Diving positioning method of AUV with large diving depth

A positioning method and a technology with a large diving depth, which is applied in the direction of measuring devices, instruments, surveying and navigation, etc., can solve the problems of high installation accuracy, time-consuming large ships, and expensive auxiliary navigation equipment on the water surface

Active Publication Date: 2019-07-26
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] At present, the commonly used underwater acoustic positioning systems include the long baseline positioning system LBL and the ultra-short baseline positioning system USBL. Convenience, but its water surface auxiliary navigation equipment is not only expensive but also requires extremely high installation accuracy. Different from these two acoustic positioning systems, the present invention aims at the error correction problem of the strapdown inertial navigation system of the deep diving AUV in the deep diving process, A deep dive positioning method for AUVs is proposed

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  • Diving positioning method of AUV with large diving depth
  • Diving positioning method of AUV with large diving depth
  • Diving positioning method of AUV with large diving depth

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Experimental program
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specific Embodiment approach 1

[0110] Specific embodiment 1: The deep AUV positioning method of this embodiment includes:

[0111] Step 1: The deep AUV is equipped with an underwater communication node (underwater modem), temperature and salt depth and strapdown inertial navigation system;

[0112] Step 2: Build a filter model for pure range error estimation of the deep AUV;

[0113] Step 3: Based on synchronized underwater acoustic communication, the surface mother ship sends to the AUV the horizontal position information and corresponding time information of the mother ship in the North-East-Earth (NED) navigation coordinate system at each time;

[0114] Step 4: The AUV records the strapdown inertial navigation system positioning information and the depth, temperature and conductivity (obtained salinity) information output by the thermo-salt depth sensor at the time when the information is received by its own underwater acoustic communication system;

[0115] Step 5: Based on the synchronous underwater acoustic com...

specific Embodiment approach 2

[0119] Specific embodiment two: this embodiment is different from specific embodiment one in that step one is specifically:

[0120] Step 1: The deep AUV is equipped with an underwater communication node (underwater modem), and the surface mother ship is equipped with a surface communication node (surface modem). The underwater acoustic communication adopts the synchronization mode, that is, the time synchronization of the surface modem and the underwater modem;

[0121] Step 1: The deep AUV is equipped with a strapdown inertial navigation system to output the AUV's positioning information in the NED coordinate system and the speed information in the carrier coordinate system in real time;

[0122] Step 1: The large diving depth AUV is equipped with temperature and salt depth, which can output AUV diving depth information, temperature information of the AUV location, and seawater conductivity (obtain salinity information) in real time.

[0123] An application scenario of the present in...

specific Embodiment approach 3

[0124] Specific embodiment three: This embodiment is different from specific embodiment one in that step two is specifically:

[0125] Step 2: Assume that the position error and velocity error of the strapdown inertial navigation system are constant in a short time;

[0126] Step 2: Establish the discrete system equation of the pure range error estimation filter model for the deep AUV

[0127] X k =Φ k X k-1 +w k

[0128] among them

[0129]

[0130]

[0131] Where Is the position error of the inertial navigation system in the NED navigation coordinate system, In the AUV carrier coordinate system, longitudinal (along the longitudinal axis of the AUV x axis) and lateral (along the horizontal axis of the AUV y axis) velocity measurement error, T is the sampling time, w k ~N(0, Q), Q is w k The 4×4 covariance matrix, ψ, θ, γ are the heading, pitch and heel angles of the AUV, respectively.

[0132] Step two and three: The distance measurement information of the mother ship and AUV r k And ...

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Abstract

The invention relates to the field of underwater navigation, and particularly relates to a diving positioning method of an AUV with a large diving depth. The method comprises the following steps: mounting an underwater communication node, a strapdown inertial navitation system and a thermohaline depth sensor on the AUV; constructing a pure distance error estimation filtering model; sending, by a water surface mother ship, NED coordinate system location information and time information to the AUV; recording, by the AUV, positioning information of the strapdown inertial navitation system and information of the thermohaline depth sensor; obtaining distance measurement information from the AUV to the mother ship through a transmission time and the information of the thermohaline depth sensor;constructing a strong tracking UKF algorithm; and fusing the horizontal positioning information of the mother ship, the distance measurement information, the positioning information of the strapdown inertial navitation system and the depth information, tracking a horizontal positioning error of the AUV under an NED coordinate system and a speed measurement error of the AUV under a carrier coordinate system in a diving process, and correcting the strapdown inertial navitation system to obtain accurate AUV diving positioning information. By adoption of the diving positioning method provided by the invention, the underwater online correction means of the strapdown inertial navitation system of the AUV can be expanded, the positioning error correction time cost and the equipment cost can be effectively reduced, and the marine environment adaptation capability of the AUV is enhanced.

Description

Technical field [0001] The invention relates to the field of underwater navigation, in particular to a deep AUV positioning method. Background technique [0002] The underwater readjustment of the strapdown inertial navigation system on the AUV has long attracted academic attention. [0003] For the deep AUV, because the strapdown inertial navigation system cannot obtain the satellite navigation positioning information and the DVL speed measurement information in time during the dive stage, it has to work in the pure inertial navigation mode, so that when the AUV dives to the specified depth, the strapdown Inertial navigation systems produce positioning errors of hundreds or even thousands of meters. For example, the Ixsea Oceano PHINS strapdown inertial navigation system equipped with AUTOSUB 6000 has a positioning accuracy of 0.3m / s in pure inertial navigation mode. If the deep AUV dives to a depth of 6000m at a speed of 2 knots, the strapdown inertial navigation system will It...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/20G01C21/165
Inventor 张强李晔张雯曹建李岳明姜言清廖煜雷李宏伟
Owner HARBIN ENG UNIV
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