A UV underwater navigation and positioning method based on tight combination of sins/lbl

A technology of navigation positioning and integrated navigation, which is applied to the tracking and positioning of underwater autonomous vehicles AUV, and the field of AUV underwater navigation and positioning based on SINS/LBL tight combination

Active Publication Date: 2017-04-26
SOUTHEAST UNIV
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Problems solved by technology

[0006] Aiming at the problem of the existing AUV underwater navigation accuracy, the present invention provides an AUV underwater navigation and positioning method based on the tight combination of SINS / LBL

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  • A UV underwater navigation and positioning method based on tight combination of sins/lbl
  • A UV underwater navigation and positioning method based on tight combination of sins/lbl
  • A UV underwater navigation and positioning method based on tight combination of sins/lbl

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Embodiment Construction

[0088] Below in conjunction with accompanying drawing, further illustrate the present invention.

[0089] Such as figure 1 As shown, the present invention is composed of three parts: the strapdown inertial navigation system SINS (1) installed on the AUV, the long baseline hydroacoustic positioning system LBL (2) placed on the seabed, and a data processing unit. The data processing unit includes a SINS pairwise primitive and AUV slant distance difference calculation module (3), a SINS / LBL compact combination module (4) and a correction module (5). The AUV underwater autonomous navigation is completed by using the method of tight combination of SINS and LBL. The specific implementation steps are as follows:

[0090] (1) The output data of the inertial measurement unit (IMU) is obtained by strapdown calculation to obtain the position information of the AUV, and the earth geodetic coordinate P SINS (L S ,λ S , h S ) said, and P SINS (L S ,λ S , h S ) into the earth rectangu...

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Abstract

The invention provides an SINS / LBL (strapdown inertial navigation systems / long base line) tight combination based AUV (autonomous underwater vehicle) underwater navigation positioning method. The SINS / LBL tight combination based AUV underwater navigation positioning method is characterized by comprising three major parts, namely an SINS mounted on an AUV, an LBL underwater sound positioning system laid on the seabed, and a data processing unit. The method comprises the following specific steps: firstly performing a strapdown algorithm on IMU (inertial measurement unit) data to obtain AUV position information, and representing the position information by using earth rectangular coordinates; secondly reckoning an SINS slant-range difference according to the AUV position information provided by the SINS and hydrophone array position coordinates; and thirdly establishing an LBL slant-range difference model according to LBL positioning characteristics, and correcting SINS navigation positioning information according to filter estimation compensation by taking the difference value between the SINS slant-distance difference and the LBL slant-distance difference as an observed quantity of a kalman filter. According to the SINS / LBL tight combination based AUV underwater navigation positioning method, the use of GPS and other radio positioning systems is avoided at the same, and the AUV underwater operation efficiency is improved.

Description

technical field [0001] The invention mainly relates to the field of AUV underwater navigation technology, in particular to an AUV underwater navigation and positioning method based on a tight combination of SINS / LBL, and is especially suitable for tracking and positioning of an underwater autonomous vehicle AUV. Background technique [0002] AUV (Autonomous Underwater Vehicle) is an underwater tool that can perform multiple functions such as underwater detection, attack, carrying, and salvage, because of its wide range of activities, small size, light weight, and concealment. Advanced features have become an important direction of military marine technology research at home and abroad. [0003] AUV underwater high-precision autonomous navigation and positioning tracking technology is the premise and key to complete its underwater operations. Among the existing positioning technologies, SINS (Strapdown Inertial Navigation Systems) has strong concealment, autonomy, anti-inter...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G06F19/00
CPCG01C21/165
Inventor 张涛石宏飞徐晓苏陈立平
Owner SOUTHEAST UNIV
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