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A method of positioning and composition of underwater robot based on multi-sensor fusion

An underwater robot and composition technology, applied in the direction of instruments, computer components, sound wave reradiation, etc., can solve the problem that the sensor cannot be used accurately, and achieve the effect of enhancing real-time and robustness

Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that the sensor cannot be used accurately due to the harsh underwater environment, and to provide a positioning and composition method for underwater robots based on multi-sensor fusion

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  • A method of positioning and composition of underwater robot based on multi-sensor fusion
  • A method of positioning and composition of underwater robot based on multi-sensor fusion
  • A method of positioning and composition of underwater robot based on multi-sensor fusion

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Embodiment Construction

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] The invention belongs to the field of underwater robot positioning, in particular to the problem of the accuracy of synchronous positioning and composition of underwater robots during navigation. The problem that sensors cannot be used accurately to meet the needs of underwater robots for long-term sailing operations.

[0023] The purpose of the present invention is to overcome the problem that the sensor cannot be used accurately due to the harsh underwater environment, and to provide a method for positioning and composing an underwater robot based on multi-sensor fusion. The invention utilizes the visual sensor and acoustic sensor installed by the underwater robot, and combines the working principle of the sensor to optimize the obtained road sign information; and then interacts with the inertial measurement element to obtain the navigation state of the underwat...

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Abstract

The invention belongs to the technical field of underwater robot positioning, and in particular relates to an underwater robot positioning and composition method based on multi-sensor fusion. The present invention overcomes the problem that the sensor cannot be used accurately due to the harsh underwater environment, utilizes the visual sensor and the acoustic sensor installed by the underwater robot, combines the working principle of the sensor, optimizes the obtained road sign information, and then interacts with the inertial measurement element, Obtain the navigation status of the underwater robot, and then achieve the effect of sensor fusion. The invention filters out interference and optimizes the state estimation of the underwater robot and the surrounding environment road signs through the fusion of three sensors of the camera, the sonar and the inertial measurement element in a tightly coupled manner, so that the underwater robot can According to the data information of the fusion sound and light sensors, it can achieve the purpose of optimizing road signs to improve the endurance of underwater navigation, and enhance the real-time and robustness of the synchronous positioning and composition system.

Description

technical field [0001] The invention belongs to the technical field of underwater robot positioning, and in particular relates to an underwater robot positioning and composition method based on multi-sensor fusion. Background technique [0002] Underwater positioning technology is an important research direction in the field of underwater robots, and it is the key to enabling underwater robots to perform effective tasks. When the underwater robot is in a completely unfamiliar environment, it needs specific environmental information for autonomous navigation, but due to the complexity and change of the underwater environment, only a single-cost sensor cannot achieve high-precision navigation tasks. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to overcome the problem that the sensor cannot be used accurately due to the harsh underwater environment, and to provide a method for positioning and composing an underwater robot based on multi-sensor fus...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20G01C11/02G01S15/93G06K9/62
Inventor 严浙平王迪吴迪刘睿
Owner HARBIN ENG UNIV
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