Underwater terrain matching navigation system based on acoustic Doppler log

Abstract

The invention discloses an underwater topography matching navigation system based on an acoustics Doppler log. The system comprises the multi-beam comprehensive Doppler log, a differential global positioning system, a platform compass, a data collecting module and a submarine topography matching module. The multi-beam comprehensive Doppler log, the differential global positioning system, the platform compass and the submarine topography matching module are connected with the data collecting module. The multi-beam comprehensive Doppler log has the advantages of being provided with more measure points, and being full in coverage and high in precision, and can reflect the fluctuation change condition of underwater topography more accurately and comprehensively. The multi-beam comprehensive Doppler log is matched with the submarine topography matching module to form the underwater topography matching navigation system based on the acoustics Doppler log. Compared with a traditional underwater topography navigation system, the system is free from time limitation, and can ensure the accuracy of real-time navigation information in the long-time navigation process.

Description

technical field [0001] The invention relates to the technical field of underwater navigation application of underwater vehicles, in particular to an underwater terrain matching navigation system based on an acoustic Doppler log. Background technique [0002] Autonomous underwater vehicles are marine vehicles vigorously developed by countries all over the world. They have great application value in the fields of marine protection and marine resource development, such as underwater search, seabed mapping, seabed monitoring, pipeline laying, and seabed operations. Navigation is one of the main technical challenges faced by the application of underwater vehicles. Navigation capability is an important requirement for effective work and safe recovery of underwater vehicles. The research on navigation methods for underwater vehicles has always been a research hotspot at home and abroad. [0003] Due to the limitations of the underwater environment, the current main methods of under...

AI Technical Summary

Problems solved by technology

In the absence of correction information, the above various navigation methods will accumulate or diverge with the increase of sailing time or distance, and it is difficult to meet the requirements of long-term navigation and positioning.

In addition, the traditional acoustic Doppler log has many limitations, such as only one working mode, fewer transmitting beams, fewer measuring points, inaccurate, low efficiency, etc.

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