Underwater glider navigation positioning system and floating precision correction method

Abstract

The discloses an underwater glider navigation positioning system and a floating precision correction method. The underwater glider navigation positioning system comprises a micro electro mechanical system inertia measurement unit, a global satellite positioning system receiving module, a triaxial magnetometer, a Doppler velocimeter and a combined navigation hardware processing system. For the problems that the navigation precision of the multi-sensor data fusion algorithm is reduced and the positioning is divergent even invalid due to the influences of the external severe weather, sea wave fluctuation, vessel shielding and like elements in the floating precision correction process, the invention establishes a H-infinity Kalman filter algorithm based on multiple self-adaptive fading factorsto guarantee the robustness and self-adaptivity of the glider navigation positioning. The problem that the glider cannot continuously work as normal since the traditional combined navigation algorithm causes the reduction and divergence of the navigation positioning precision when the underwater glider under extreme severe condition is in floating correction is overcome. And the accurate positioning of the underwater glider is finally realized.

Description

technical field [0001] The invention belongs to the technical field of navigation, and relates to a navigation and positioning method of an underwater glider, in particular to a method for correcting the floating accuracy of the navigation system of the underwater glider. The accuracy still meets certain requirements, the robustness and adaptability of the navigation system are improved, and the accurate positioning of the underwater glider is finally realized. Background technique [0002] Underwater glider is an important tool for ocean exploration and resource development. The underwater glider itself does not move violently during its working process, so the MEMS-initial measurement unit (MEMS-initial measurement unit) with low cost, low power consumption and long endurance is sufficient to meet the requirements of navigation and positioning. However, the long-term underwater work of the glider and interference conditions (including ocean current surges, magnetic field ...

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: Aiming at the problem that the glider may be affected by external factors such as bad weather, wave fluctuations, and ship occlusion when the glider is in a floating correction state, the purpose of the present invention is to provide a navigation and positioning system for an underwater glider and a floating precision correction method , through the multi-sensor data fusion algorithm to ensure the robustness and adaptability of the navigation and positioning of the glider, in order to overcome the decrease of navigation and positioning accuracy caused by the traditional integrated navigation algorithm when the underwater glider is floating and correcting under extremely harsh conditions, Diverge so that the glider cannot continue to work normally, and finally achieve accurate positioning of the underwater glider

Images