Deep diving manned submersible integrated navigation method based on DR/USBL

A manned submersible and integrated navigation technology, applied in the field of high-precision underwater navigation and positioning, can solve problems such as poor fault tolerance, single positioning method, and low data update rate

Inactive Publication Date: 2020-04-28
SOUTHEAST UNIV
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Problems solved by technology

[0005] In view of the problems and deficiencies of the deep-diving manned submersible navigation and positioning system, such as single positioning method, poor fault tolerance, and low data update rate, as well as its underwater operation sa

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  • Deep diving manned submersible integrated navigation method based on DR/USBL
  • Deep diving manned submersible integrated navigation method based on DR/USBL
  • Deep diving manned submersible integrated navigation method based on DR/USBL

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[0067] The technical scheme of the present invention will be further described below in conjunction with the drawings.

[0068] The present invention proposes an economical and feasible deep submersible manned submersible near seabed integrated navigation scheme without considering the strapdown inertial navigation system (SINS). Use the Doppler log (DVL) and attitude sensor on the manned submersible to form a dead reckoning system (DR); train the support vector machine regression model online by constructing sliding time window samples, and use the trained online support vector machine The (OSVR) model predicts the current ultra-short baseline (USBL) data in real time, and further uses the current USBL data prediction value to perform outlier detection, outlier substitution or missing value supplementation, and realizes real-time preprocessing of USBL data to obtain continuous and consistent positioning Result: Through Kalman filtering technology, the data cleaned USBL and the p...

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Abstract

The invention discloses a deep diving manned submersible integrated navigation method based on DR/USBL. The method comprises the following steps: (1) performing real-time recursive calculation by utilizing attitude angle information provided by an attitude sensor carried on a manned submersible and ground speed information provided by a Doppler log to obtain position information, thereby forming aset of autonomous dead reckoning system DR; (2) positioning the manned submersible by using an ultra-short baseline USBL array mounted at the bottom of a water surface support mother ship, and designing an online data cleaning scheme to process outliers and missing values in USBL source data so as to obtain continuous and consistent position data; and (3) designing a Kalman filter, effectively fusing the dead reckoning system DR and the ultra-short baseline underwater acoustic positioning system USBL, and constructing a DR/USBL integrated navigation system, thereby obtaining a near-seabed integrated navigation result of which the positioning error is not accumulated along with time. According to the method, the problems of USBL positioning data loss and jump point and DR positioning erroraccumulation along with time are solved, and near-seabed high-precision navigation positioning of the deep diving manned submersible can be realized.

Description

Technical field [0001] The invention relates to the technical field of high-precision underwater navigation and positioning, in particular to a DR / USBL-based integrated navigation method for a deep submersible manned submersible, and is particularly suitable for near-sea navigation of underwater carriers. Background technique [0002] Manned submersibles can carry observers and special instruments and equipment to quickly and accurately reach the complex environment of the deep sea. It is an indispensable and important vehicle for scientific research and investigation operations in the deep sea. Compared with unmanned submersibles, manned submersibles have the advantage of allowing people to visit the scene in person and interact with the surrounding environment, so it is called an important cornerstone in the field of oceanographic research. As a direct underwater observation platform, manned submersibles can give full play to human subjective initiative to study the biological,...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 刘锡祥刘贤俊王艺晓童金武沈航黄永江马晓爽
Owner SOUTHEAST UNIV
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