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.
CN103558622AInactive Publication Date: 2014-02-05BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2014-02-05
Estimated Expiration
Not applicable · inactive patent

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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.
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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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