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

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,...

AI Technical Summary

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 safety, operating efficiency, sample analysis and data processing, etc. There is an urgent need to build an economically feasible near-submarine integrated navigation system to achieve high-precision and high-reliability underwater navigation.

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