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
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[0035] The present invention will be further described in detail below with reference to the drawings and embodiments.
[0036] The invention consists of an underwater robot, a mother ship, a USBL system, a surface monitoring computer, and an acoustic communication machine. The underwater robot needs to be equipped with a depth gauge, DVL (Doppler Velocity Meter) and an angular velocity gyroscope, such as figure 1 Shown.
[0037] The USBL array communicates with the transponder mounted on the underwater robot, and the USBL-BOX calculates the position of the underwater robot, and then sends the position and mother ship position information to the underwater robot through the acoustic communication machine.
[0038] The identification method of USBL positioning data is as follows figure 2 As shown, the underwater robot receives the information from the mother ship’s acoustic communication machine and calculates the distance between it and the position data at the previous moment (if ...
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