Localization and navigation methods for suspended underwater autonomous vehicles
An autonomous vehicle and navigation method technology, applied in the direction of road network navigators, etc., can solve the problems of high cost of use, accumulation of dead reckoning errors, limited effective distance of acoustic positioning, etc., and achieve the effect of improving position accuracy and eliminating accumulated errors
Active Publication Date: 2020-05-26
杭州瀚陆海洋科技有限公司
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Problems solved by technology
[0003] Traditional underwater positioning methods such as acoustic positioning and dead reckoning positioning in HAUV are expensive to use, and there are defects such as limited effective distance of acoustic positioning and dead reckoning has the problem of error accumulation.
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[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0038] The invention discloses a positioning and navigation method for a suspended underwater autonomous vehicle. For specific embodiments, see Figure 1-3 and as described below.
[0039] S10, collecting underwater images;
[0040] S20, performing a significance analysis on the collected image;
[0041] S30, performing preprocessing and feature extraction on the collected image and inputting the feature word bag;
[0042] S40, performing featu...
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The invention discloses a positioning and navigating method of a floating underwater autonomous vehicle. The method comprises the following steps that S10 an underwater image is acquired; S20 the acquired image is subjected to significance analysis; S30 the acquired image is subjected to pre-processing and feature extraction and then input into a feature word bag; S40 feature matching, real-time positioning of multiple sensors and propeller controlling are conducted; S50 an image database is built for the output of steps from S20-S40; S60 the image is subjected to close-loop detection according to the image database; and S70 the image database is subjected to offline optimizing. The positioning and navigating method aims at the application environment of the floating underwater autonomousvehicle of a seabed base station and fuses the information of the multiple sensors, and can effectively improve the positioning precision of the floating underwater autonomous vehicle under the water.
Description
technical field [0001] The invention belongs to the field of underwater vehicles, and in particular relates to a positioning and navigation method for a suspended underwater autonomous vehicle. Background technique [0002] Hover Autonomous Underwater Vehicle (HAUV for short) is an autonomous underwater vehicle with powerful maneuverability. HAUV has multiple propellers, and has many advantages such as being able to suspend in the water layer, having strong vertical maneuverability, and being able to sail close to the seabed. [0003] The use of traditional underwater positioning methods such as acoustic positioning and dead reckoning positioning in HAUV is costly, and there are defects such as the limited effective distance of acoustic positioning, and dead reckoning has the problem of error accumulation. At this stage, the machine vision method based on seabed terrain is an effective means to solve the problem of HAUV underwater high-precision positioning and navigation. ...
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IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 史剑光李芙蓉于海滨彭时林刘敬彪
Owner 杭州瀚陆海洋科技有限公司