Ocean environment underwater navigation body movement track estimation method

An underwater vehicle, motion trajectory technology, applied in navigation calculation tools, navigation, mapping and navigation, etc., can solve problems such as uncertainty and complex underwater motion trajectory of underwater vehicles

Active Publication Date: 2017-08-22
中国人民解放军91550部队
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Problems solved by technology

[0003] Under the influence of many marine environmental factors, the underwat

Method used

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  • Ocean environment underwater navigation body movement track estimation method
  • Ocean environment underwater navigation body movement track estimation method
  • Ocean environment underwater navigation body movement track estimation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0159] (1) Trajectory estimation of underwater vehicle under different wave conditions

[0160] Set three different wave levels of 2 / 4 / 5 respectively, with the same wave direction angle of 90 degrees, the same initial motion depth, and the same initial speed, and perform simulation calculations to estimate the trajectory of the underwater vehicle under different wave levels. , the result is attached image 3 to attach Figure 4 shown.

[0161] Simulation results show:

[0162] 1) The initial vertical motion of the underwater vehicle is less disturbed by the wave force than the horizontal motion;

[0163] 2) The higher the wave level, the stronger the disturbance to the motion attitude angle and the larger the lateral deviation;

[0164] 3) Due to the randomness of waves, the wave disturbance force appears in different directions under the same incident angle, and the amplitude of the disturbance force increases with the increase of wave level, and the amplitude near the wa...

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Abstract

The invention discloses an ocean environment underwater navigation body movement track estimation method, and belongs to the field of target movement track estimation. According to the estimation method, firstly, an underwater space movement equation set of an underwater navigation body is built; wave and ocean current value models are respectively built by aiming at the two ocean environment features of ocean wave and ocean current with great influence on the movement track; the movement track parameter change rule when being influenced by the waves and the ocean current during the underwater navigation body vertical water outlet is studied; the rule is used for estimating the movement track of the underwater navigation body. The method has the advantages that the proper starting occasions proper for the underwater navigation body can be selected for a decision maker; the scientific basis can be provided for the attitude control and the like; the technical support can be provided for the relevant work of subsequent underwater navigation body underwater movement occasion and mode making and the like.

Description

technical field [0001] The invention belongs to the field of target motion trajectory estimation, and in particular relates to a technology for estimating the motion trajectory of an underwater vehicle under the influence of the ocean environment. Background technique [0002] During the underwater movement of the underwater vehicle, marine environmental factors such as currents and waves will have an important impact on the trajectory of the underwater vehicle. When the underwater vehicle moves from the beginning to the flight close to the water surface, due to the action of the waves, its motion trajectory may deviate due to strong interference, and the size of the deviation is restricted by the parameters of the wave, such as wave height, wavelength, period, wave speed, etc. , which is highly random. The impact of waves is mainly reflected in two aspects: First, under the impact of waves, the part of the underwater vehicle that is near the wave surface is subjected to a ...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 王红萍李智生阎肖鹏张丹辛健
Owner 中国人民解放军91550部队
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