Underwater gravity lighthouse submarine navigation method and system combined with AUV

Abstract

The invention discloses an underwater gravity lighthouse submarine navigation method and system combined with an AUV. The method comprises the steps of determining the current position coordinate of anavigator according to the effective time of inertial navigation, searching the coordinate of a lighthouse closest to the current position coordinate from a marine gravity lighthouse database by taking the coordinate as the center, controlling a submarine to travel to the position right above the lighthouse closest to the current position coordinate, and releasing a cable-free underwater robot; and enabling a resolving center to perform the matching analysis according to the data information acquired by the cable-free underwater robot and the abnormal value of the lighthouse closest to the current position coordinate to obtain the actual position coordinate of the submarine. According to the present invention, the cable-free underwater robot is used for measuring data and transmitting thedata through a cable, the movement of a submarine parent body is not needed, and the wireless communication does not exist between the cable-free underwater robot and the submarine parent body, so that the hiding capacity of the submarine is improved.

Description

technical field [0001] The invention relates to the field of submarine navigation, in particular to an underwater gravity lighthouse submarine navigation method and system combined with an AUV. Background technique [0002] When using underwater gravity lighthouses for submarine navigation, it is necessary to establish a database of marine gravity lighthouses first, and obtain its own coordinates and correct the inertial navigation system by performing correlation analysis on the measurement results of the boat-mounted gravimeter and the gravity lighthouse. [0003] Although the pre-installed data volume of the lighthouse database is smaller than that of the global ocean gravity anomaly map, the matching time is short, and the amount of calculation is small, but when performing correlation analysis between the measurement results of the boat-borne gravimeter and the gravity lighthouse, the submarine needs to be above the gravity lighthouse Doing a lot of navigation actions c...

AI Technical Summary

Problems solved by technology

[0003] Although the pre-installed data volume of the lighthouse database is smaller than that of the global ocean gravity anomaly map, the matching time is short, and the amount of calculation is small, but when performing correlation analysis between the measurement results of the boat-borne gravimeter and the gravity lighthouse, the submarine needs to be above the gravity lighthouse Doing a lot of navigation actions consumes the maneuverability of the submarine and reduces the concealment of the submarine

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