Inertia/underwater sound combined navigation method based on multiple underwater transponders

A combined navigation and transponder technology, applied in directions such as navigation, navigation by speed/acceleration measurement, mapping and navigation, and can solve problems such as increased exposure and waste of energy

Active Publication Date: 2016-10-12
TIANJIN NAVIGATION INSTR RES INST
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  • Abstract
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Problems solved by technology

However, the problem of accumulating positioning errors of navigation equipment over time still exists, resulting in AUVs having to rely on the surface of the water to use GPS to complete the calibration, which wastes energy and increases the chance of exposure

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  • Inertia/underwater sound combined navigation method based on multiple underwater transponders
  • Inertia/underwater sound combined navigation method based on multiple underwater transponders
  • Inertia/underwater sound combined navigation method based on multiple underwater transponders

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Embodiment Construction

[0051] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0052] An inertial / acoustic integrated navigation method based on multiple underwater transponders, such as figure 1 As shown, when the underwater AUV runs to a certain operation area, an underwater transponder b is deployed 1 , first using the AUV's own motion information and the AUV and underwater transponder b 1 The mutual distance information estimates the underwater transponder b 1 position, and then carry out the position integrated navigation algorithm between the inertial navigation system INS / DVL in the AUV and the underwater transponder to correct its own dead reckoning error; when the AUV is about to exceed the underwater transponder b 1 Deploy underwater transponder b when in range 2 , using AUV and underwater transponder b 1 The distance between the combined output to estimate the underwater transponder b 2 position, when the AUV ...

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Abstract

The invention relates to an inertia/underwater sound combined navigation method based on multiple underwater transponders. The inertia/underwater sound combined navigation method is characterized by comprising the following steps: arranging underwater transponders, and marking the positions of the underwater transponders; calculating absolute location information of an AUV by virtue of a distance conversion location algorithm; performing a location combined navigation algorithm to correct a dead reckoning error by virtue of an inertia navigation system INS/DVL in the AUV and the obtained AUV absolute location information; arranging a subsequent underwater transponder, estimating the location of the subsequent underwater transponder by using the combination output of a distance between the AUV and the current underwater transponder, then performing the distance combination navigation by virtue of the AUV and the subsequent underwater transponder, and repeating the steps. By adopting the inertia/underwater sound combined navigation method, the information advantages of the inertia navigation and the underwater sound navigation can be sufficiently combined; meanwhile, in consideration of an actual background of the underwater application, a series of underwater transponders are successively distributed on a navigation route of the AUV, the problem of calibration of the underwater AUV navigation device is solved only by using the sound distance information, and the application prospect is wide.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation and underwater acoustic positioning, in particular to an inertial / underwater acoustic combined navigation method based on multiple underwater transponders. Background technique [0002] The optical strapdown inertial navigation technology maturely solves the problem of miniaturization and high reliability of the inertial navigation system for unmanned maritime equipment. (DVL) and pressure sensors to obtain heading, speed and depth information to complete dead reckoning navigation. However, the problem of accumulating positioning errors of navigation equipment over time still exists, resulting in AUVs having to rely on the surface of the water to use GPS to complete the calibration, which wastes energy and increases the chance of exposure. [0003] In the underwater space where radio waves and light waves are limited, underwater acoustic signals become the most effective carrier of un...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 王彬梁瑾王彦国马林赵亮胡小毛汪湛清
Owner TIANJIN NAVIGATION INSTR RES INST
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