All-source navigation system and method used for AUV (Autonomous Underwater Vehicle)

Abstract

The embodiment of the invention discloses an all-source navigation system and method used for an AUV (Autonomous Underwater Vehicle). The system comprises a basic navigation module, a real-time terrain acquisition module, an accurate terrain acquisition module, a correction data acquisition module, a navigation position correction module and an all-source navigation computation module, wherein the basic navigation module is used for acquiring movement data of the AUV and calculating a navigation position of the AUV according to the movement data; the real-time terrain acquisition module is used for acquiring real-time terrain data of the position of the AUV; the accurate terrain acquisition module is used for matching the real-time terrain data with reference terrain data according to the navigation position of the AUV to obtain accurate terrain data of the position of the AUV; the correction data acquisition module is used for acquiring slope data from the AUV to a seabed and taking the slope data as correction data; the navigation position correction module is used for correcting the navigation position of the AUV by using the slope data; and the all-source navigation computation module is used for carrying out all-source navigation computation according to the corrected navigation position of the AUV and the accurate terrain data of the position of the AUV, so as to obtain all-source navigation data of the AUV.

Description

technical field [0001] The invention relates to the technical field of navigation applications, in particular to an all-source navigation system and method for AUVs. Background technique [0002] AUV, also known as autonomous underwater vehicle (Autonomous Underwater Vehicle), is a widely used underwater detection equipment. Its navigation methods can be divided into three categories based on different principles: first, acoustic navigation and positioning methods; second, using the earth thirdly, a combined navigation method based on dead reckoning and optimal estimation based on inertial navigation. Among them, the acoustic positioning method requires the installation of acoustic wave sending and receiving equipment. The installation and calibration of these equipment is relatively difficult, and the range of positioning is also limited, so it is not suitable for AUV navigation in long-distance, long-duration, and arbitrary sea areas. Another method, using geophysical cha...

AI Technical Summary

Problems solved by technology

However, the environment in which AUVs navigate underwater is very complex. In different situations, a variety of different sensors or detectors are required. The various sensors or detectors are independent of each other, and their application systems and the data they collect are also different. They are all independent of each other, so that the scope of application is greatly limited. For example, only the data of different discrete location points can be obtained through search and positioning, and the accurate positioning of each point may not be possible due to the special geographical environment.

In addition, in the application, sometimes it is necessary to refer to the data collected by a variety of different sensors or detectors at the same time, which requires complicated operations and a lot of work to obtain the sensing data separately and perform cumbersome post-processing on the respective obtained data. Greatly reduced work efficiency

Images