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A Single Beacon Localization Method for Underwater Vehicles with Global Convergence

An underwater vehicle and convergence technology, applied in satellite radio beacon positioning systems, instruments, navigation, etc., can solve the problems of initial position error and large position error of underwater vehicles, and achieve the goal of ensuring the convergence of positioning errors Effect

Active Publication Date: 2021-04-27
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[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 vehicle or the large position error at a certain moment, etc., based on the state augmentation method, propose a global Convergent Single Beacon Localization Method for Underwater Vehicles

Method used

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  • A Single Beacon Localization Method for Underwater Vehicles with Global Convergence
  • A Single Beacon Localization Method for Underwater Vehicles with Global Convergence
  • A Single Beacon Localization Method for Underwater Vehicles with Global Convergence

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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 for an underwater vehicle. A single-beacon positioning method for underwater vehicles with global convergence. Underwater vehicles are equipped with hydrophones, Doppler velocimeters, depth gauges, attitude and heading reference systems, and GPS; underwater acoustic beacons broadcast periodically Underwater acoustic signal; the present invention converts the nonlinear single-beacon positioning model in a discrete state into a linear time-varying model through state augmentation; when the underwater acoustic signal is not received, the underwater navigation is obtained through the underwater vehicle's own equipment. dead reckoning based on the relative speed and attitude of the vehicle and the water; after receiving the underwater acoustic signal, the transmission time of the underwater acoustic signal is obtained through the known transmission time of the underwater acoustic signal, which is used as an observation variable, and the dead reckoning data and various The sensor observation data is used to predict and update single beacon positioning based on Kalman filtering. Under the premise that the localization model is observable, this 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16G01C21/20G01S19/45G01S19/47
CPCG01C21/005G01C21/165G01C21/203G01S19/45G01S19/47
Inventor 秦洪德余相朱仲本邓忠超万磊田瑞菊
Owner HARBIN ENG UNIV
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