An Underwater Localization Method for Indoor Confined Structured Waters

An underwater positioning and structuring technology, applied in navigation, instrumentation, surveying and mapping, and navigation, etc., can solve problems such as the inability to achieve high-precision positioning in small indoor pools

Active Publication Date: 2020-09-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing positioning methods cannot realize high-precision positioning of indoor narrow pools, and propose an underwater positioning method for indoor restricted structured waters

Method used

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  • An Underwater Localization Method for Indoor Confined Structured Waters
  • An Underwater Localization Method for Indoor Confined Structured Waters
  • An Underwater Localization Method for Indoor Confined Structured Waters

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Experimental program
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specific Embodiment approach 1

[0034] Embodiment 1: The specific process of an underwater positioning method for indoor restricted structured waters in this embodiment is as follows:

[0035] Step 1. According to the yaw angle of the underwater robot, the earth coordinate system O-xyz is rotated by β angle to obtain a new coordinate system O-x′y′z′;

[0036] Step 2. According to the new coordinate system O-x'y'z' obtained in step 1, the pool wall is represented as R, B, L, U in O-x'y'z' in turn, where the positive direction of the x' axis corresponds to the pool wall R , the positive direction of the y' axis corresponds to the pool wall B, the negative direction of the x' axis corresponds to the pool wall L; the negative direction of the y' axis corresponds to the pool wall U;

[0037] past point C RB Draw a straight line l with slope tanα 0 ; then past point C BL make a straight line l 0 vertical line l 1 , the slope is -1 / tanα; l 0 with l 1 Divide the pool plane x'Oy' (the plane surrounded by the p...

specific Embodiment approach 2

[0042] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the first step, the earth coordinate system O-xyz is rotated by an angle of β according to the yaw angle of the underwater robot to obtain a new coordinate system O-x'y' z′; the specific process is:

[0043] Aiming at the problem that it is difficult to accurately locate indoor confined waters in spent fuel pools, a new underwater positioning method combining attitude and heading reference system and altimeter is proposed. Such as figure 1 As shown, two altimeters are installed on the front and side of the fuselage respectively, forming an included angle of 90°. The Attitude Heading Reference System (AHRS) is installed in the cabin to detect the attitude of the aircraft.

[0044] The attitude of the underwater robot is expressed as Γ=[φ,θ,ψ] T , where φ is the roll angle, θ is the pitch angle, and ψ is the yaw angle; the distance data measured by the two altimeters are...

specific Embodiment approach 3

[0067] Specific embodiment 3: The difference between this embodiment and specific embodiment 1 or 2 is: the new coordinate system O-x'y'z' obtained according to step 1 in said step 2, and the pool wall is in O-x'y'z' Expressed as R, B, L, U in turn, where the positive direction of the x' axis corresponds to the wall surface R of the pool, the positive direction of the y' axis corresponds to the wall surface B of the pool, the negative direction of the x' axis corresponds to the wall surface L of the pool, and the negative direction of the y' axis corresponds to the wall surface of the pool U; past point C RB Draw a straight line l with slope tanα 0 ; then past point C BL make a straight line l 0 vertical line l 1 , the slope is -1 / tanα; l 0 with l 1 Divide the pool plane x'Oy' (the plane enclosed by the pool walls R, B, U, L) into four areas; the specific process is:

[0068] In O-x'y'z', as in image 3 As shown, after point C RB Draw a straight line l with slope tanα ...

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Abstract

The invention discloses an underwater positioning method for an indoor limited structured water area and relates to an underwater positioning method which aims to solve the problem that high accuracypositioning of an indoor narrow and small water pool cannot be realized by the conventional positioning method. The method comprises the following steps: 1, rotating a geodetic coordinate system O'-xyz by an angle beta according to a yaw angle of an underwater robot so as to obtain a novel coordinate system O-x'y'z'; 2, making a straight line l0 with slope of tan alpha across a point CRB accordingto the O-x'y'z', making a vertical line l1 across a point CBL, and dividing a plane x'Oy' into four areas by the straight lines l0 and l1; 3, determining which area in the four areas the underwater robot belongs to according to a position of the underwater robot at a moment t-1, a moment t attitude heading reference system and data returned by front and side altimeters; and 4, calculating the position of the underwater robot at the moment t by adopting a multi-area divide positioning algorithm according to the area to which the underwater robot belongs. The invention is applied to the field of underwater positioning of robots.

Description

technical field [0001] The invention relates to an underwater positioning method. Background technique [0002] The spent fuel pool is mainly used to store and cool the core fuel of the reactor. Due to the strong radiation, underwater robots are used to replace manual maintenance and overhaul of pools. Since the spent fuel pool is an indoor restricted structured water area, the positioning of underwater robots becomes a difficult problem. At present, the mature underwater positioning methods mainly include: 1) dead reckoning positioning, using the inertial navigation system to realize the reckoning positioning, but the positioning accuracy is low, the error accumulation is large, and long-term high-precision positioning cannot be achieved. 2) Underwater acoustic positioning, including long baseline positioning, short baseline positioning, ultra-short baseline positioning, etc., but only applicable to open waters such as oceans and rivers. 3) Global navigation satellite sy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 陶建国罗阳李战东邓立平李浩那强丁亮邓宗全
Owner HARBIN INST OF TECH
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