ADCP speed estimation and correction algorithm for deep diving manned submersible

Abstract

An ADCP speed estimation and correction algorithm for a deep diving manned submersible comprises the following steps that 1, on the sea surface, SINS / GPS integrated navigation is used for providing the ground speed vb of the manned submersible at the initial moment; (2) the ADCP works in a convection mode, the relative water flow speed of the manned submersible is measured, and the ground speed vb and the water flow speed of the manned submersible are deduced through repeated measurement of ADCP scanning for multiple times; (3) the manned submersible dives to the position close to the seabed, the error of the ground speed of the manned submersible is derived by utilizing the ground speed of the manned submersible obtained by an ADCP bottom tracking function and overlapped ADCP measurement. A method for realizing error correction on the ground speed and the water flow speed of the manned submersible in each depth unit layer is provided. The problems that the ground speed and the ocean current speed of the manned submersible are difficult to estimate in the diving process and the speed error is accumulated along with time are solved, the ground speed and the ocean current speed can be obtained in the diving / floating process of the deep diving manned submersible, and reliable and accurate speed information can be obtained after error correction is completed.

Description

technical field [0001] The invention belongs to the technical field of high-precision underwater navigation and positioning, and relates to an ADCP speed estimation and correction algorithm of a deep-sea manned submersible, which is especially suitable for information measurement of the ground speed and ocean current speed of a manned submersible in deep sea operations . Background technique [0002] The ocean contains a large number of mineral resources, biological resources, chemical resources, etc., so deep-sea exploration is of great significance. In the scientific research and investigation operations in the deep sea field, manned submersibles can carry scientists and technicians to accurately reach the complex deep sea environment, providing an important research basis for deep sea investigations, so the scientific research on the development of manned submersibles has also become a The consensus of maritime powers. [0003] The ground speed and ocean current speed o...

AI Technical Summary

Problems solved by technology

In view of the fact that neither GPS nor DVL can directly measure the carrier's ground speed and ocean current speed information during the diving process in the deep sea area, the present invention proposes to provide the ground speed of the manned submersible at the initial moment through GPS / SINS integrated navigation, and then Using the ADCP of the deep-diving manned submersible to estimate the carrier's ground velocity and ocean current velocity, and based on the problem that the speed estimation error accumulates with the depth of the dive, this patent provides a deep-diving manned submersible ADCP speed estimation and correction algorithm, its characteristics That is, the specific steps are as follows:

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