A targeting and navigation method for remote-controlled ships after GPS loses lock

Abstract

The invention discloses a target positioning and navigation method for a remote control ship after the GPS is out of lock, comprising the following steps: (1). within the measuring range of the laser scanning equipment; (2). In a wide field of view, the positioning and navigation of the remote survey ship is completed by GPS and inertial navigation equipment; Displayed in the measurement system in the form of point cloud; (3). Obtain the initial three-dimensional coordinates through BTM positioning; (4). Continue to move forward. If the three-dimensional coordinates of the target change more than 5 times in a row and are all less than 10cm, take the average value. As the final three-dimensional coordinates of the target; (5). When there are more than three targets with the final three-dimensional coordinates within the measurement range of the laser scanning equipment, the real-time position of the remote control survey ship can be reversely determined by using the targets through the MTB positioning . The present invention can realize accurate positioning in the case of discontinuous and complete GPS out-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

Images