A Precise Navigation Method of Multi-source Acoustic Information Fusion for Underwater Robots

Abstract

The invention provides an accurate navigation method capable of fusion of multi-source acoustic information for an underwater robot. Using the method, AUV obtains seabed topographic mapping information and distance observation information between it and the beacon through multi-beam sonar and communication with beacons, and through the observation The distance observation outliers caused by the weak communication environment are discriminated and eliminated, and finally the AUV seabed topographic mapping information, the distance observation information between the AUV and the beacon, and the AUV's own navigation system information are used as inputs to construct a multi-source Acoustic information is fused with the SLAM pose graph model, and the pose graph optimization algorithm is used to estimate the current position of the AUV, the historical trajectory of the AUV and the beacon positioning information to solve the problem of long-term, concealed, all-weather, and accurate real-time navigation of the AUV in the deep sea. The invention optimizes the SLAM algorithm framework by constructing a multi-source acoustic information fusion graph, and provides real-time and accurate navigation information for AUV large-scale deep-sea operations.

Description

technical field [0001] The invention belongs to the field of underwater navigation of an underwater intelligent robot (Autonomous Underwater Vehicle, AUV), and particularly relates to a multi-source acoustic information fusion precise navigation method for an underwater robot. Background technique [0002] Autonomous Underwater Vehicle (AUV) has become an important tool for high-resolution deep-sea terrain mapping, but the accuracy of the bathymetric map drawn by AUV depends on the error of the AUV navigation system. Inertial navigation systems, long-baseline acoustic positioning systems, ultra-short-baseline acoustic positioning systems, and geophysical navigation systems all provide navigation information for AUV deep-sea operations. However, even with the addition of expensive equipment such as Doppler speed logs and attitude and heading reference systems, inertial navigation system navigation errors can grow infinitely over time. The positioning results produced by the ...

AI Technical Summary

Problems solved by technology

Accurate data associations can only be generated when the AUV retraces to previously visited locations, but in deep-sea missions, performing terrain retracing by AUVs is often time-consuming and labor-intensive

Therefore, terrain backtracking usually occurs after a long period of time when the mission is performed, which means that the AUV will use the inertial navigation system to determine its own pose for a long time after the start of the mapping mission. During this period, the real-time position estimation of the AUV is extremely poor. precise

For beacon SLAM, the error constraint results are relatively accurate in a short period of time when the beacon maintains communication, but its operating range is severely limited by the beacon, which cannot provide accurate navigation information for AUV long-term and large-scale operations

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