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AUV (autonomous underwater vehicle) interactive auxiliary positioning system and AUV interactive auxiliary positioning method based on SINS (strapdown inertial navigation system)/LBL (long base line)

An auxiliary positioning system, underwater acoustic positioning technology, applied in positioning, radio wave measurement system, navigation through speed/acceleration measurement, etc., to achieve the effect of ensuring accuracy, improving underwater operation efficiency, and solving the problem of long-term error accumulation

Active Publication Date: 2015-01-28
SOUTHEAST UNIV
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Problems solved by technology

[0004] In order to overcome the defects of the existing AUV underwater navigation technology, the present invention provides a SINS / LBL-based AUV interactive auxiliary positioning system and positioning method

Method used

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  • AUV (autonomous underwater vehicle) interactive auxiliary positioning system and AUV interactive auxiliary positioning method based on SINS (strapdown inertial navigation system)/LBL (long base line)
  • AUV (autonomous underwater vehicle) interactive auxiliary positioning system and AUV interactive auxiliary positioning method based on SINS (strapdown inertial navigation system)/LBL (long base line)
  • AUV (autonomous underwater vehicle) interactive auxiliary positioning system and AUV interactive auxiliary positioning method based on SINS (strapdown inertial navigation system)/LBL (long base line)

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[0029] The present invention will be further described in detail below in conjunction with the drawings.

[0030] Such as figure 1 As shown, the present invention consists of a strapdown inertial navigation system SINS3 installed on the AUV, a long baseline hydroacoustic positioning system LBL1 placed on the seabed, and a data processing unit. The data processing unit includes a generalized cross-correlation calculation module 2. Peak module 5, position calculation module 6, delay difference calculation module 4, and Kalman filter module 7 provide continuous high-precision position information for the AUV through the use of SINS and LBL interactive auxiliary positioning, which is implemented through the following steps:

[0031] (1) The long-baseline hydroacoustic positioning system LBL1 is composed of four hydrophones placed on the seabed at known positions. The hydrophones receive the acoustic signals from the sound source on the AUV, and pass through the generalized cross-correl...

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Abstract

The invention provides an AUV (autonomous underwater vehicle) interactive auxiliary positioning system and an AUV interactive auxiliary positioning method based on an SINS (strapdown inertial navigation system) / LBL (long base line). The positioning system includes the SINS mounted on an AUV, an LBL underwater sound positioning system laid on the seabed, and a data processing unit, wherein the LBL underwater sound positioning system includes hydrophones laid on the seabed at four known positions; the data processing unit includes a generalized cross correlation computing module, a correlation peak screening module, a position calculating module, a delay inequality calculating module, and a Kalman filter module; the SINS includes an IMU (inertial measurement unit) element and an IMU processing unit. According to the invention, the problem of long-time error accumulation of the SINS is solved, compensates positioning errors caused by multipath acoustical signal propagation in water are compensated, the long-time autonomous underwater positioning and navigation precisions of the AUV are ensured, and application of a GPS (global position system) and other radio positioning systems is avoided, so as to solve the problem that the AUV needs to rise to the water surface to correct errors during underwater operation, save time and energy consumption of underwater operation, and improve the underwater operation efficiency of the AUV.

Description

Technical field [0001] The invention relates to an AUV underwater interactive auxiliary positioning system and a positioning method based on SINS / LBL, and is particularly suitable for the tracking and positioning of an underwater autonomous vehicle AUV. Background technique [0002] AUV (Autonomous Underwater Vehicle, autonomous underwater vehicle) is an underwater tool that can complete underwater detection, attack, transportation, salvage and other functions. It requires long-term autonomous positioning, navigation and return capabilities underwater. And it is concealed. Underwater high-precision positioning technology is the prerequisite and key to ensure its smooth solution to underwater operations. SINS (Strapdown Inertial Navigation Systems) has autonomy, concealment, anti-interference, high data update frequency, and high accuracy in a short time. However, the integral working principle of the inertial navigation system causes the positioning error to accumulate and incr...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/16G01S5/22
CPCG01C21/165
Inventor 张涛陈立平徐晓苏刘义亭童金武李瑶
Owner SOUTHEAST UNIV
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