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Real-time high-precision longitude and latitude calculation method for underwater robot

An underwater robot, longitude and latitude technology, which is applied in the direction of instruments, navigation calculation tools, measuring devices, etc., can solve the problems of wasting and time-consuming underwater robot work, reduce the time of sitting on the bottom and hovering, and increase the time , to avoid the effect of excessive operation

Pending Publication Date: 2020-07-14
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to obtain high USBL positioning accuracy, this method requires the underwater robot to be as still as possible. If multiple accurate positioning is required, it will take a lot of time and waste the valuable working time of the underwater robot.

Method used

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  • Real-time high-precision longitude and latitude calculation method for underwater robot
  • Real-time high-precision longitude and latitude calculation method for underwater robot

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Embodiment Construction

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0034] The present invention is made up of underwater robot, mother ship, USBL (Ultra Short Baseline Positioning System), control computer, wherein underwater robot needs to be equipped with depth gauge, DVL (Doppler log), fiber optic gyroscope, acoustic beacon, etc., such as figure 1 shown. Among them, the positioning latitude and longitude information of the underwater robot is obtained by the USBL system, the distance between the underwater robot and the water surface is obtained by the depth gauge, the data output by the DVL, the optical fiber gyroscope, etc. are fused and filtered, and then the relative land position of the underwater robot is obtained through ship position calculation. Displacement information (generally northward displacement and eastward displacement).

[0035] The calculation flow chart of the inventive method is as ...

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Abstract

The invention relates to a real-time high-precision longitude and latitude calculation method for an underwater robot, and the method comprises the following steps: carrying out the positioning of theunderwater robot through an ultrashort baseline, and discontinuously obtaining discontinuous longitude and latitude information; acquiring real-time and continuous relative displacement information of the underwater robot by using a ship position calculation method; when a packet of effective USBL positioning data is received in the current period, updating the reference longitude and latitude ofthe underwater robot; and when the effective USBL positioning data is not received in the current period, calculating the longitude and latitude of the position where the underwater robot is locatedin real time by utilizing the relative displacement information and the reference longitude and latitude. The method is simple and practical, and the longitude and latitude precision and real-time performance of the underwater robot during underwater navigation and positioning are greatly improved.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning of underwater robots, in particular to a real-time and high-precision latitude and longitude calculation method for underwater robots. Background technique [0002] In order to develop the ocean, human beings should understand the ocean, observe and investigate the ocean. Because underwater robots can observe, take pictures, salvage and construct underwater, they are widely used in ocean development, and their development technology has been supported by various countries. Great attention. [0003] Due to the deep underwater, the underwater robot generally uses the ultra-short baseline underwater acoustic positioning system (USBL) to complete the longitude and latitude positioning of the underwater robot on the seabed, guide the underwater robot to the operation destination, and perform position calibration on specific targets. It is one of the key technologies for underwater r...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/203Y02A90/30
Inventor 崔胜国冀萌凡张奇峰
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI