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Relative-distance and tracking coordinate value combination multi-AUV self-locating method

A relative distance and autonomous positioning technology, applied in satellite radio beacon positioning system, positioning, measuring devices, etc., can solve the problems of tracking coordinate value loss of use value, cumulative error, etc.

Inactive Publication Date: 2014-02-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that existing AUV applications are prone to cumulative errors and make tracking coordinates lose their value, and propose a multi-AUV (underwater autonomous vehicle) autonomous positioning method that combines relative coordinates and tracking coordinates

Method used

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Embodiment Construction

[0035] The preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0036] The invention specifically realizes an autonomous positioning method of an underwater autonomous vehicle AUV.

[0037]First, randomly select a point as a reference point, and obtain the tracking coordinates of each point and the distance from each point to the reference point. And use the distance coordinate construction method (RBL-range based localization) to find the estimated coordinates of each point.

[0038] Secondly, the sum of the differences between the tracking coordinates and the estimated coordinates of each point is calculated, and the sequential quadratic programming optimization algorithm is selected to minimize and optimize the sum of the differences to obtain the corrected coordinates of each point.

[0039] Finally, when the error degree between the corrected coordinate value and the tracking coordinate value...

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Abstract

The invention relates to a relative-distance and tracking coordinate value combination multi-AUV self-locating method, and belongs to the field of underwater wireless networks. According to the relative-distance and tracking coordinate value combination multi-AUV self-locating method, the distances among multiple underwater AUV nodes are used for correcting tracking coordinate values inside the nodes, so that the tracking error can be reduced, the effective underwater work time of the AUV nodes can be prolonged, and traditional water surface locating buoys or water bottom locating anchoring buoys are not required.

Description

technical field [0001] The invention relates to a multi-AUV (underwater autonomous vehicle) autonomous positioning method combining relative coordinates and tracking coordinates, belonging to the field of underwater wireless networks. Background technique [0002] Electromagnetic wave signals cannot penetrate water bodies, so positioning signals such as GPS cannot provide coordinate positioning information for AUV nodes working underwater. Current underwater wireless communications mainly use acoustic channels. At present, the main positioning technology of AUV is to use remote acoustic positioning control technology similar to "remote control", such as long baseline LBL (long baseline), short baseline SBL (short baseline) and ultra short baseline USBL (ultra short baseline) and other voice-activated positioning technologies. In addition, surface buoy (buoy, using radio wave and sound wave dual channels) and underwater anchor (anchor, using sound wave channel) positioning t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/48G01S19/40
CPCG01S5/18G01S19/40G01S19/48
Inventor 张全新高越秦贺李元章马忠梅张雪兰谭毓安
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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