Full-sea deep underwater robot and positioning method thereof

A technology of underwater robot and positioning method, which is applied to underwater operation equipment, instruments, electric controllers, etc., and can solve problems such as limited range and discrete sound wave measurement data

Active Publication Date: 2021-02-12
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to propose a method that can overcome the discrete and limited range of acoustic wave measurement data, and perform accurate and full-depth positioning of underwater robots based on simple and effective fused data

Method used

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  • Full-sea deep underwater robot and positioning method thereof
  • Full-sea deep underwater robot and positioning method thereof
  • Full-sea deep underwater robot and positioning method thereof

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Embodiment 1

[0087] In order to verify the control perception and fusion of the vertical motion of the underwater robot, this embodiment constructs a kinematics model through the hydrodynamic parameters of the robot, and simulates the ocean environment by adding Gaussian white noise.

[0088] Among them, in order to study the control effect of the control system and the effect of denoising and information fusion of sensor data, two different state models are constructed, and the same underwater robot motion model is used. By verifying the research objectives separately, the denoising effect of the system and the correction effect of the Kalman filter on the single-beam altimeter data can be observed more intuitively after information fusion. The accuracy and system response time of the control system of the underwater robot to the robot can be obtained by setting different expected depths and comparing the data.

[0089] Specifically, the noise in the ocean environment and the sensor data ...

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Abstract

The invention discloses a full-sea deep underwater robot and a positioning method thereof. The positioning method comprises the following steps: fusing sound wave measurement data and real-time depthdata of a robot through a Kalman filtering method, and positioning the robot according to a fusion model. According to the positioning method, problems of discretization and a limited measuring rangeof sound wave measurement data can be solved, and accurate and full-sea-depth positioning is carried out on the underwater robot according to simple and effective fused data.

Description

technical field [0001] The invention relates to the technical field of underwater robots. Background technique [0002] As an important tool for marine development, underwater robots can effectively overcome the problems of harsh underwater environment and limited human diving depth, and complete underwater extreme operations. [0003] The precise positioning of the underwater robot is an important prerequisite for its autonomous regulation or remote control. In the prior art, the position information of the underwater robot is mostly obtained through sensors, sonar, etc. Among them, the sensor can obtain some real-time position information of the underwater robot according to the current environment, and the sonar can obtain the distance information between the underwater robot and other targets or obstacles through the conduction and reflection of sound waves. Among these two types of information, the information data obtained by sonar and other acoustic wave measurement...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/06G01S15/08G05B11/42G05D1/04G06K9/62B63C11/52
CPCG01S15/06G01S15/08G05D1/04G05B11/42B63C11/52G06F18/251
Inventor 姜言清王嘉麟李晔李岳明曹建马腾张强武皓微
Owner HARBIN ENG UNIV
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