Master-slave cooperative positioning method for integrated navigation system of autonomous underwater vehicle

A technology of combined navigation system and underwater vehicle, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problem of inaccurate position and positioning, improve synchronization and stability, improve the unstable transmission of navigation information, The effect of increasing the convergence speed

Active Publication Date: 2020-08-28
NANJING UNIV OF INFORMATION SCI & TECH
View PDF6 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Purpose of the invention: Aiming at the problem of inaccurate location positioning during multi-AUV operations under the premise that terrain information or landmarks cannot be predicted and there is no mother ship tracking in the prior art, The invention provides a master-slave cooperative positioning method for an autonomous underwater vehicle integrated navigation system

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Master-slave cooperative positioning method for integrated navigation system of autonomous underwater vehicle
  • Master-slave cooperative positioning method for integrated navigation system of autonomous underwater vehicle
  • Master-slave cooperative positioning method for integrated navigation system of autonomous underwater vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] In order to describe the technical solution disclosed in the present invention in detail, further elaboration will be made below in conjunction with the accompanying drawings and specific embodiments.

[0038] In the master-slave cooperative positioning system, the master AUV provides its own accurate position information and distance information to other slave AUVs, and at the same time, the slave AUV obtains speed information through its own low-precision and low-cost sensors to complete its own low-cost positioning system. Accurate dead reckoning, but due to the existence of cumulative sensor errors, long-term operation will cause positioning errors to increase or even diverge. In order to control the error, external absolute position information is needed as a reference to correct the positioning error of the slave AUV and realize the main Co-location of self-styled AUVs.

[0039] In the application of the method of the present invention, for the master-slave autono...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a master-slave cooperative positioning method for an integrated navigation system of an autonomous underwater vehicle. The method comprises the following steps: establishing athree-dimensional collaborative navigation system model for master and slave AUVs under a single-pilot positioning system and a double-pilot positioning system; broadcasting position information of the master AUV, enabling the slave AUV to obtain the relative distance between the sound velocity and the time delay according to the sound velocity and the time delay, then enabling the master AUV to use the velocity measurement information and the distance measurement information to cooperatively position any slave AUV, and correcting the distance between the master AUV and the slave AUV. The method also provides a new three-dimensional collaborative navigation model for increasing depth measurement information for the precision problem of active collaborative positioning, including a measurement mode under the condition that the AUV does not receive the distance measurement information, so that the precision of master-slave collaborative positioning can be improved.

Description

technical field [0001] The invention relates to an underwater vehicle formation control technology, in particular to a master-slave cooperative positioning method of an autonomous underwater vehicle integrated navigation system. Background technique [0002] Autonomous underwater vehicles (AUVs) are a type of unmanned underwater vehicles (UUV), which are used for the development and research of marine resources. Because AUV is free from the shackles of cables, AUV has the advantages of wide operation range, long operation time, not afraid of cable entanglement, and low cost. It plays an important role in aspects such as exploration and diving support. At present, AUV is still facing technical problems brought about by high-precision underwater positioning. AUV has long-term and long-distance operation requirements, and considering factors such as its size, quality, special underwater environment, and energy constraints, accurate positioning of AUV has become a difficult ta...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/203G05D1/10
Inventor 王其杨常松
Owner NANJING UNIV OF INFORMATION SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap