AUV (Autonomous Underwater Vehicle) underwater positioning method based on long-baseline underwater acoustic system aided navigation

An auxiliary navigation and underwater positioning technology, which is applied in the direction of radio wave measurement system, sound wave reradiation, instruments, etc., can solve the problem of large positioning error, reduce interference, ensure accuracy, and solve the problem of positioning error.

Inactive Publication Date: 2021-07-23
HOHAI UNIV
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Problems solved by technology

[0004] Purpose of the invention: In order to solve the problem of relatively large positioning errors caused by sound ray bending and multipath effects when the acoustic signal propagates underwater when the AUV is navigating underwater in the prior art, the present invention provides a method based on Underwater positioning method of AUV with long baseline underwater acoustic system aided navigation

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  • AUV (Autonomous Underwater Vehicle) underwater positioning method based on long-baseline underwater acoustic system aided navigation
  • AUV (Autonomous Underwater Vehicle) underwater positioning method based on long-baseline underwater acoustic system aided navigation
  • AUV (Autonomous Underwater Vehicle) underwater positioning method based on long-baseline underwater acoustic system aided navigation

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Embodiment

[0067] like figure 1 As shown, the present invention is based on a long baseline underwater acoustic system assisted navigation AUV underwater positioning method, which is realized through a long base line (Long Base Line, LBL) underwater acoustic system.

[0068] The long baseline underwater acoustic system includes a hydrophone array deployed on the seabed, a question answering machine and a data processor installed on the AUV. The strapdown inertial navigation system SINS and the Doppler log DVL system on the AUV are assisted by the long baseline hydroacoustic system to improve the accuracy of underwater positioning. Wherein, the hydrophone array includes a plurality of hydrophones arranged on the seabed.

[0069] The data processor includes an acoustic signal cross-correlation calculation unit, a main correlation peak screening unit, a reference delay difference calculation unit, an equivalent sound velocity calculation unit, an AUV position calculation unit and a Kalman ...

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Abstract

The invention discloses an AUV (Autonomous Underwater Vehicle) underwater positioning method based on long-baseline underwater acoustic system aided navigation. The method comprises the following steps of: firstly, carrying out laying and position calibration on a hydrophone, receiving a signal sent by an AUV sound source by a long-baseline underwater acoustic system, and carrying out generalized cross-correlation operation to obtain a fuzzy correlation peak; calculating the current position of the AUV through the SINS to screen a main peak to obtain a delay inequality; selecting an initial position coordinate of the AUV, performing iteration by adopting a Taylor series expansion method, and resolving position information through a long-baseline hydrophone array; and finally, inputting the difference value of the position coordinates calculated by the SINS and the long baseline underwater acoustic system into a Kalman filter for filtering, and correcting various errors of the SINS and the DVL according to a filtering result to obtain accurate AUV position information. According to the method, accumulative errors in the underwater navigation process of the AUV are corrected, interference of multiple correlation peaks generated by sound ray bending and a multi-path effect on delay inequality estimation is reduced, and the underwater positioning precision of the AUV is improved.

Description

technical field [0001] The invention relates to an AUV underwater navigation and positioning method, in particular to an AUV underwater positioning method based on a long baseline underwater acoustic system for auxiliary navigation. Background technique [0002] Autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) is an underwater tool that can perform multiple functions such as ocean detection, underwater demining, and collecting bathymetric data of oceans and rivers. , light weight, and good concealment have been used in the development of marine resources and marine technology research. [0003] In the underwater environment, the electromagnetic wave signal has the characteristics of serious attenuation. In the deep sea or under the ice, GPS and other radio positioning methods cannot achieve ideal positioning results. Therefore, AUVs usually rely on onboard sensors to estimate position through dead reckoning. However, the positioning error will continue to...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/06G01S7/537G01S7/52
CPCG01S15/06G01S7/537G01S7/52004
Inventor 黄浩乾张国安
Owner HOHAI UNIV
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