Method for correction of underwater robot position error with single acoustic beacon

Abstract

The invention relates to the field of underwater robotics. Based on distance collected every two moments between an underwater robot and an acoustic beacon and sailing distance of the underwater robot during the period, a computer in the underwater robot calculates a steering angle of the underwater robot and controls the underwater robot to sail toward the acoustic beacon. When the distance between the underwater robot and the acoustic beacon decreases to a set value, the underwater robot performs circular motion round the acoustic beacon. Based on a course and speed of the underwater robot and the distance collected between the underwater robot and the acoustic beacon, an improved extended Kalman filter algorithm is used for estimating position of the underwater robot online. According to the invention, the device requires only one acoustic beacon and a range finder, without the need of other auxiliary devices; can be easily transferred to various underwater robots with the range finder easy to install and the correction algorithm program of good transferability; and has the advantages of good stability and reliability, accurate correction, simple installation, long service life and wide application.

Description

technical field [0001] The present invention relates to the technical field of underwater robots, in particular to a navigation method for underwater robots based on fixed acoustic beacons. Make corrections. Background technique [0002] During the underwater navigation of the underwater robot, the navigation error will gradually increase with the increase of the distance and time. After sailing for a certain distance, the position of the underwater robot needs to be corrected to improve the navigation accuracy. At present, there are two main methods for position correction of underwater robots: satellite positioning correction and long baseline acoustic positioning correction, but these methods have certain defects. For the satellite positioning correction method, the underwater robot needs to surface regularly to receive radio signals, and the position correction process is completed on the water surface, which is not conducive to the underwater navigation of the underwat...

AI Technical Summary

Problems solved by technology

However, in actual situations, this happens. When setting the initial position of the underwater robot, the position error cannot be guaranteed to be small enough. When the error is too large, the correction result of this method to the position error will be wrong, resulting in position error correction. fail

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