Navigational positioning and calibration method for deep-sea underwater autonomous vehicle

An autonomous vehicle, navigation and positioning technology, which is used in navigation through speed/acceleration measurement, satellite radio beacon positioning systems, instruments, etc., and can solve problems such as inability to float.

Pending Publication Date: 2019-05-21
CSIC NO 710 RES & DEV INST
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Problems solved by technology

[0005] In view of this, the present invention provides a deep-sea underwater autonomous vehicle navigation positioning and calibration method. The working mother ship obtains the accurate position information of the underwater autonomous vehicle through the underwater acoustic positioning system carried on the underwater autonomous vehicle. This i

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  • Navigational positioning and calibration method for deep-sea underwater autonomous vehicle
  • Navigational positioning and calibration method for deep-sea underwater autonomous vehicle
  • Navigational positioning and calibration method for deep-sea underwater autonomous vehicle

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Embodiment 1

[0046] The invention provides a deep-sea underwater autonomous vehicle navigation, positioning and calibration method, which includes optical fiber strapdown inertial navigation, Doppler log, depth gauge, underwater acoustic positioning beacon, satellite positioning device and ultra-short baseline positioning The system is used as an integrated navigation and positioning system for deep-sea autonomous underwater vehicles (AUVs). Among them, optical fiber strapdown inertial navigation, Doppler log, underwater acoustic positioning beacon and depth gauge are deployed on the underwater autonomous vehicle (AUV), and the ultra-short baseline positioning system is deployed on the operating mother ship, such as figure 1 As shown, the Doppler log is installed directly below the fiber optic strapdown inertial navigation, and the coordinate systems of the two are parallel within the allowable range of error; the distance between the ultra-short baseline positioning system and the deep sea...

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Abstract

The invention discloses a navigational positioning and calibration method for a deep-sea underwater autonomous vehicle. A working mother ship acquires accurate position information of the underwater autonomous vehicle through a hydroacoustic positioning system mounted on the underwater autonomous vehicle, generates active calibration information of the underwater autonomous vehicle based on the information, and sends the active calibration information to the underwater autonomous vehicle for calibration of the navigation information, thereby solving the problem that the satellite navigation data cannot be calibrated by floating to the surface during the operation of the deep-sea underwater autonomous vehicle.

Description

technical field [0001] The invention relates to the technical field of underwater navigation and positioning, in particular to a navigation, positioning and calibration method for a deep sea underwater autonomous vehicle. Background technique [0002] When an autonomous underwater vehicle (AUV) performs tasks underwater, it is in a state of autonomous navigation most of the time. In the state of autonomous navigation, the control of the autonomous underwater vehicle (AUV) is completely handed over to its control system to control its position, heading, attitude and speed. Therefore, the autonomous underwater vehicle (AUV) must be able to perceive in real time And measure and calculate its own current position, heading, attitude, speed and other information. [0003] Since satellite signals cannot be reliably transmitted across air and seawater, autonomous underwater vehicles (AUVs) cannot obtain satellite positioning data during underwater navigation. Therefore, for underw...

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Application Information

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IPC IPC(8): G01S19/47G01S15/88G01C21/16
CPCY02A90/30
Inventor 向伟胡庆玉冯朝雷敏席晓犇
Owner CSIC NO 710 RES & DEV INST
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