Positioning method based on low-cost USBL-assisted SINS

Abstract

The invention provides a positioning method based on a low-cost USBL-assisted SINS. The strapdown inertial navigation system (SINS) and an ultrashort base line system (USBL) are involved in the positioning method, and integrated navigation is completed through a Kalman filtering method. As an assistant navigation system, the USBL is composed of an array installed on an AUV and a single transponder arranged on the seabed. Generalized weighted quadratic correlation and position computation are sequentially carried out on signals received by the short base line array, Kalman filtering is carried out on a position computation result of the USBL and position output of the SINS, and feedback correction is carried out on the SINS according to output of a filter. By means of the positioning method, the problem of long-term error accumulation occurring when a low-cost SINS is adopted is solved; by adopting generalized weighted quadratic correlation for the USBL, time delay estimation precision and anti-noise performance are improved, the problems of complex array arrangement, correction and operation occurring when a long base line system is adopted are avoided, and meanwhile high-precision underwater positioning and navigation are guaranteed.

Description

technical field The invention relates to a positioning method based on a USBL-assisted low-cost SINS system, belonging to the technical field of underwater navigation. Background technique In the 21st century, human beings will increasingly obtain material resources and living space from the ocean, and underwater vehicles, as a small carrier that can move underwater, have vision and perception systems, and operate remotely or autonomously, can replace Or assist people to complete certain underwater exploration and reconnaissance tasks. Underwater vehicles can be used in submarine warfare, mine warfare, reconnaissance, surveillance, and underwater attacks when equipped with a complete set of acoustic and non-acoustic sensors for detection, surveillance, and environmental sensing, as well as underwater high-speed rockets, defensive weapons, etc. . Because of its wide range of activities, small size, light weight, low noise, and high concealment, underwater vehicles have bec...

AI Technical Summary

Problems solved by technology

Using the USBL ultra-short baseline positioning system and using broadband signals for positioning, the acquisition of high-precision time delay difference is the key factor for underwater positioning accuracy, but the underwater environment is complex, including marine environmental noise, ship radiation noise, and ocean reverberation Affected by factors such as cross-correlation function, the correlation peak of the cross-correlation function has a fuzzy peak phenomenon, making it difficult to obtain the time delay difference accurately, resulting in underwater positioning errors

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