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Device and method for integrated navigation of deepwater robot

A combined navigation and robot technology, applied in navigation, surveying devices, surveying and navigation, etc., can solve the problems of deep-water robots' unsmooth navigation trajectory, unfavorable navigation control, and inability to eliminate acoustic propagation positioning errors, etc.

Inactive Publication Date: 2015-01-14
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0004] 1) The positioning error caused by the acoustic propagation delay cannot be eliminated;
[0005] 2) The navigation trajectory of the deep-water robot is not smooth, which is not conducive to navigation control

Method used

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  • Device and method for integrated navigation of deepwater robot
  • Device and method for integrated navigation of deepwater robot
  • Device and method for integrated navigation of deepwater robot

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Embodiment Construction

[0073] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0074] The present invention consists of not less than 3 beacons, range finders and deep water robots, such as figure 1 shown. The deep water robot navigation sensor configuration is as follows: figure 2 As shown, it consists of a rangefinder, a heading sensor, a speed sensor, and a depth sensor.

[0075] Combined navigation algorithm such as image 3 As shown, the deep-water robot performs data collection after launching, and the state is set to 'A'. When the distance measurement data is received, the initial position window algorithm of the present invention is used to calculate the initial position. After obtaining a valid initial position, the state is set to 'B', the filter algorithm designed by the present invention is started, and the position of the deep-water robot is corrected online by using the distance information. Before cor...

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Abstract

The invention relates to the technical field of a deepwater robot, and in particular relates to a device and method for integrated navigation of a deepwater robot. The device comprises a rangefinder, a beacon, sensors and a navigation computer. The method is as follows: after launching of the deepwater robot, data of the rangefinder, a heading sensor, a speed sensor and a depth sensor is acquired by a navigation computer; when distance data of the rangefinder is acquired by the navigation computer, the initial position of the deepwater robot is calculated; whether the initial position is valid is judged; if the initial position is valid, whether the distance data is valid is judged, if the distance data is invalid, then the distance data is discarded, and the method is returned to the step of calculating the initial position of the deepwater robot; if the distance data is valid, according to the distance data, the position of the deepwater robot is modified online. The device is simple, good in inheritance, stable and reliable, accurate in correction results, simple in installation, long in service life, and wide in range of application.

Description

technical field [0001] The invention relates to the technical field of deep-water robots, in particular to a device and method for combined navigation of deep-water robots. Background technique [0002] Deep-water robots can sail at a depth of several kilometers. During underwater navigation, the navigation error will gradually increase with the increase of distance and time. After the deep-water robot sails for a certain distance, its position needs to be corrected to improve the navigation accuracy. [0003] The current method of correcting the position of the deep-water robot is mainly to directly correct the position of the deep-water robot through the positioning information output by the acoustic positioning system. But this method has certain flaws: [0004] 1) The positioning error caused by the acoustic propagation delay cannot be eliminated; [0005] 2) The navigation trajectory of the deep-water robot is not smooth, which is not conducive to navigation control...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S15/06
CPCG01C21/165G01C21/20G01S5/30
Inventor 冀大雄刘健刘铁军徐春晖石凯
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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