Underwater robot pure orientation target estimation method

An underwater robot and robot technology, applied in underwater operation equipment, navigation computing tools, systems for determining direction or offset, etc., to achieve the effects of enhanced observability, simple practice, and improved observability

Active Publication Date: 2020-04-17
HARBIN ENG UNIV
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Problems solved by technology

Solve the pure orientation estimation problem of underwater robots in the process of underwater passive target detection, and realize the position estimation of underwater targets

Method used

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  • Underwater robot pure orientation target estimation method
  • Underwater robot pure orientation target estimation method
  • Underwater robot pure orientation target estimation method

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Embodiment Construction

[0022] The present invention will be described in further detail below in conjunction with accompanying drawing.

[0023] combine figure 1 , the underwater robot target estimation system structure is as follows:

[0024] like figure 1 As shown, the underwater robot target estimation system structure includes graph optimization estimation module, path planning module, passive sonar detection module, dead reckoning module and so on. The underwater robot uses the pure orientation information of the target provided by the passive sonar and the orientation estimation information based on the dead reckoning module to establish a graph model of the target estimation, and combines the estimation module based on the graph optimization to complete the nonlinear optimal estimation and realize the orientation-only target. position estimate.

[0025] Graph optimization estimation module: use the orientation measurement information of the target and the position information of the underw...

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Abstract

The invention discloses an underwater robot pure orientation target estimation method. In the passive sonar detection process of an underwater robot, target pure azimuth information provided by passive sonar is combined with an estimation module based on graph optimization and a path planning module guaranteeing observability, and non-linear estimation of a pure azimuth target is achieved on the basis of high-precision dead reckoning of the robot. According to the method, in the process that the underwater robot executes a detection task, the continuous observation information can be utilizedto achieve optimal estimation in the time window, the maneuverability of the underwater robot is fully utilized, the observability in the detection process is enhanced, and the robustness requirementof the target detection process is met.

Description

technical field [0001] The invention belongs to the application field of underwater robots, and relates to a method for estimating a purely azimuth target of an underwater robot, in particular to a method for estimating a purely azimuth target of an underwater robot based on graph optimization. Background technique [0002] Underwater robots provide a new platform and form for underwater target detection tasks, and underwater target detection is an important application direction in the field of underwater robots. However, underwater target detection can only obtain limited target orientation information, which brings great difficulties to target position estimation. [0003] The orientation-only target estimation method of the underwater robot in the present invention utilizes the target orientation-only information provided by passive sonar, combines the estimation module based on graph optimization and the path planning module ensuring observability, and realizes the high...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S3/802B63C11/52G01C21/20
CPCG01S3/802G01C21/20B63C11/52
Inventor 吴迪严浙平陈涛张伟王宏健张耕实黄飞
Owner HARBIN ENG UNIV
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