A navigation and positioning system for an underwater glider and a correction method for floating accuracy

Abstract

The invention discloses an underwater glider navigation and positioning system and a floating precision correction method. The underwater glider navigation and positioning system includes a micro-electromechanical system inertial measurement unit, a global satellite positioning system receiving module, a three-axis magnetometer, and a Doppler Speedometer and integrated navigation hardware processing system. Aiming at the problem that the navigation accuracy of the multi-sensor data fusion algorithm is reduced, the positioning diverges or even fails due to the influence of external factors such as bad weather, wave fluctuations, and ship occlusion during the floating accuracy correction process, the invention establishes a multi- The H∞ Kalman filter algorithm with adaptive fading factor is used to ensure the robustness and adaptability of glider navigation and positioning. It overcomes the problem that the traditional integrated navigation algorithm causes the navigation and positioning accuracy to decrease and diverge so that the glider cannot continue to work normally when the underwater glider is floating and corrected under extremely harsh conditions. Finally, the accurate positioning of the underwater glider is 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