Positioning and navigation method for remote control ship by means of targets after loss of lock of GPS

Abstract

The invention discloses a positioning and navigation method for a remote control ship by way of targets after the loss of lock of a GPS. The method comprises the steps that (1), when a remote control surveying ship enters a seriously occluded region, at least three of the targets are within the range of laser scanning equipment in the remote control surveying ship; (2), in the region of a wide view, the remote control surveying ship is positioned and navigated by the GPS and inertial navigation equipment, and before the remote control surveying ship enters the seriously occluded region, the laser scanning equipment will show in the form of point cloud in the measurement system in real time; (3), obtaining initial three-dimensional coordinates through BTM positioning; (4), continuing to move forward, and if the change in the three-dimensional coordinates of the targets is less than 10cm for more than 5 times, taking the average as final three-dimensional coordinates of the targets; and (5), when three or more targets have the final three-dimensional coordinates in the measurement range of the laser scanning equipment, the real-time position of the remote control surveying ship will be determined reversely by the targets through the MTB positioning. The method of the invention can realize the accurate positioning of GPS intermittent loss of lock and complete loss of lock.

Description

technical field [0001] The invention relates to a navigation method, in particular to a targeting method positioning and navigation method for a remote control ship after the GPS loses lock. Background technique [0002] At present, the precision positioning method of the remote control survey ship mainly adopts the combined positioning method of GPS and inertial navigation. When the GPS is intermittently lost, the inertial navigation is used to continue to provide position and attitude information for the remote control ship. However, limited by the problem that the accuracy of inertial navigation positioning drifts over time, it is only effective for intermittent GPS out-of-lock situations, and it is difficult to satisfy precise positioning in some special areas where GPS is out of lock for a long time. In addition, in the field of autonomous navigation of outdoor robots, some scholars have also proposed a method for positioning and navigating robots based on panoramic nea...

AI Technical Summary

Problems solved by technology

However, limited by the problem of inertial positioning accuracy drifting over time, it is only effective for GPS intermittently out of lock, and it is difficult to meet the requirements of precise positioning in some special areas where GPS is out of lock for a long time

In addition, in the field of autonomous navigation of outdoor robots, some scholars have also proposed a method for positioning and navigating robots based on panoramic near-infrared landmark recognition algorithms, but this method only solves the problem of relative positioning between robots and landmarks. Absolute positioning can only be performed when the position is known. This mode of operation seriously restricts the flexibility of road sign layout, and the recognition and positioning accuracy of panoramic near-infrared road signs is low, which is difficult to meet the positioning accuracy of measurement-type remote control ships. requirements

[0003] To sum up, before and after the GPS lock of the remote control survey ship, the connection of positioning and navigation work is incoherent; and after the GPS lock is lost, how to conduct long-term continuous and accurate monitoring of the remote control survey ship through freely set targets positioning problem

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