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Adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method

A colorless Kalman, ultra-short baseline technology, applied in navigation, surveying and navigation, navigation computing tools, etc., can solve the problems of acoustic positioning data with many outliers, complex and changeable motion states, delays, etc. The effect of delay, small amount of computation, and high estimation accuracy

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

However, for the navigation problem of deep-sea robots, the motion state of the robot in the water is more complex and changeable, and the acoustic positioning data has many outliers and a large delay. Only by using the underwater dynamics equation can the motion state of the robot in the water be described more accurately. Proper fusion of delayed position information is also critical to improve navigation accuracy

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  • Adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method
  • Adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method
  • Adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method

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[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0039] like figure 1 Shown is the working principle diagram of the integrated navigation method of the present invention: utilize Doppler log to collect linear velocity information, utilize ultra-short baseline acoustic positioning device to collect plane position information, utilize depth meter to collect depth information, utilize motion sensor to collect attitude Information, use the data fusion method to fuse the above information to obtain the three-dimensional motion trajectory of the deep-sea robot in the sea, and at the same time, it can smooth the heading required by the deep-sea robot control system and the speed information in the carrier coordinate system.

[0040] (1) Take the velocity vector in the vehicle coordinate system, the position vector and the heading angle in the earth coordinate system as the filter state vector, defi...

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Abstract

The invention relates to an adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method. The method comprises the following steps of acquiring a deepwater robot initial absolute position as a track estimation starting point by a global positioning system, acquiring initial information, and carrying out data fusion on the acquired initial information by an adaptive unscented Kalman filter method to obtain fused information. The adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method improves a navigation precision of a deepwater robot adopting a short-baseline positioning system and can smooth a course and depth needed by a deepwater robot control system and speed information under a carrier coordinate system.

Description

technical field [0001] The invention relates to a deep-sea robot navigation technology in the field of marine engineering, in particular to an ultra-short baseline combined navigation method based on colorless Kalman filtering. Background technique [0002] Precise navigation capability is the key to effective operation and safe recovery of underwater robots. Navigation systems must provide precise position, velocity, and attitude information over long distances and over long periods of time. However, due to the complexity of the underwater environment, the robot's own size, weight, energy, and concealment, it is still a difficult task to achieve high-precision underwater robot navigation. [0003] The existing underwater navigation method is mainly a multi-sensor integrated navigation method, which is no different from the land integrated navigation method, and uses kinematic equations to filter multi-sensor information. However, for the navigation problem of deep-sea rob...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S19/45
CPCG01C21/165G01C21/20G01S19/45G01S19/47
Inventor 刘开周李静郭威祝普强王晓辉
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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