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Underwater robot heading data processing method and device

A technology for underwater robots and heading data, which is applied to measuring devices, navigation, instruments, etc., can solve problems such as low precision, poor real-time performance, and poor heading control stability, and achieve the effect of stable heading control and high precision

Active Publication Date: 2021-01-08
中国船舶重工集团公司七五0试验场 +2
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Problems solved by technology

[0005] Based on this, it is necessary to provide a heading data processing method and method for underwater robots for the traditional heading control of underwater robots that is greatly affected by changes in the magnetic field, resulting in poor heading control stability, low precision, and poor real-time performance. device

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  • Underwater robot heading data processing method and device
  • Underwater robot heading data processing method and device
  • Underwater robot heading data processing method and device

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Embodiment Construction

[0034] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0036] For example...

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Abstract

The invention relates to an underwater robot course direction data processing method and device. The method comprises the following steps: acquiring a course direction angle; acquiring an angle deviation amplitude through an angle speed sensor; according to the course direction angle and the angle deviation amplitude, calculating a deviation angle; acquiring a magnetic field angle through a magnetic field sensation angle sensor; detecting whether the difference of the deviation angle and the magnetic field angle is greater than a preset threshold or not; and when the difference of the deviation angle and the magnetic field angle is greater than the preset threshold, going back to the step of the angle deviation amplitude acquired by the angle speed sensor by taking the deviation angle as the course direction angle. If the difference of the deviation angle and the magnetic field angle is greater than the preset threshold, an underwater robot is relatively greatly affected by an environment magnetic field at present, and the underwater robot is controlled to move forwards according to the course direction angle by taking the deviation angle as the course direction angle, so that theinfluence of the environment magnetic field to the course direction of the underwater robot is reduced, the course direction of the underwater robot is relatively stably controlled, and relatively high precision is achieved.

Description

technical field [0001] The invention relates to the technical field of underwater detection robot control, in particular to a heading data processing method and device for an underwater robot. Background technique [0002] The underwater robot, also known as the unmanned remote control submersible, is a kind of extreme operation robot that works underwater. The underwater environment is harsh and dangerous, and people's diving depth is limited, so underwater robots have become an important tool for underwater operations. [0003] The heading of an underwater robot is an important reference for motion control. The current mainstream heading sensor is a heading sensor based on Kalman data fusion of angular velocity sensors and magnetic sensors. Such a heading sensor algorithm is complex and expensive. [0004] In addition, when the robot is close to hydraulic structures such as dams during underwater operations, the surrounding magnetic field will change greatly. Using this...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 纪炜周红坤张先奎覃丹曾广移巩宇王文辉黄小凤
Owner 中国船舶重工集团公司七五0试验场
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