Improved layered AUV collaborative navigation and positioning method for different-time sequential measurement

A technology of collaborative navigation and positioning methods, applied in navigation computing tools and other directions, can solve problems such as clock asynchrony, achieve the effect of improving robustness, and realizing interaction and integration

Pending Publication Date: 2021-06-29
HOHAI UNIV
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Problems solved by technology

[0006] Purpose of the invention: In view of the above technical problems, the present invention proposes an improved layered AUV collaborative navigation and positioning method for different time sequential measurement, and solves the problem of clock asynchrony through the improved different time sequential measurement method, using extended Kalman filter The method fuses the internal and external navigation information, and adopts the multi-sensor data fusion navigation system to realize the online fusion of each sensor data, and realizes the sharing and transmission of information between AUVs with different precision

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  • Improved layered AUV collaborative navigation and positioning method for different-time sequential measurement

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[0055] Such as figure 1 As shown, the improved layered AUV cooperative navigation and positioning method of different time sequential measurement of the present invention includes the following steps:

[0056] (1) A layered cooperative navigation formation structure is proposed to carry out AUV cooperative navigation and provide a computing platform for the heterochronous sequential filtering method; in the navigation process, by optimizing the structure of the hierarchical cooperative navigation formation, the formation of the cooperative navigation formation optimized, such as figure 2 shown;

[0057] (2) The original Long Baseline (LBL) method is improved by the Moving Long Baseline (LBL) method, and the dead reckoning is performed by the Moving Long Baseline method, and the measurement model of the positioned AUV is calculated ;

[0058] (3) Using the different time sequential measurement method to solve the positioning error problem caused by the delay of the underwat...

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Abstract

The invention discloses an improved layered AUV collaborative navigation and positioning method for different-time sequential measurement, which is used for processing different-time measurement information through information sharing and transmission of a layered structure, a mobile long baseline method and an improved different-time sequential filtering method, solves the problem of clock asynchronization, and the problem of positioning errors caused by underwater acoustic signal delay of parallel filtering is solved; and an optimized extended Kalman filter (EKF) method is adopted to fuse internal and external navigation information, an improved multi-sensor data fusion navigation system is adopted to fuse and calculate attitude, speed and course information obtained in the navigation process, and the information is fed back to upper computer software, so that online fusion of data of each sensor is realized, and then related state estimation updating is carried out on the low-precision layer AUV, and sharing and transmission of AUV information with different precision are realized through layered formation configuration.

Description

technical field [0001] The invention relates to a navigation and positioning method for an underwater vehicle, in particular to an improved layered AUV (Autonomous Underwater Vehicle) cooperative navigation and positioning method for sequential measurement at different times. Background technique [0002] AUV is a hot research direction in the field of marine engineering today. Through a reasonable formation configuration structure, high-precision cooperative navigation between AUVs is the basis of a multi-AUV underwater navigation system. Sharing information through multiple monomers enables all AUVs to have positioning capabilities, increasing the robustness of the entire system. When an AUV loses its navigation ability due to external factors, the navigation ability of these boats can be restored to a certain extent through cooperative navigation. At present, the main structures of collaborative navigation are divided into parallel navigation structure, master-slave coll...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 黄浩乾韩亦鸣李光辉田亚威郑文豪孙世安
Owner HOHAI UNIV
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