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A route planning method applied to underwater single-beacon navigation
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A route planning and route technology, which is applied in navigation, surveying and navigation, navigation calculation tools, etc., can solve the problems that the navigation accuracy needs to be further improved, and the route planning method has not been proposed, so as to achieve the effect of improving the navigation accuracy
Active Publication Date: 2020-12-22
HARBIN ENG UNIV
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Problems solved by technology
At present, a large number of scholars have fully demonstrated the feasibility and effectiveness of the single-beacon navigation method, but the route planning method of this navigation method has not yet been proposed, and its navigation accuracy needs to be further improved
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Embodiment 1
[0058] Step 1: Based on the statistical partial differential matrix algorithm, calculate the horizontal position precision factor (Horizontal Dilution of Precision, abbreviated as HDOP) of the navigation scene, that is, the navigation precision distribution;
[0059] The environmental parameters are as follows: the standard deviations of TOA measurement error, beacon position error, sound velocity measurement error and INS error are 0.5ms, 1m, 1.5m / s and 0.1% respectively; the sound velocity c is 1500m / s; the XOY horizontal plane of the coordinate system is located at On the seawater surface, the positive direction of the z-axis is vertically downward, the acoustic beacon is located at (0,0,15), and the AUV is at the horizontal plane of z=75m.
[0060] Step 2: According to the HDOP distribution, combined with the directivity diagram of the acoustic beacon transmitting transducer and the sound propagation loss, determine the optimal route radius and obtain the optimal route
[...
Embodiment 2
[0067] A route planning method applied to underwater single-beacon navigation, comprising the following steps:
[0068] (1) Calculate the horizontal position precision factor of the navigation scene;
[0069] (2) According to the distribution of the precision factor of the horizontal position, combined with the directivity diagram of the acoustic beacon transmitting transducer and the sound propagation loss in sea water, the optimal route radius is determined and the optimal route is obtained;
[0070] (3) According to the distribution of the horizontal position precision factor and the optimal route, optimize the navigation point and determine the position of the navigation point.
[0071] In step (1), the specific process of calculating the horizontal position precision factor distribution of the navigation scene based on the statistical partial differential matrix algorithm is as follows:
[0072] (1.1) The coordinates of points A and B are X A =(x A ,y A , z) and X B ...
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Abstract
The invention discloses a route planning method applied to underwater single beacon navigation, which belongs to the technical filed of underwater navigation. The invention relates to a single beaconTOA navigation algorithm. The route planning method applied to underwater single beacon navigation improves the precision of single beacon navigation. The method comprises the following steps: step 1,based on the statistical partial differential matrix algorithm, calculating the horizontal position accuracy factor of a navigation scene (Horizontal Dilution of Precision, abbreviated as HDOP), thatis, the navigation accuracy distribution; step 2, according to the HDOP distribution, combining with a directive map and acoustic propagation loss of an acoustic beacon transmitting transducer, determining an optimal route radius, and obtaining an optimal route; step 3, according to the HDOP distribution and the optimal route, optimizing a navigation point to determine the position of the navigation point. The invention is applied to the field of underwater equipment navigation.
Description
technical field [0001] The invention belongs to the technical field of underwater navigation, and in particular relates to a route planning method applied to underwater single-beacon navigation. Background technique [0002] Underwater navigation is to enable underwater vehicles or personnel to obtain their own absolute coordinates or relative coordinates relative to a certain reference object. Underwater navigation has always been a key technology in the research of underwater vehicles. With the deepening of marine development and marine scientific research, it is necessary to provide various underwater vehicles or personnel with their own navigation information on many occasions, which puts forward more and more requirements for underwater navigation systems. : Low cost, easy to use and deploy, any number of users to access navigation, etc. At present, underwater navigation is mainly carried out through multi-baselines, but multi-baselines need to deploy at least 3 beaco...
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