Magnetic compass heading error correction method and autonomous underwater vehicle navigation error correction method

A heading error and magnetic compass technology, applied in the field of underwater unmanned autonomous vehicle navigation, can solve the problems that the navigation filtering algorithm is difficult to effectively improve the navigation accuracy, it is difficult to meet the requirements of cost control, reliability and applicability discounts, etc. To achieve the effect that parameter adjustment is easier to operate, easy to implement, and has a wide range of applications

Inactive Publication Date: 2017-12-22
XIAN TIANHE SEA DEFENSE INTELLIGENT TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] With the development of underwater unmanned autonomous vehicles, the method of replacing higher-precision attitude and speed sensors is difficult to meet people's requirements for cost control; it is difficult to effectively improve navigation accuracy by replacing complex navigation filtering algorithms. The applicability is greatly reduced; unilaterally filtering the heading information of the magnetic compass cannot fundamentally solve the problem of heading information distortion

Method used

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  • Magnetic compass heading error correction method and autonomous underwater vehicle navigation error correction method
  • Magnetic compass heading error correction method and autonomous underwater vehicle navigation error correction method
  • Magnetic compass heading error correction method and autonomous underwater vehicle navigation error correction method

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Embodiment 1

[0045] This embodiment provides a magnetic compass heading error correction method, such as figure 1 shown, including the following steps:

[0046] S1. Obtain the heading at the current moment provided by the magnetic compass;

[0047] S2. According to the heading calculation at the current moment, the magnetic compass semicircle error generated by the hard magnetic field interference is obtained;

[0048] S3. Calculate and obtain the quadrant error of the magnetic compass according to the heading at the current moment;

[0049] S4. Obtain the magnetic compass circumference error caused by soft magnetic field interference and installation error;

[0050] S5. Calculate and obtain the magnetic compass error at the current moment according to the magnetic compass circumference error, the magnetic compass semicircle error and the magnetic compass quadrant error;

[0051] S6. Feedback the error of the magnetic compass at the current moment to the heading at the current moment pr...

Embodiment 2

[0075] This embodiment provides a navigation error correction method for an underwater autonomous vehicle. Before the underwater unmanned autonomous vehicle introduces the course information into the dead reckoning algorithm, the magnetic compass is first compensated for the magnetic field and the installation error angle is corrected, and then the corrected The heading information of the After filtering and smoothing, dead reckoning is introduced, which specifically includes the following steps:

[0076] S2-1, using the magnetic compass heading error correction method in Embodiment 1 to obtain the heading;

[0077] S2-2. Introduce the heading into the dead reckoning to obtain the latitude and longitude values. Among them, the heading angle direction of the underwater unmanned autonomous vehicle involved is defined as positive by north by west, and the range is 0°~360°.

[0078] Preferably, in step S2-2, the calculation formula of the latitude and longitude value is:

[00...

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Abstract

The invention provides a magnetic compass heading error correction method and an autonomous underwater vehicle navigation error correction method, belonging to the technical field of navigation of autonomous unmanned underwater vehicles. The magnetic compass heading error correction method comprises the following steps: acquiring the heading, provided by a magnetic compass, of the current moment; calculating according to the heading of the current moment so as to obtain magnetic compass semi-circular error generated by hard magnetic field interference; calculating according to the heading of the current moment so as to obtain magnetic compass quadrant error; acquiring magnetic compass circular error caused by soft magnetic field interference and installation error; calculating according to the magnetic compass circular error, the magnetic compass semi-circular error and the magnetic compass quadrant error so as to obtain magnetic compass error of the current moment; feeding the magnetic compass error of the current moment back to the heading, provided by the magnetic compass, of the current moment, and carrying out correction calculation on the magnetic compass heading to obtain corrected heading of the current moment. The magnetic compass heading error correction method and the autonomous underwater vehicle navigation error correction method have the advantages of being low in cost, easy to operate and wide in application scope, and improve the reliability of navigation error correction results.

Description

technical field [0001] The invention relates to the technical field of underwater unmanned autonomous vehicle navigation, in particular to a magnetic compass heading error correction method and an underwater autonomous vehicle navigation error correction method. Background technique [0002] AUV (Autonomous Underwater Vehicle) is an underwater vehicle that can autonomously complete a variety of specific tasks such as underwater detection, attack, delivery, and salvage. It is required to have long-term autonomy underwater. Positioning navigation and return capabilities, and has concealment. In order to ensure that it can solve underwater operations smoothly, higher navigation accuracy requirements are put forward for AUV. The navigation error of underwater unmanned autonomous vehicles directly affects its navigation accuracy. In the past, underwater unmanned autonomous vehicles that used dead reckoning as their navigation algorithm mainly unilaterally replaced higher-precisi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C17/38
CPCG01C17/38
Inventor 蔡挺杨晶潘常军黄江成陈建峰王英
Owner XIAN TIANHE SEA DEFENSE INTELLIGENT TECH CO LTD
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