Data smoothing method for underwater USBL reverse application

Abstract

The invention relates to a data smoothing method for underwater USBL reverse application. The method is characterized in that the method comprises the following steps: 1, obtaining the absolute position of an AUV by relative measurement of the absolute position of a USBL array; 2, performing AUV combined navigation Kalman filtering by using the absolute position of the AUV, obtained in step 1, andan SINS solution position combination, and calculating the SINS and USBL combined filtering optimized absolute position of the AUV; and 3, performing backtrack calculation on the relative positioningposition of the USBL according to the SINS and USBL combined filtering optimized absolute position of the AUV, obtained in step 2, to obtain a smooth USBL relative positioning result. The method cansmoothly output the original relative positioning output data of the USBL to make an AUV control system obtain a ideal control input, so the realization of the underwater docking of the AUV and the abutting of the AUV with an underwater base station is benefited.

Description

technical field [0001] The invention belongs to the technical field of underwater navigation and positioning, and relates to a smoothing method for USBL original output data, in particular to a data smoothing method for reverse application of underwater USBL. Background technique [0002] When AUV performs long-term missions on the seabed, it needs to perform energy supply or information exchange at the submarine base station, which requires the AUV to have the ability to connect with the submarine base station. The usual solution is to equip the AUV with a USBL array, and the submarine base station is equipped with a beacon (or transponder) with a known location. The AUV uses the relative position and relative orientation information between the beacon and the beacon measured by the USBL, and adjusts its The attitude realizes the docking with the base station. [0003] At present, the relative position and azimuth data directly measured by USBL are affected by time delay m...

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Problems solved by technology

[0003] At present, the relative position and azimuth data directly measured by USBL are affected by time delay measurement error, sound velocity error and underwater acoustic signal signal-to-noise ratio, resulting in large dispersion and discontinuous data. This is used as the input of the AUV control system to adjust the attitude of the AUV. There will be a large error, which is not conducive to the stable docking of AUV

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