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An underwater three-dimensional terrain matching positioning navigation sonar and navigation method

A technology of positioning and navigation, three-dimensional terrain, applied in navigation, mapping and navigation, navigation through speed/acceleration measurement, etc., can solve the problems of less information, low terrain matching efficiency and accuracy, and low sonar terrain detection efficiency, etc. Achieve the effect of improving performance, assisting in correcting accumulated errors, and reducing system complexity

Active Publication Date: 2021-11-16
HARBIN ENG UNIV
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Problems solved by technology

[0004] In order to solve the problems existing in the prior art, the present invention provides an underwater three-dimensional terrain matching positioning navigation sonar and its navigation method, which solves the problem of low efficiency of traditional sonar terrain detection, less information, and low efficiency and accuracy of terrain matching. , The cumulative error of the inertial navigation and Doppler log cannot be corrected, and the robustness of the terrain matching positioning and navigation algorithm cannot be improved

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  • An underwater three-dimensional terrain matching positioning navigation sonar and navigation method
  • An underwater three-dimensional terrain matching positioning navigation sonar and navigation method
  • An underwater three-dimensional terrain matching positioning navigation sonar and navigation method

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[0030] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0031] Such as figure 1 As shown, a total system structure of underwater three-dimensional terrain matching positioning navigation sonar, including:

[0032] S1: Underwater 3D terrain matching positioning navigation sonar data processing flow;

[0033] S2: Terrain matching processing flow;

[0034] S3: Multi-source information fusion navigation process.

[0035] S1 includes: 14- underwater three-dimensional terrain match...

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Abstract

The invention discloses an underwater three-dimensional terrain matching positioning navigation sonar, which includes a control system, a data acquisition and processing system, a multi-channel receiver, a multi-channel sparse parallel receiving line array, a multi-channel signal source, a multi-channel transmitter and a multi-channel transmitter Matrix; the output of the control system is bidirectionally connected to the input of the data acquisition and processing system, and the output of the data acquisition and processing system is respectively connected to the input of the multi-channel receiver and the multi-channel signal source, which solves the problem of low efficiency of traditional sonar terrain detection and information The problem of small amount, low efficiency and accuracy of terrain matching, unable to correct the cumulative error of inertial navigation and Doppler log, and unable to improve the robustness of terrain matching positioning and navigation algorithm.

Description

technical field [0001] The invention relates to the field of marine engineering technical equipment, in particular to an underwater three-dimensional terrain matching positioning navigation sonar and a navigation method. Background technique [0002] Underwater unmanned platforms such as AUVs are future application hotspots, and autonomous positioning and navigation capabilities are a prerequisite for ensuring that they reach designated locations and complete tasks smoothly. In order to maintain concealment, it is often unable to receive satellite positioning system signals that are maturely applied in water surface and ground space. The current mainstream underwater positioning and navigation method is to combine inertial navigation and Doppler log information, but there are cumulative errors; underwater terrain, magnetic field and gravity field and other geophysical properties generally do not change with time and climate changes , and it is also difficult to camouflage a...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S15/02G01S7/539G01C21/16
CPCG01C21/165G01S7/539
Inventor 周天沈嘉俊杜伟东彭东东徐超王天昊陈宝伟高嘉琪
Owner HARBIN ENG UNIV
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