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Underwater robot dual-redundancy gesture detecting system

An underwater robot, dual-redundancy technology, applied in the directions of instruments, measuring devices, surveying and navigation, etc., can solve the problems of interference, output heading information error, performance indicators cannot fully meet the navigation needs of operation-level underwater robots, etc. Low-cost, highly complementary effects

Active Publication Date: 2017-03-15
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In practical applications, the electronic compass is susceptible to interference from external ferromagnetic substances, resulting in large errors in the output heading information
Since a single navigation system has its own shortcomings, it is difficult for the performance index to fully meet the navigation requirements of the operational-level underwater robot.

Method used

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  • Underwater robot dual-redundancy gesture detecting system
  • Underwater robot dual-redundancy gesture detecting system
  • Underwater robot dual-redundancy gesture detecting system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0073] Implementation 1, combined with the attached figure 1 , The attitude detection system of the dual redundant underwater robot of the present invention is composed of a data fusion processor, a MEMS attitude sensor, an electronic compass, a Doppler log, a depth gauge, and an altimeter sensor. The navigation calculation is realized by the microcontroller, and the attitude, speed, depth and height information are output. The output interface 1 of the Doppler log is connected to the input interface 2 of the data fusion processor, the output interface 3 of the electronic compass is connected to the input interface 4 of the data fusion processor, and the output interface 5 of the MEMS attitude sensor is connected to the data fusion processing The input interface 6 of the altimeter, the output interface 7 of the depth gauge is connected to the input interface 8 of the data fusion processor, the output interface 9 of the altimeter is connected to the input interface 10 of the da...

Embodiment 2

[0074] Implementation 2, the operation steps of EKF filtering based on UD decomposition are as follows:

[0075] Step 1: State one-step prediction:

[0076]

[0077] Step 2: UD decomposition:

[0078]

[0079] Step 3: Solve the filter gain matrix:

[0080]

[0081] From formula (3) can get:

[0082]

[0083] Step 4: State Estimation:

[0084]

[0085] Step 5: Estimate the variance matrix:

[0086]

[0087] Through the EKF filtering algorithm based on UD decomposition, the divergence of EKF operation can be avoided, and the stability of the navigation system data fusion algorithm can be effectively improved.

Embodiment 3

[0088] Implementation 3, combined with the attached figure 2 , the steps of the AHRS partial model correction scheme of the integrated navigation system are as follows:

[0089] Step 1: Use the original data of the three-axis magnetometer and the three-axis accelerometer to calculate the heading angle in the geographic coordinate system as the observation information of the navigation system heading;

[0090] Perform tilt compensation on the three-axis raw data of the electronic compass, as shown in formula (7):

[0091]

[0092] The calculation of heading angle is shown in formula (8):

[0093]

[0094] Step 2: Model construction of the attitude and heading part of the integrated navigation system

[0095] Let the angular velocity input value of the Z-axis MEMS gyroscope be The zero bias of the gyro is ε Z , the gyro noise sequence is n r,z . The model of the Z-axis MEMS gyroscope is shown in formula (9):

[0096]

[0097] Let the zero bias of the gyroscope ...

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Abstract

The invention belongs to the technical field of underwater robots and particularly relates to an underwater robot dual-redundancy gesture detecting system. The underwater robot dual-redundancy gesture detecting system is composed of a data fusion processor, an MEMS attitude sensor, an electronic compass, a Doppler log, a depth meter and a height meter sensor, navigation calculation is achieved through a microcontroller, gestures, speed, depth and height information is output, an output interface of the Doppler log is connected to an input interface of the data fusion processor, an output interface of an electronic compass is connected to the input interface of the data fusion processor, and an output interface of the MEMS attitude sensor is connected to the input interface of the data fusion processor. The underwater robot dual-redundancy gesture detecting system adopts information provided by multiple types of navigation sensors and achieves a high-reliability navigation information output method through data fusion. An effective compensation method is designed by analyzing typical sea conditions, and the influence of outside interference and the shortcomings of the sensors on underwater robot gesture information is avoided.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and in particular relates to a double-redundant posture detection system for underwater robots. Background technique [0002] The attitude detection system of underwater robots can provide attitude, heading, speed, depth, height and other information for underwater robots operating in complex and unknown environments. This information is crucial for underwater robots to complete tasks in marine environments. A highly reliable navigation system will be able to effectively guarantee the safe survival of underwater robots and the successful completion of tasks. [0003] Due to the high cost of the high-precision inertial navigation system, the structure is relatively complicated. The inertial navigation system based on MEMS inertial devices has the advantages of low cost and simple structure compared with high-precision inertial navigation systems. At the same time, the attitude and headi...

Claims

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Application Information

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IPC IPC(8): G01C23/00
CPCG01C23/00
Inventor 魏延辉高延滨张皓渊郭锐姚贵鹏洪国庆乔金鹤罗姗姗
Owner HARBIN ENG UNIV
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