Navigation system of deep sea submersible vehicle and data fusion method for state switching of deep sea submersible vehicle

Abstract

The invention discloses a navigation system of a deep sea submersible vehicle and a data fusion method for state switching of the deep sea submersible vehicle and belongs to the technical field of underwater navigation positioning. The deep sea submersible vehicle can switch high precision and low precision working states according to different working demands. The state information can be directly transferred to the next state. But as the system is resolved by inertial navigation, errors are not accumulated. In order to solve the error accumulating problem, an adaptive neuro-fuzzy inference system (ANFIS) is established to fuse GPS data and INS data. When the deep sea submersible vehicle floats to a water level to receive a GPS signal, the ANFIS is trained by adopting GPS data and INS data, so that an error relationship between the INS resolving position and GPS positioning is established; when the deep sea submersible device dives underwater to work, the position is resolved by meansof INS (Inertial Navigation System) data and data trained by the ANFIS. The ANFIS is clear in concept, can solve the problem of underwater losing lock of the GPS signal, and improves the positioningprecision of the navigation system of the deep sea submersible vehicle in underwater working greatly.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a deep-sea submersible navigation system and a data fusion method for state switching of the deep-sea submersible. Background technique [0002] In the actual work of deep-sea submersibles, the two conditions of accuracy and energy consumption need to be considered at the same time. Under the high-precision working state, the system uses more sensing devices, and the algorithm complexity is higher. The improvement of accuracy also brings greater energy consumption; under low-precision working conditions, the system uses very few sensing devices to complete the basic state calculation, the algorithm is simple, the precision is low and the energy consumption is also at a low level. Therefore, deep-sea submersibles need to switch their working states at any time in combination with actual work needs. [0003] When the deep-sea submersible switches state, the position...

AI Technical Summary

Problems solved by technology

However, due to the limitation of the working environment of deep-sea submersibles, GPS is prone to lose lock when it is underwater. Therefore, whether the system is in a high-precision working state or a low-precision working state, it usually uses inertial measurement with strong autonomy. The component IMU is used as a navigation component, and the IMU itself has some inherent errors, coupled with the influence of noise, it will produce non-static random errors during operation, and these errors will continue to accumulate, resulting in inaccurate estimation of the underwater position of the deep-sea submersible

If these position information with large errors are transmitted, it will be unfavorable to improve the working accuracy of deep-sea submersibles

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