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

Active Publication Date: 2014-10-01
SOUTHEAST UNIV
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Problems solved by technology

[0006] Technical problem to be solved: Aiming at the deficiencies of the prior art, the present invention proposes an underwater navigation and positioning method that combines topography and environmental features. For sea areas where the prior topographic map of the seabed is not available or the amount of topographic information is not rich, it cannot be used. Technical issues of terrain aided navigation system to reduce position error accumulated over time by primary inertial navigation system

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

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[0235] The simulation experiments are selected as image 3 The terrain area shown is a rectangular area from (38.0° north latitude, 120.0° east longitude) to (38.04° north latitude, 120.05° east longitude). According to the moving calculation window method, the following is obtained through simulation analysis Figure 4 The box-shaped area on the left is the terrain-matching area, and the box-shaped area on the right is the terrain-mismatching area.

[0236] Set an ideal navigation path containing 10 points in the terrain matching area, such as Figure 5 1# line in the middle, the track indicated by inertial navigation is as follows Figure 5 In the 2# line, the matching track after using the ICCP algorithm for matching and positioning is as follows: Figure 5 As shown in line 3# in the middle, it can be seen that the matching track almost coincides with the ideal track.

[0237] In areas where the terrain cannot match, the SLAM algorithm is used for navigation and position...

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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.

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 ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 徐晓苏汤郡郡李佩娟张涛岳增阳
Owner SOUTHEAST UNIV
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