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Navigation positioning method based on ultra short base line

An ultra-short baseline, navigation and positioning technology, applied in the field of navigation and positioning based on ultra-short baseline, can solve the problems of large impact on the job site environment, cumbersome deployment and recovery process, no underwater acoustic communication function, etc. Delay compensation, simple operation, and the effect of improving navigation and positioning accuracy

Active Publication Date: 2016-06-01
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

The long-baseline matrix can provide high-precision positioning information for underwater robots, but the disadvantage is that the deployment and recovery process is cumbersome, and it is greatly affected by the environment of the job site.
The ultra-short baseline is installed on the mother ship, which can monitor the position of the underwater underwater robot in real time. It does not need to deploy an array, and can track the underwater robot with the mother ship. The disadvantage is that the existing ultra-short baseline has no underwater acoustic communication function, so the positioning information Cannot be provided to underwater robots

Method used

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  • Navigation positioning method based on ultra short base line
  • Navigation positioning method based on ultra short base line
  • Navigation positioning method based on ultra short base line

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Embodiment Construction

[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0036] The present invention is made up of underwater robot, mother ship, USBL system, surface monitoring computer, acoustic communication machine, wherein underwater robot needs to carry depth meter, DVL (Doppler Velocimeter) and angular velocity gyro, such as figure 1 shown.

[0037] The USBL matrix communicates with the transponder on the underwater robot, and then the USBL-BOX calculates the position of the underwater robot, and then sends the position and the position information of the mother ship to the underwater robot through the acoustic communication machine.

[0038] The identification method of USBL positioning data is as follows: figure 2 As shown in , the underwater robot receives the information sent by the mother ship's acoustic communicator and calculates the distance between it and the position data at the last moment (if ...

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Abstract

The invention discloses a navigation positioning method based on ultra short base line (USBL). According to the navigation positioning method, ultra short base line positioning information of an underwater unmanned untethered underwater robot (underwater robot) is sent to the underwater robot via a sound communication machine so as to realize integrated navigation of the underwater robot. The navigation positioning method comprises two steps: firstly, USBL is adopted for tracking and positioning of the underwater robot, and positioning information is sent to the underwater robot via the sound communication machine; and secondly, the positioning information is received by the underwater robot, and state updating of navigation algorithm is carried out via motion compensation. Operation of the navigation positioning method is simple; and USBL positioning information can be used for realizing underwater robot integrated navigation accurately and effectively, so that underwater navigation positioning accuracy of underwater robots is increased further.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a method for navigation and positioning based on an ultra-short baseline (USBL). Background technique [0002] When an underwater robot performs long-term operations in complex seabed areas, it is very important to have high navigation and positioning accuracy. The autonomous navigation method requires external navigation information for real-time correction due to time-accumulated errors. The long-baseline array can provide high-precision positioning information for underwater robots, but the disadvantage is that the deployment and recovery process is cumbersome, and it is greatly affected by the environment of the job site. The ultra-short baseline is installed on the mother ship, which can monitor the position of the underwater underwater robot in real time. It does not need to deploy an array, and can track the underwater robot with the mother ship. The disadvantag...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20G01C25/00
Inventor 王飞徐春晖王轶群刘健许以军
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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