Integrated navigation method suitable for small underwater robot
An underwater robot and integrated navigation technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problem of positioning error divergence, and achieve the effect of less hardware equipment, reliable navigation correction results, and accurate navigation and positioning.
Active Publication Date: 2021-08-13
DALIAN UNIV OF TECH
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[0004] The present invention uses the Beidou satellite positioning system and the SINS inertial navigation system with complementary advantages to effectively solve the problem of divergence of positioning errors during long-distance navigation of underwater robots, and uses an adaptive Kalman filter algorithm to make navigation and positioning more accurate
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[0069] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific examples.
[0070] The device of the present invention is composed of a passive antenna, a Beidou navigation module, an INS inertial navigation module, a depth gauge and a navigation computer, and the data transmission relationship of the combined navigation is as follows figure 1 shown.
[0071] The algorithm calculation process of the underwater robot integrated navigation system of the present invention is as follows figure 2 As shown, it specifically includes the following steps:
[0072] In the first step, after the underwater robot is launched, the strapdown inertial navigation module is initialized with the Beidou satellite navigation data.
[0073] Further, the first step of Beidou satellite navigation data initializes the strapdown inertial navigation module, including the following specific steps:
[0074] 1.1) When the underwater robo...
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The invention discloses an integrated navigation method suitable for a small underwater robot, and belongs to the technical field of underwater robots. According to the integrated navigation method, the Beidou satellite positioning system and the SINS inertial navigation system which have complementary advantages are utilized, the problem of positioning error divergence during long-distance navigation of the underwater robot is effectively solved, and navigation positioning is more accurate by using a self-adaptive Kalman filtering algorithm. After a navigation system is initialized, an upper computer of the underwater robot acquires data of a Beidou satellite positioning module and an SINS inertial navigation module in real time, and performs validity check on calculation results of the satellite positioning data and the initial position of the underwater robot in real time; and finally, online correction is carried out on inertial navigation position information through Beidou satellite positioning data. According to the invention, simple hardware equipment is utilized to detect the effectiveness of Beidou satellite positioning signals and inertial navigation original output results; the device is simple, stable and reliable, the navigation correction result is real-time and accurate, and the method can be widely applied to the field of small underwater robot navigation positioning.
Description
technical field [0001] The invention belongs to the technical field of underwater robots and relates to a combined navigation method suitable for small underwater robots. Background technique [0002] Underwater robots have a wide range of work and a large voyage, and are playing an increasingly important role in scientific research and investigation. Real-time, accurate, and cheap navigation and positioning methods are the focus of current underwater autonomous vehicle technology development, but the internal inertia of the robot The navigation error of the navigation module accumulates over time, and the error diverges during a long-term voyage, causing the navigation to fail. It is necessary to use other navigation methods to form a combined navigation to correct the position of the underwater robot in time to ensure the positioning accuracy. The Beidou navigation and positioning system independently developed by my country has high positioning accuracy and can provide Be...
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IPC IPC(8): G01C21/20G01C21/00G01C21/16G01C21/18
CPCG01C21/203G01C21/005G01C21/165G01C21/18
Inventor 黄晓明汪运魏子谋马梦瑶韩方鑫李世龙谭主平刘秋红
Owner DALIAN UNIV OF TECH