Data processing method and device based on underwater robot

An underwater robot and data processing technology, which is applied in the direction of measuring devices, instruments, navigation, etc., can solve the problems of low processing efficiency and complex attitude data processing process, and achieve the effect of complex process

An underwater robot and data processing technology, which is applied in the direction of measuring devices, instruments, navigation, etc., can solve the problems of low processing efficiency and complex attitude data processing process, and achieve the effect of complex process

CN108801260BActive Publication Date: 2022-01-28约肯机器人(上海)有限公司
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  • Data processing method and device based on underwater robot
  • Data processing method and device based on underwater robot
  • Data processing method and device based on underwater robot

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Embodiment Construction

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0028] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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Abstract

The application discloses a data processing method and device based on an underwater robot. The method includes: obtaining the first underwater attitude angle data through a sensing device; performing data fusion on the first underwater attitude angle data to obtain a first underwater real-time attitude; Perform data correction on the first underwater real-time attitude to obtain a corrected second underwater real-time attitude; adopt a method of obtaining underwater first attitude angle data through a sensing device, and perform data fusion on the underwater first attitude angle data. Obtaining the first underwater real-time attitude achieves the purpose of performing data correction on the first underwater real-time attitude according to the first underwater reference angle data, thereby achieving the technical effect of obtaining the corrected second underwater real-time attitude, Furthermore, the problem of low processing efficiency due to the complex process of attitude data processing in the related art is solved.

Description

technical field [0001] The present application relates to the field of underwater data processing, in particular, to a data processing method and device based on an underwater robot. Background technique [0002] Kalman filtering is an optimal autoregressive data processing algorithm. In recent years, it has been widely used in computer image processing. In the underwater robot control system, it is necessary to synthesize and correct the data measured by the gyroscope, acceleration sensor and magnetometer sensor. If a simple mean filter is used, it is difficult to meet the requirements. Accuracy and real-time requirements, so the data of the acceleration sensor and the gyroscope are fused through Kalman filtering, and the interference of noise is well suppressed when calculating the real-time attitude of the underwater drone to improve the measurement accuracy. [0003] The inventors found that applying the Kalman filter algorithm for attitude data fusion requires a large ...

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Application Information

Patent Timeline
28 Jan 2022
Publication
CN108801260B
IPC
G01C21/20; G01C21/16; G01C21/08
CPC
G01C21/005; G01C21/08; G01C21/16; G01C21/20
Inventors
李之勤