Single beacon positioning method of underwater vehicle with global convergence
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A technology of underwater vehicle and positioning method, which is applied to satellite radio beacon positioning systems, instruments, navigation and other directions, and can solve the problems of initial position error and large position error of underwater vehicle.
Active Publication Date: 2020-02-11
HARBIN ENG UNIV
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[0003] The purpose of the present invention is to solve the problems of the unknown speed of sound in the underwater single beacon positioning, the initial position error of the underwater
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Embodiment 1
[0145] Embodiment 1, see attached figure 1 , a single-beacon positioning method for underwater vehicles with global convergence. The underwater vehicle is equipped with hydrophones, Doppler velocimeters, depth gauges, attitude and heading reference systems, and GPS; broadcasting an underwater acoustic signal; the method comprising the steps of:
[0146] A. Take any point in the positioning area as the origin, and set the east, north, and sky directions as x, y, and z axes respectively to establish an underwater local inertial coordinate system.
[0147] B. Obtain the initial position of the underwater vehicle in the underwater local inertial coordinate system through the equipped GPS.
[0148] C. Establish and discretize the kinematics model and observation model of the underwater vehicle, and construct a nonlinear single-beacon positioning model.
[0149] The establishment method of the kinematic model is as follows:
[0150] Define the position vector as:
[0151] p=[x y...
Embodiment 2
[0281] Embodiment 2, the method described in Embodiment 1 is verified by simulation data.
[0282] As a comparison, this embodiment also shows the positioning results of the traditional underwater single-beacon positioning method based on the extended Kalman filter (EKF) for position calculation. The overall simulation time is 5000 seconds, the effective speed of sound simulated during the whole movement is constant at 1500 m / s, and the ocean current speed in three directions is 0.1 m / s. The simulated underwater acoustic signal transmission period is 10 seconds. Similarly, the ocean current observation period, depth observation period and system discrete period are also 10 seconds. The cycle of dead reckoning is 0.1s (equivalent to 10Hz sampling frequency).
[0283] The simulated sensor noise parameters are as follows
[0284]
[0285] In the process of numerical verification, the initial parameters of the filter are set as follows: (1) the initial position error in both ...
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Abstract
The invention relates to the technical field of underwater positioning, in particular to a single beacon positioning method of an underwater vehicle. According to the single beacon positioning methodof the underwater vehicle with global convergence, an underwater vehicle is provided with a hydrophone, a Doppler velocimeter, a depth meter, an attitude heading reference system and a GPS; and underwater acoustic beacons periodically broadcast underwater acoustic signals. According to the method, a nonlinear single beacon positioning model in a discrete state is converted into a linear time-varying model through state augmentation; when the underwater acoustic signal is not received, the relative speed and the attitude of the underwater vehicle and water by a device carried by the underwatervehicle are obtained to carry out dead reckoning; after the underwater acoustic signal is received, the underwater acoustic signal transmission time is collected through known underwater acoustic signal transmission time and is taken as an observation variable, and dead reckoning data and observation data of various sensors are simultaneously integrated to predict and update the single beacon positioning based on Kalman filtering. On the premise of meeting the observability of a positioning model, the method has global exponential convergence.
Description
technical field [0001] The invention relates to the technical field of underwater positioning, in particular to a single-beacon positioning method for an underwater vehicle. Background technique [0002] Accurate position feedback is the basis for underwater vehicles to complete established underwater tasks. Due to the rapid attenuation of underwater electromagnetic wave signals, the GNSS system, which is widely used in land and sky positioning, cannot be applied underwater. The existing mainstream underwater positioning methods include dead reckoning methods represented by inertial navigation and underwater acoustic positioning methods represented by long baseline positioning. Among them, inertial navigation equipment tends to produce large cumulative errors over time, and cannot be used for underwater positioning for a long time, and high-precision inertial navigation equipment is extremely expensive, which limits its application in underwater vehicles. The existing main...
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