Real-time navigation system and real-time navigation method for underwater structure detection robot

A technology for underwater robots and underwater structures, which is used in mapping and navigation, navigation, and navigation through velocity/acceleration measurement, etc., and can solve problems such as high cost, low reliability, and large navigation delay.

Active Publication Date: 2014-12-10
CETC NINGBO MARINE ELECTRONICS RES INST
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Problems solved by technology

The patent document with the application number "2013100128123" discloses a "line terrain matching navigation method for underwater robots", but the reliability is low and the navigation delay is large; the patent document with the appl

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  • Real-time navigation system and real-time navigation method for underwater structure detection robot

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Embodiment Construction

[0061] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0062] The basic idea of ​​the present invention is, based on micro-electromechanical equipment, using quaternion gradient descent method, complementary filtering, and Kalman filtering to fuse navigation information to obtain the attitude information of the underwater robot, and use the third-order upwind method to solve the speed and position of the underwater robot , using the moving average filter to calculate the underwater robot's dive depth can reduce the cost and improve the accuracy to a certain extent.

[0063] Such as figure 1 As shown, a robot navigation system for underwater structure detection consists of a magnetic compass 1, a gyroscope 2, an accelerometer 3, a depth gauge 4, and a navigation microprocessor 5. The magnetic compass 1, gyroscope 2, and accelerometer 3 and the depth gauge 4 collect the magnetic field strength, angu...

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Abstract

The invention discloses a real-time navigation system and a real-time navigation method for an underwater structure detection robot. The navigation system comprises a magnetic compass, a gyroscope, an accelerometer, a depth meter and a navigation microprocessor, wherein the magnetic compass, the gyroscope, the accelerometer and the depth meter are used for respectively collecting magnetic field intensity, an angular speed, a linear speed and submerged depth data and transmitting the magnetic field intensity, the angular speed, the linear speed and the submerged depth data to the navigation microprocessor; the navigation microprocessor is used for calculating attitude and position of the underwater robot according to the collected data. The navigation method comprises an attitude algorithm, a speed algorithm and a depth algorithm; according to the attitude algorithm, a complementary filtering method, a quaternion gradient descent method and a Kalman algorithm are combined for obtaining an attitude matrix and an attitude angle; the speed algorithm is used for calculating the speed and the position of the robot by using a three-order upwind scheme with rotary compensation; the depth algorithm is used for processing the data of the depth meter by using a moving average filter algorithm so as to obtain the submerged depth. By virtue of the real-time navigation system for the underwater structure detection robot and the method thereof, the navigation cost is reduced and a relatively good navigation precision is achieved.

Description

technical field [0001] The invention relates to a real-time navigation technology of an underwater robot, in particular to a robot navigation system and method applied to underwater structure detection of marine engineering. Background technique [0002] Remotely Operated Vehicle (ROV) is an underwater operating robot that is connected to the surface support platform through an umbilical cable. It is composed of a surface control system and an underwater submersible body. Submarine exploration, underwater structure maintenance, submarine pipeline inspection, and underwater installation operations have become key equipment for the safety inspection and maintenance of underwater structures in marine engineering. [0003] Precise navigation is an important content of underwater structure detection robot, which provides necessary technical support for underwater structure detection. Existing underwater navigation technologies, such as underwater acoustic navigation, inertial na...

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Application Information

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IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/18G01C21/20
Inventor 曾庆军张明眭翔黄巧亮
Owner CETC NINGBO MARINE ELECTRONICS RES INST
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