Autonomous underwater vehicle intelligent monitoring system for submarine cable inspection, and combined navigation method

Abstract

The invention provides an autonomous underwater vehicle intelligent monitoring system for submarine cable inspection, and a combined navigation method. The autonomous underwater vehicle intelligent monitoring system comprises an autonomous underwater vehicle, a water surface floating platform and a shore station monitoring system. A combined navigation system comprises four navigation subsystems of an MINS, a GM, a DVL and a Visual subsystem. The autonomous underwater vehicle is adopted as an intelligent monitoring system platform to achieve intelligence of submarine cable inspection; the small water surface floating platform is adopted as an information transmitting transfer part and used for providing secondary electric energy supplying for the autonomous underwater vehicle, thus the underwater cruising ability of the autonomous underwater vehicle is improved greatly, and the continuous inspection operating time of the autonomous underwater vehicle is prolonged greatly; and a combined navigation positioning mode of the MINS / the DVL / the Visual subsystem / the GM is adopted, comprehensive obtaining of navigation information such as the posture, speed and position of the autonomous underwater vehicle is achieved, data information effective integration of all the navigation subsystems is achieved through a federal filtering technology, the precision of the navigation positioning information is improved, and the technical requirements for the low cost, miniaturization, low power consumption, convenient mounting and the like of the monitoring system are met.

Description

technical field [0001] The invention relates to a submarine cable inspection system, and the invention also relates to a combined navigation and positioning method of the submarine cable inspection system. Background technique [0002] Submarine cables are widely used in important occasions such as power supply between islands, offshore operating platforms, offshore wind farms, short-distance power transmission across rivers and straits, and are an important medium and method of marine power transmission. However, due to the corrosion of seawater, accidents such as aging and falling off of the insulation protection layer of submarine cables laid in the early years, and cable breakage often occur. In addition, they are vulnerable to damage from ship anchors, underwater operations, large underwater organisms, and underwater ocean currents. , The resulting leakage hazards, power interruptions, personal safety threats and economic problems are extremely serious. Therefore, in o...

AI Technical Summary

Problems solved by technology

Traditional navigation and positioning systems face prominent problems such as high cost, large size, high power consumption, too bulky, difficult to install, and high maintenance costs, and cannot meet the actual needs of underwater vehicles for navigation equipment that is low-cost, miniaturized, and easy to waterproof and seal

In addition, the single navigation and positioning method faces problems such as incomplete navigation and positioning information, low accuracy, and low reliability of system redundancy, and cannot meet the specific requirements of underwater vehicles for comprehensive and accurate navigation information and high reliability of the navigation system.

Images