Multi-AUV collaborative navigation method adopting factor graph and sum product algorithm

A collaborative navigation and factor graph technology, which is applied in navigation, surveying and mapping and navigation, navigation calculation tools, etc., can solve the problems of not realizing the determination of AUV orientation, etc., and achieve good system scalability, small calculation amount, and strong applicability Effect

Active Publication Date: 2021-06-11
哈尔滨哈船导航技术有限公司
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Problems solved by technology

At present, this cooperative navigation method based on FG and SPA is only used to solve the positioning problem of AUV, and the determination of AUV orientation has not yet been realized.

Method used

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  • Multi-AUV collaborative navigation method adopting factor graph and sum product algorithm
  • Multi-AUV collaborative navigation method adopting factor graph and sum product algorithm
  • Multi-AUV collaborative navigation method adopting factor graph and sum product algorithm

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Embodiment Construction

[0060] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0061] A kind of multi-AUV cooperative navigation method based on factor graph and sum-product algorithm of the present invention specifically includes:

[0062] Step 1. Obtain the position and azimuth of the initial moment of the AUV to be positioned;

[0063] Step 2. In the multi-AUV cooperative navigation system, the AUV to be positioned receives the current own position broadcast by other AUVs;

[0064] Step 3, the AUV to be positioned obtains the ranging information and relative observation angle information between it and other AUVs according to the equipped sensors;

[0065] Step 4, establishing a state equation describing the AUV to be positioned;

[0066] Step 5, establishing a measurement equation describing the AUV to be positioned;

[0067] Step 6. Establish a corresponding factor graph model according to the state equation and m...

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Abstract

The invention discloses a multi-AUV collaborative navigation method adopting a factor graph and sum product algorithm. The method comprises the following steps that firstly, a state equation and a measurement equation are established for describing an AUV navigation system; secondly, a corresponding multi-AUV collaborative navigation system factor graph model is established according to the state equation and the measurement equation of the AUV, and the factor graph model contains a ring structure, wherein the loop-containing factor graph is equivalently converted into a loop-free factor graph model containing an aggregation node in order to obtain an accurate solution of the system; and finally, one-step prediction updating is peformed on the position and the azimuth angle of the AUV according to a system state equation, and then the position and the azimuth angle of the AUV are estimiated according to the observed quantity between the AUVs obtained by the system in combination with a measurement equation. The estimation method based on the graph theory is adopted, and the method is novel. Besides, the actual engineering positioning precision can be met, meanwhile, the calculated amount is smaller, and the method shows higher system expandability and is higher in applicability in actual engineering application.

Description

technical field [0001] The invention belongs to the field of autonomous underwater navigation, and in particular relates to a multi-AUV cooperative navigation method using Factor Graph (FG) and Sum Product Algorithm (SPA), which is used to realize the coordination between multiple AUVs. method of navigation. Background technique [0002] As a way for humans to explore the underwater world, AUV has attracted more and more attention worldwide, and has made great progress in realizing underwater navigation. Due to the rapid attenuation of electromagnetic waves in water, conventional radio-based land navigation methods such as GPS cannot navigate and locate underwater. Therefore, AUVs must rely on information obtained by compass, Doppler velocimetry, or inertial navigation systems, as well as pressure depth sensors to calculate navigation parameters for dead reckoning by integrating velocity, attitude, and pressure depth. [0003] However, the accumulation of dead reckoning er...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/005G01C21/20
Inventor 奔粤阳孙炎李倩赵玉新周广涛吴磊蒋正华魏晓峰
Owner 哈尔滨哈船导航技术有限公司
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