Method for estimating heading angle deviation between water surface/underwater vehicle and positioning device

Abstract

The invention discloses a method for estimating heading angle deviation between a water surface / an underwater vehicle and a positioning device. Firstly, the vehicle performs directional straight navigation on the water surface or underwater, and at the same time, through self-positioning and positioning by use of the positioning device, discrete registration point data of the vehicle in geodeticcoordinates in the northeast direction can be obtained; self-motion track points of the vehicle and positioning device test data are fitted into straight lines by data fitting, and an angle differencebetween the two straight lines is a heading angle deviation value of the vehicle and the positioning device; multiple tests are performed in the same direction, the average of data of the multiple tests is computed to obtain the heading angle deviation of the direction; the vehicle is controlled to perform straight navigation in different directions, the above steps are repeated to obtain the heading angle deviations of the directions, and if the relative error of the heading angle deviations in the multiple directions is less than 5%, the average of the heading angle deviations in the multiple directions is computed. The method is convenient to operate, the positioning data acquired by the positioning device is more precise, and the method is suitable for various different vehicle navigation environments.

Description

technical field [0001] The invention relates to the field of calibrating navigation instruments of surface / underwater vehicles, in particular to a method for estimating heading angle deviation between a surface / underwater vehicle and a positioning device. Background technique [0002] Underwater vehicle (hereinafter referred to as vehicle) is a surface / underwater unmanned navigation platform (such as AUV, ROV, glider or hybrid underwater vehicle, etc.) with or without cable connection. Hydrological, chemical and other sensors can be applied to water / underwater environmental monitoring, offshore petroleum engineering operations, underwater search and mapping and other fields. It has the characteristics of flexible control, wide navigation area, and low price. It is one of the hot spots in the field of marine engineering research in recent years. Underwater navigation technology is the key to autonomous navigation of vehicles, but unlike traditional navigation systems, underw...

AI Technical Summary

Problems solved by technology

However, in practical applications, there is a fixed deviation between the measurement of the attitude sensor (especially the heading angle) of the aircraft and the USBL device itself, and the deviation will also occur due to the influence of different surrounding environments, resulting in inconsistent heading angles between the two.

In addition, the positioning data of USBL itself is generated in body coordinates, and the installation direction deviation between its attitude / heading sensor and the sound ray module will cause deviations in the coordinate conversion process

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