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A heading angle deviation estimation method between surface/underwater vehicle and positioning equipment

A technology of course angle deviation and underwater vehicle, which is applied in the direction of instruments, measuring devices, etc., can solve the problems of sensor measurement fixed deviation, course angle inconsistency, installation direction deviation and coordinate conversion deviation, etc., and achieve accurate positioning data and convenient operation Effect

Active Publication Date: 2020-04-24
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A heading angle deviation estimation method between surface/underwater vehicle and positioning equipment
  • A heading angle deviation estimation method between surface/underwater vehicle and positioning equipment
  • A heading angle deviation estimation method between surface/underwater vehicle and positioning equipment

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Embodiment Construction

[0021] In this embodiment, the underwater vehicle and the ultra-short baseline positioning system (USBL) are taken as examples, and the least square method is used for curve fitting to estimate the heading angle deviation.

[0022] First, the coordinate system adopted by the present invention is described, as figure 1 As shown in the figure, OXnYn represents the northeast coordinate system of the aircraft, and OXpYp is the northeast coordinate system of the peer positioning equipment. There is a deviation in the heading angle, so there is a deviation angle in the north-east coordinate system that should coincide.

[0023] Such as figure 2 As shown, the flow process of the estimation method of the heading angle deviation of the present invention is introduced, specifically as follows:

[0024] 1. Data collection

[0025] image 3 The black solid line in the middle is the trajectory of the aircraft, which is actually composed of many discrete points, which are obtained by t...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 徐元欣余睿蒋丞向彦博夏伊倩周杰曾大亨徐文
Owner ZHEJIANG UNIV
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