Deep water intelligent navigation method based on water velocity assisted inertial navigation

Abstract

The invention discloses a deep-water intelligent navigation method based on water velocity assisted inertial navigation. It intends to take measures from the aspects of acoustic information preprocessing and water velocity assisted inertial navigation system to solve the problem of acoustic information caused by acoustic measurement and marine environment. The reliability is poor, and the AUV is too far away from the seabed without DVL ground speed assistance, and the cumulative navigation error is large. Specifically, it includes (1) based on the idea of ​​motion constraints, introducing the change information of rudder fins, and preprocessing the acoustic information to improve the reliability of the acoustic information; (2) introducing the virtual log scheme and designing a delay-free HMM / KF filter , the speed of DVL and INS is comprehensively processed to reduce the DVL speed error caused by AUV bumping, acceleration and deceleration, and turning, and the long-term error of INS; (3) Using graph optimization algorithm, using nonlinear optimization to control the error level , and recursively perform marginalization and optimization to achieve real-time composition to improve navigation accuracy.

Description

Technical field [0001] The present invention relates to the field of intelligent navigation of underwater vehicles, specifically to a deep-water intelligent navigation method based on the auxiliary inertial navigation of water speed. Background [0002] The ocean is the second largest space after the land in the four strategic spaces of human development, and is a strategic development base for energy, biological resources, metal resources and water resources, which has a huge supporting role in economic and social development. Extensive and in-depth exploration and development of the ocean has become one of the development themes of the 21st century, and the state has also raised the "care for the ocean, understanding the ocean, and economically planning the ocean" to an unprecedented strategic height, deeply carried out the "two oceans and one sea", "transparent ocean", "healthy ocean" and other plans, and built the "21st Century Maritime Silk Road" marine environment security...

AI Technical Summary

Problems solved by technology

[0006] The present invention proposes a deep-water intelligent navigation method based on water velocity assisted inertial navigation. It intends to take measures from the aspects of acoustic information preprocessing and water velocity assisted inertial navigation system to solve the acoustic information caused by acoustic measurement and marine environment. Poor reliability, and related problems such as large navigation accumulation error when DVL assists water speed

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