Positioning cruise system for underwater helicopter and working method of positioning cruise system

Abstract

The invention discloses a positioning cruise system for an underwater helicopter and a working method of the positioning cruise system. The positioning cruise system comprises a strapdown inertial navigation system, a Doppler log velocity measurement system, an inverse ultra-short baseline positioning system and a filtering system which are mounted on the underwater helicopter; the strapdown inertial navigation system is used for acquiring three-dimensional speed, position and attitude information of the underwater helicopter; the Doppler log velocity measurement system is used for measuring the absolute velocity of the underwater helicopter; the inverse ultra-short baseline positioning system is used for positioning and navigation and comprises a Doppler compensation module of complex broadband coding, a multi-source servo time synchronization inquiry-free positioning module, a multi-sensor information fusion calibration-free positioning module and a multi-user compatible underwater ad hoc network positioning module; and the filtering system is used for processing signals output by the strapdown inertial navigation system, the Doppler log velocity measurement system and the inverse ultra-short baseline positioning system, so that the navigation precision is improved. According to the invention, the precision of underwater autonomous positioning navigation of the underwater helicopter can be improved.

Description

technical field [0001] The invention belongs to the field of underwater equipment control, and in particular relates to a positioning cruise system for an underwater helicopter and a working method thereof. Background technique [0002] Submarine mobile observation, submarine resource exploration, cruise and detection of sensitive submarine areas, submarine pipeline monitoring and maintenance, submarine rescue and salvage, submarine archaeology, etc., put forward high requirements on the maneuverability and working mode of submersibles, and often need to cooperate with Land "helicopter" features are similar to submersibles. The proposal of "underwater helicopter" helps to improve the maneuverability of submersibles, increase the working mode from seabed to seabed, and carry out seabed operations with higher quality and efficiency. [0003] The underwater helicopter is a new type of submersible with strong maneuverability and a working mode from the seabed to the seabed. It...

AI Technical Summary

Problems solved by technology

The existing inverse ultra-short baseline is basically a simple continuation of the traditional ultra-short baseline technology. On this basis, a certain degree of low power consumption and miniaturization improvements have been made to adapt to the use on UUV, but from the actual use effect, it is far from reaching It is expected that it is still unable to meet the increasingly urgent UUV underwater autonomous positioning and navigation needs

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