AUV docking and recycling autonomous navigation method based on FMSRUPF algorithm

An autonomous navigation and algorithm technology, applied in the field of robotics, can solve the problems of difficult to achieve high-precision navigation, tracking and positioning functions of the system, low accuracy of state estimation, and difficulty in obtaining statistical characteristics of noise.

Inactive Publication Date: 2019-02-22
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0008] When the AUV recovery integrated navigation system model and the noise statistical characteristics are known accurately, the Kalman filter is the optimal estimate with high precision, but in practical applications, only an approximate mathematical model can be established and it is difficult to obtain accurate noise statistical characteristics. When the accuracy of the system model is poor or the system noise is non-Gaussian white noise, the accuracy of the Kalman filter decreases or even the filter diverges, making it difficult to realize the high-precision navigation, tracking and positioning function of the system
The patent document with the application number "201010559361.1" discloses "a method for combined navigation and positioning of small underwater robots". The patent document "201410156978.7" discloses "AUV integrated navigation system based on SINS / DVL / GPS", which combines Kalman filter and H infinite filter algorithm, but the accuracy of state estimation is not high, and problems such as divergence are prone to occur

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  • AUV docking and recycling autonomous navigation method based on FMSRUPF algorithm

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[0090] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0091] Such as figure 1 As shown, the straight-line homing stage 1, this stage means that the recovery device 5 uses the ultra-short baseline to locate the AUV autonomous vehicle 6, and reaches the straight-line tracking point 2, thereby entering the tracking process of the straight-line tracking stage 3; using the ultra-short baseline to provide The relative position and attitude information of the AUV is used to adjust the position of the AUV and the recovery device, so that the AUV can be sailed to the central axis 7 while consuming a relatively short distance from the docking axis, so that the attitude of the AUV is consistent with the central axis, thereby entering the heading Adjustment stage 4 is conducive to further real-time docking.

[0092] Such as figure 2 As shown, the USBL (Ultra-ShortBaseline ultra-short baseline positioning sys...

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Abstract

The invention discloses an AUV docking and recycling autonomous navigation method based on a FMSRUPF algorithm, the docking and recycling of an AUV is based on the autonomous navigation of a SINS / USBL / DVL, the invention provides a fading memory square root unscented particle filtering algorithm which is the FMSRUPF algorithm, and a system combined particle resampling method is employed for a resampling part. According to the employed FMSRUPF algorithm, the influence of historical information on filtering is reduced by using an attenuation factor, the effect of current measurement information in the filtering calculation is enhanced, then a covariance matrix is substituted by a square root array of the covariance matrix to perform filtering and solving, and finally, a resampling process isimproved by using a system combined particle resampling method. According to the method, the filtering divergence problem caused by rough establishment or distortion of an AUV docking and recycling system model is solved by the FMSRUPF algorithm and the system combined particle resampling method, good numerical characteristics and medium computational burden are combined, and the positioning accuracy and stability of the AUV docking and recycling autonomous navigation are effectively improved.

Description

technical field [0001] The invention relates to an autonomous navigation method for AUV docking and recovery based on the FMSRUPF algorithm, belonging to the technical field of robots. Background technique [0002] AUV (Autonomous Underwater Vehicle), this type of underwater robot is powered by its own energy equipment, and has the characteristics of deep diving depth, wide range of activities, and high concealment. However, due to its own energy constraints, AUV operations Time is limited, which requires timely recycling of robots for energy supply and maintenance. In the actual recovery process, the complex underwater environment and the high-precision control requirements of underwater recovery make AUV recovery difficult. How to recover AUV accurately and energy-saving has become the top priority of current underwater robot research. [0003] During the recycling process, the problem of navigation remains one of the main technical challenges faced. The navigation syste...

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G05D1/10G05D1/08G01S19/49G06F17/18
CPCG01S19/49G05D1/08G05D1/10G06F17/18
Inventor曾庆军包灵卉朱志宇戴晓强赵强
OwnerJIANGSU UNIV OF SCI & TECH