underwater robots include underwater acoustic navigation, dead reckoning navigation, inertial navigation, and the like. Although underwater acoustic navigation can realize the long-term underwater operation of underwater robots, it needs to arrange acoustic matrix, which is not conducive to the independent operation tasks of underwater robots, and the navigation range is limited. Dead reckoning navigation and inertial navigation systems ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16
Inventor 李晔陈鹏云陈小龙姜言清李一鸣吴琪苏清磊
Owner HARBIN ENG UNIV
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