A multi-program parallel calculation and navigation method for auv aided by electromagnetic log

Abstract

The present invention provides an electromagnetic log assisted AUV multi-program parallel solution navigation method, which comprises that: output data of a gyroscope, an accelerometer and an electromagnetic log are collected; the collected output data of the gyroscope and the accelerometer is adopted to operate a strapdown inertial navigation program, and the solution speed and the position of AUV are output; the speed solved by the strapdown inertial navigation program and the speed measured by the electromagnetic log are treated by a virtual log, and the optimized speed information is output; the optimized speed information is adopted to carry out acceleration compensation on the collected output data of the accelerometer, and the compensated value is adopted as the input of a strapdown gyrocompass program; the optimized speed and the latitude value solved by the strapdown inertial navigation program are adopted to carry out angular velocity compensation on the strapdown gyrocompass system; and the position information is output through the strapdown inertial navigation program, the attitude information is output through the strapdown gyrocompass program, and the speed information is output through the virtual log. According to the present invention, under the premise of no increase of the cost, influence of ocean currents on AUV navigation can be reduced so as to obtain complete and high-precision navigation information.

Description

technical field [0001] The invention relates to an AUV underwater navigation method, in particular to an AUV multi-program parallel solution navigation method assisted by an electromagnetic log. Background technique [0002] Autonomous Underwater Vehicles (AUVs) are widely used in marine resource exploration and development, seabed topography survey, marine rescue and salvage, etc. As far as the current development is concerned, the navigation problem is still one of the main technical challenges faced by AUVs. The navigation system must provide accurate positioning, speed and attitude information over a long distance and over a long period of time. [0003] For many autonomous AUVs that require navigation capabilities, it is often necessary to meet two conflicting requirements, namely, high precision and low cost. At present, the inertial navigation system has been developed relatively maturely, but there is still a certain gap in meeting the requirements of long-range, lo...

AI Technical Summary

Problems solved by technology

However, when using GPS assistance, the AUV needs to float up, and the GPS signal is susceptible to external interference; acoustic navigation needs to accurately deploy a transducer array with a limited range in the AUV working sea area, which is only suitable for AUVs that perform tasks in limited areas and specific sea areas. ; The use of Doppler log is the most widely used at present, but the Doppler log will send out signals, which cannot meet the task of concealment

In the patent document with the publication number CN102818567A, "an AUV integrated navigation method combining ensemble Kalman filter and particle filter" is disclosed, which uses GPS, Doppler log and electronic compass for assistance, and uses a hybrid filter to estimate Position and attitude, the cost of this method is high, the auxiliary information is susceptible to external interference and has no concealment, and the filtering method increases the amount of calculation of the system

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