Underwater mobile platform navigation method and underwater mobile platform navigation device

A technology of mobile platform and navigation method, which is applied in the directions of navigation, surveying device, surveying and navigation, etc.

Pending Publication Date: 2021-03-12
OCEAN UNIV OF CHINA
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[0005] The purpose of this application is to provide a navigation method for un

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  • Underwater mobile platform navigation method and underwater mobile platform navigation device

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[0042] In order to make the purpose, technical solution and advantages of the application more clear, the technical solution in the embodiment of the application will be described in more detail below in conjunction with the drawings in the embodiment of the application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the application. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application. Embodiments of the present application will be described in detail below in conjunction with th...

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Abstract

The invention provides an underwater mobile platform navigation method. The underwater mobile platform navigation method comprises the following steps of: acquiring first navigation information generated by a strapdown inertial navigation system; acquiring second navigation information generated by a Doppler velocity sonar system; obtaining corrected navigation information generated by a Beidou satellite navigation system or a magnetic compass system; generating first fused navigation information according to the first navigation information and the second navigation information; generating second fused navigation information according to the first fused navigation information and the corrected navigation information; generating navigation control information according to the second fusednavigation information; and controlling an underwater mobile platform to move according to the navigation control information. According to the underwater mobile platform navigation method, an auxiliary navigation technology for correcting errors is carried out through an integrated navigation technology, errors accumulated by the SINS along with time can be corrected through a high-precision navigation technology, and meanwhile, the autonomy and concealment of an AUV are guaranteed.

Description

technical field [0001] The application belongs to the technical field of underwater wireless platforms, and in particular relates to a navigation method for an underwater mobile platform and a navigation device for an underwater mobile platform. Background technique [0002] The accuracy of autonomous underwater vehicle (AUV) underwater navigation technology is a powerful guarantee for underwater search, detection and anti-submarine tasks. Most of the existing AUV navigation methods are strapdown inertial navigation systems (SINS). [0003] The current position of the strapdown inertial navigation system is calculated on the basis of the position at the previous moment. As the number of iterations increases, the error will also accumulate. Coupled with the inherent errors in the process of equipment installation and measurement, these factors will greatly reduce its positioning accuracy. [0004] Therefore, it is desirable to have a technical solution to overcome or at lea...

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/165G01C25/005
Inventor 魏志强殷波丁明权纪筱鹏杜泽华
Owner OCEAN UNIV OF CHINA
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