A deep-dive manned submersible ADCP speed estimation and correction algorithm

Abstract

A deep-diving manned submersible ADCP speed estimation and correction algorithm, comprising the following steps: 1) on the sea surface, using SINS / GPS integrated navigation to provide the ground speed v of the manned submersible at the initial moment b ; 2) ADCP works in the convection mode, and measures the velocity of the manned submersible relative to the water flow. The ground velocity v of the manned submersible is deduced by repeated measurements of multiple ADCP scans b and current velocity 3) Dive down to the bottom of the sea, use the ADCP bottom tracking function to obtain the manned submersible's ground velocity and the overlapping ADCP measurement to derive the error of the manned submersible's ground velocity, and propose a method for each depth unit A method for error correction of ground velocity and water velocity of manned submersible in layer. The invention solves the problem that the ground speed and ocean current speed of the manned submersible are difficult to estimate and the speed error accumulates with time during the submersion process, and can realize the acquisition of the ground, ocean current speed and Complete error correction to obtain reliable and accurate speed information.

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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