An Underwater Integrated Navigation System Based on Bionic Polarization

Abstract

The invention discloses an underwater integrated navigation system based on bionic polarization, which comprises an underwater bionic polarization module, a Doppler log module, an inertia auxiliary module, a health monitoring module, an underwater navigation information control processor, a storage module, Communication module, power module and interface circuit. Among them, the underwater bionic polarization module collects polarization images and calculates navigation information; the Doppler log module uses the Doppler principle to estimate the three-dimensional absolute velocity of the underwater vehicle; the inertial auxiliary module provides the position and orientation information of the underwater vehicle; health monitoring The module can monitor the health of the system in real time; the underwater navigation information control processor is responsible for information fusion processing. The invention realizes bionic autonomous navigation based on the biological polarization perception characteristics in nature and the acoustic Doppler effect, can provide highly reliable pose information for underwater vehicles, and is suitable for application fields with complex and unknown underwater environments such as unfamiliar sea areas and GPS denial.

Description

technical field [0001] The invention relates to an underwater integrated navigation system based on bionic polarization, which realizes autonomous navigation based on bionic polarization based on the perception characteristics of polarization information and acoustic Doppler effect in nature. Underwater GPS is naturally rejected and has multi-source interference. The system can provide highly reliable position and attitude information for underwater vehicles in complex environments in unknown sea areas. It has strong autonomy, reliability and environmental adaptability, and is suitable for underwater Civil and military applications such as detection, rescue, reconnaissance and anti-submarine. Background technique [0002] Organisms in nature have a superb ability to perceive and acquire spatial motion information, environmental information and target information, and they can perceive sky polarization information to complete autonomous navigation in complex environments. St...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: to overcome the error and health damage caused by multi-source interference such as the unstructured complex environment in unknown sea areas and the natural rejection of underwater GPS and radio signals, and to overcome the long-term error accumulation of traditional inertial / polarization navigation, Unable to meet the long-duration navigation requirements of underwater vehicles, and overcome the shortcomings of low integration and poor concealment of inertial underwater acoustic integrated navigation, a bionic polarization-based underwater integrated navigation system is proposed to provide underwater vehicles, robots and other carriers. Navigation and positioning service with high reliability, strong autonomy and strong adaptability

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