An Integrated Navigation Method for Underwater Robots Based on Long Baseline and Online Beacon Calibration

An underwater robot, integrated navigation technology, used in navigation, mapping and navigation, navigation through velocity/acceleration measurement, etc.

Active Publication Date: 2021-05-28
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0003] In order to solve the problem of filtering long baseline positioning and suppressing the cumulative error of the navigation system, and at the same time reduce the influence of beacon calibration errors on navigation positioning, the technical problem to be solved in the present invention is to propose a new type based on long baseline acoustic positioning and beacon online calibration. The integrated navigation method effectively integrates the long baseline positioning and inertial navigation positioning data, filters the interference of the long baseline positioning disturbance on the integrated navigation positioning, reduces the cumulative error of the navigation system, and calibrates the beacon position online at the same time, reducing the need for mother ship calibration beacons in deep water conditions. The Influence of the Calibration Error Generated on the Navigation Accuracy

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  • An Integrated Navigation Method for Underwater Robots Based on Long Baseline and Online Beacon Calibration
  • An Integrated Navigation Method for Underwater Robots Based on Long Baseline and Online Beacon Calibration
  • An Integrated Navigation Method for Underwater Robots Based on Long Baseline and Online Beacon Calibration

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Embodiment Construction

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0041] The hardware requirement of the present invention is an AUV, which is equipped with a depth gauge to measure the depth, equipped with a Doppler to measure the current speed of the submersible, equipped with an attitude angle sensor to measure the current heading angle, pitch angle and roll angle of the submersible, and equipped with a water The acoustic rangefinder measures the distance from the AUV to the long-baseline beacon, and four fixed long-baseline beacons are deployed on the seabed.

[0042] Such as figure 1 As shown, when the AUV is operating underwater, the speed measured by Doppler, the speed measured by the heading angle sensor and the distance from the AUV to the beacon are automatically input into the integrated navigation algorithm, and the underwater position of the AUV is automatically calculated in real time.

[0043...

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Abstract

The invention relates to a combined navigation method based on long baseline acoustic positioning and on-line calibration of beacons to realize underwater navigation and positioning of underwater robots. The invention includes: using the single beacon slant distance measurement values ​​at different times of the AUV to realize online calibration of the positions of each long baseline beacon; establishing a Kalman filter based on the fusion of long baseline acoustic positioning and inertial navigation data to calculate the position estimate of the combined navigation . The method can effectively integrate long baseline positioning and inertial navigation data, and has high navigation and positioning accuracy; the method is easy to transplant and can be applied to various underwater navigation and positioning of submersibles.

Description

technical field [0001] The present invention relates to the technical field of underwater robots, in particular to an integrated navigation method for an unmanned autonomous underwater robot (AUV) based on long-baseline acoustic positioning and beacon online calibration technology to realize AUV underwater high-precision integrated navigation position. Background technique [0002] In marine applications, underwater robots play an increasingly important role. Underwater robots are divided into two categories: one is a remote-controlled cable underwater vehicle (ROV for short), and the other is an unmanned autonomous underwater vehicle (AUV for short). ROV needs the support of the surface mother ship, and is limited by the length of the cable. Its operating distance is limited, generally only a few hundred meters; while AUV carries its own energy, it can be far away from the mother ship, and the operating distance can reach tens of kilometers or even hundreds of kilometers. ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S5/22
CPCG01C21/165G01S5/22
Inventor 王轶群李波刘健赵宏宇
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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