Ultra-short baseline positioning method based on adaptive unscented Kalman filter

Abstract

The invention discloses an ultra-short baseline positioning method based on an adaptive unscented Kalman filter. The ultra-short baseline positioning method based on the adaptive unscented Kalman filter comprises the following steps: step 1, an ultra-short baseline is used for underwater positioning; step 2, the position information of a mother ship and the position information of an underwater robot positioned by using the ultra-short baseline are sent to the underwater robot through a photoelectric hybrid cable; step 3, the underwater robot receives the position information sent by the mother ship; and step 4, the underwater robot fuses the position information with the carried accelerometer, inertial navigation, depth gauge and other sensors, and attenuates the noise according to the adaptive unscented Kalman filter. The ultra-short baseline positioning method based on the adaptive unscented Kalman filter has simple operation, and can improve the underwater positioning accuracy of the underwater robot by fusing the multiple sensors and the ultra-short baseline positioning information.

Description

Technical field [0001] The invention relates to a positioning method, in particular to an ultra-short baseline positioning method. Background technique [0002] At present, in applications such as seabed resource exploration, underwater robot detection, fishery fishing, underwater search and rescue, etc., the research of underwater robot positioning is particularly important, and the accuracy of underwater positioning is getting higher and higher. Different from the positioning on land, the underwater environment is complex, radio waves and light waves will decay rapidly in the water and cannot be transmitted over long distances. Therefore, sound waves have become the only effective underwater information propagation medium at present and are widely used in underwater On the robot. [0003] In the underwater acoustic positioning system, it is divided into long baseline (LBL), short baseline (SBL), and ultra-short baseline (USBL) positioning systems. The long baseline positioning a...

AI Technical Summary

Problems solved by technology

Although the ultra-short baseline is easy to install and the cost is low, the positioning accuracy is lower than that of the long baseline and the short baseline. Although the positioning accuracy can be improved by improving the array shape and increasing the array aperture, the positioning accuracy of this me

Images