Dynamics-based velocity model assisted underwater intelligent navigation method

Abstract

The invention discloses a dynamics-based velocity model assisted underwater intelligent navigation method. The method includes the following steps that: (1) on-board sensor information is periodicallycollected; (2) the input variables and output variables of a velocity model to be established are determined; (3) the velocity model is constructed and trained; and (4) when it is detected that a DVL(Doppler Velocity Log) malfunctions or the data of the DVL fail, navigation analysis is performed with the output velocity of the trained model used as a bottom velocity, and therefore, model-assisted navigation can be performed. According to the method of the invention, a new AUV (Autonomous Underwater Vehicle) velocity model is put forward based on the idea of dynamic models; the influence of factors such as rudder angles of rudder blades, and heading angles is considered; as long as the fault data of the DVL are not detected during an operation process, training sets can be increased at any time to train the model; after the fault data of the DVL are detected, the output velocity of the model can be adopted instead, and therefore, the problem of navigation error increase caused by thefailure or fault of the DVL can be avoided; the redundancy method of velocity sensors is provided with no hardware costs increased; the method has good system robustness and can guarantee high-precision navigation.

Description

technical field [0001] The invention relates to the field of AUV intelligent navigation, in particular to a dynamics-based speed model-assisted underwater intelligent navigation method. Background technique [0002] The ocean is the second largest space after the land in the four major strategic spaces of human development. It is a strategic development base for energy, biological resources, metal resources, and water resources, and it 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 in the 21st century. The country has also raised "caring for the ocean, understanding the ocean, and managing the ocean" to an unprecedented strategic height, and carried out in-depth development of "two oceans and one sea", "two oceans and one sea", " Programs such as "Transparent Ocean" and "Healthy Ocean" have built a marine environment security system for the "21st Century M...

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Problems solved by technology

[0005] The present invention aims at the defect that isolation or use of the value at the last stable moment will cause a large deviation in navigation and positioning when a single sensor fails, especially when a DVL that is susceptible to interference has a data failure or even a sensor fails unexpectedly and has no speed output. It will lead to an increase in the error of the AUV navigation system or even system paralysis. A dynamics-based velocity model-assisted underwater intelligent navigation method is proposed. On the premise of not increasing hardware costs, a sensor replacement / redundancy scheme is proposed, which is mainly used for A standard AUV with only one navigation system and navigating in shallow waters

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