AUV navigation method based on sonar-assisted autonomous navigation

Abstract

The invention relates to an AUV navigation method based on sonar-assisted autonomous navigation, belongs to the technical field of seabed detection, and mainly solves the problem that the ideal detection track of a conventional mapping system is different from an actual value. According to the method, by utilizing an strategy that iSAM (incremental Smoothing and Mapping) algorithm runs at a constant term step number, an object region is partitioned, so that AUV at a local mapping region makes an intelligentized decision on choices of going on exploring unknown regions or performing return visit on the previous seabed environment, two competition appeals about seabed navigation performance and object-region covering rate are both considered, and a feasible plan is provided for solving the key technology problem about position error accumulation when seabed kinetic observation is performed.

Description

technical field [0001] The invention relates to an AUV navigation method based on sonar-assisted autonomous navigation, and belongs to the technical field of seabed detection. Background technique [0002] At present, when AUVs perform surveying and mapping tasks, there are often differences between the ideal detection trajectory and the actual detection trajectory. In theory, according to the preset trajectory, 100% effective coverage of the target sea area can be provided, but the implicit assumption is that any point in the voyage meets the bounded error performance. The characteristic distribution of the environment is unknown. If the mobile observation equipment is not accurately positioned, there will be no high-quality and high-accuracy seabed topographic map. Therefore, how to improve the positioning accuracy of mobile observation equipment has become the technical focus and bottleneck problem in the field of mobile detection. Contents of the invention [0003] T...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned defects existing in the existing AUV navigation module, and propose a AUV navigation method based on sonar-assisted autonomous navigation, which makes up for the problem that there is a difference between the ideal detection trajectory and the actual value of the existing surveying and mapping system. The iSAM algorithm (incremental Smoothing and Mapping, Incremental Smoothing and Mapping Algorithm) runs a strategy of constant item steps to divide the target area into blocks, so that the AUV in the local mapping area can choose to continue to explore unknown areas or return to the previous submarine environment. The decision-making, taking into account the two competing demands of submarine navigation performance and target area coverage, provides a feasible solution for solving the key technical problem of positioning error accumulation during submarine motion observation

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