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

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...

AI Technical Summary

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 application number "2012103320229" discloses an "autonomous Type underwater robot integrated navigation system and method", its navigation system structure is complicated, the cost is high, and GPS is not suitable for underwater navigation

Images