Vertical channel navigation method of deep sea type underwater vehicle

Abstract

The invention discloses a vertical channel navigation method of a deep sea type underwater vehicle. The method comprises the following steps: constructing a pressure intensity-depth database by using a CTD profile, inputting the pressure intensity measured by IPS of the underwater vehicle into a database for linear interpolation to obtain the IPS interpolation depth, the IPS measurement being inevitably influenced by sea waves and sensor noise; and then outputting a smoother depth based on an AKF filter. The influence of sea waves and sensor noise is weakened, and the method can be applied to a deep sea environment and is not influenced by the seawater depth. According to the scheme, temperature, salinity and pressure profiles measured by CTD are used, a seawater state equation is combined, the conversion error from pressure to depth is smaller, error accumulation does not exist, the updating frequency of navigation result output smooth data is high, navigation is carried out based on smoothed vertical speed information, and better practical application and popularization effects are achieved.

Description

technical field [0001] The invention belongs to the field of navigation of deep-sea underwater vehicles, and in particular relates to a vertical channel navigation method for deep-sea underwater vehicles. Background technique [0002] For the navigation technology of shallow-water underwater vehicles, the DVL can be used to output the error-free accumulated vertical velocity, and the depth can be calculated based on the basic equation of static pressure (P=ρgh). But for deep-sea underwater robots, the bottom tracking of DVL is invalid, so the vertical velocity cannot be output, and it cannot be applied in the deep-sea environment. In addition, since the density of seawater varies with temperature, salinity and pressure, there is a large error between the depth obtained by using the basic equation of static pressure in the deep sea environment and the true value. [0003] For the vertical navigation of deep-sea vehicles, the disclosed technologies in the prior art include: ...

AI Technical Summary

Problems solved by technology

[0007] Aiming at the problems in the prior art that the deep-sea underwater vehicle cannot obtain vertical velocity and inaccurate depth, the present invention proposes a vertical channel navigation method for the deep-sea underwater vehicle, which provides accurate depth and depth for the underwater vehicle. Vertical speed for more accurate navigation

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