Underwater navigation and positioning method capable of combining terrain and environment characteristics

An environmental feature, navigation and positioning technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problems of reducing the position error of the main inertial navigation system, the amount of terrain information is not rich, and the terrain-assisted navigation system cannot be used. The effect of correcting position errors, good autonomy and accuracy
CN104075715AActive Publication Date: 2014-10-01SOUTHEAST UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SOUTHEAST UNIV
Publication Date
2014-10-01

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Abstract

The invention discloses an underwater navigation and positioning method capable of combining terrain and environment characteristics. The method comprises the steps of judging whether all sub-areas in a planned track of an underwater vehicle are matched or not according to terrain information; if so, positioning by a terrain-aided inertial navigation system; and if not, positioning by a simultaneous localization and composition algorithm auxiliary master inertial navigation system. The method can be used for calculating the terrain information of a navigation area, and the underwater terrain is divided into a matched terrain area and an unmatchable terrain area. Different navigation algorithms are adopted aiming at the different areas, so that the position error of a master inertial navigation system can be corrected, and the method is relatively high in autonomy.
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Description

technical field

[0001] The invention relates to the technical field of underwater navigation, in particular to design a method capable of meeting the requirements of long-term high-precision autonomous navigation and positioning of an underwater submersible. Background technique

[0002] The inertial navigation system does not require any external information, nor does it radiate any information. The inertial navigation system alone can perform continuous three-dimensional positioning and navigation on a global scale and in any medium environment under all-weather conditions. The unique advantages of autonomy, concealment and the ability to obtain complete movement information of the carrier at the same time are unmatched by other navigation systems such as radio navigation, satellite navigation and astronomical navigation. However, the biggest weakness of the inertial navigation system is that its system error accumulates over time, and the longer the time, the greater the ...

Claims

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