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AUV navigation method based on multi-model observation correction

A navigation method and multi-model technology, applied in the field of AUV navigation based on multi-model observation and correction, can solve the problems of unpredictable statistical characteristics of sensor noise, affecting the accuracy of AUV navigation and positioning, and improve the generalization ability.

Active Publication Date: 2021-11-16
青岛澎湃海洋探索技术有限公司
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Problems solved by technology

However, the marine environment is complex and changeable, the statistical characteristics of sensor noise are unpredictable, and observation errors are random. The existence of sensor observation errors will greatly affect the accuracy of AUV navigation and positioning

Method used

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  • AUV navigation method based on multi-model observation correction
  • AUV navigation method based on multi-model observation correction
  • AUV navigation method based on multi-model observation correction

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Embodiment Construction

[0087] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0088] In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways than those described here, and those skilled in the art can make similar extensions without departing from the connotation of the present invention. Accordingly, the present invention is not limited to the specific embodiments disclosed below.

[0089] Such as figure 1 As shown, the AUV navigation method based on multi-model observation correction of the present invention includes the following steps.

[0090] The first step is to construct an observation correction model, which includes the following specific steps.

[0091] Fi...

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Abstract

The invention relates to the field of autonomous underwater vehicle navigation and positioning, in particular to an AUV navigation method based on multi-model observation correction. The method comprises the following steps: constructing an observation correction model; introducing the output of the multi-observation correction model into an AUV observation process to correct system observation errors; and estimating the position of the AUV by using an interactive multi-model strategy. According to the method, the observation error of the navigation system is corrected, so that the navigation positioning precision of the AUV is improved.

Description

technical field [0001] The invention relates to the field of autonomous underwater vehicle navigation and positioning, in particular to an AUV navigation method based on multi-model observation and correction. Background technique [0002] At present, the most widely used AUV navigation and positioning technology is the inertial / dead reckoning navigation method, which uses state estimation technology to perform data fusion on the attitude sensor and speed sensor carried by the AUV to estimate the current position information of the AUV. However, the marine environment is complex and changeable, the statistical characteristics of sensor noise are unpredictable, and observation errors are random. The existence of sensor observation errors will greatly affect the accuracy of AUV navigation and positioning. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned defects in the prior art, and propose an AUV navigation method ba...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/00G01C21/12G01C25/00
CPCG01C21/20G01C21/005G01C21/12G01C25/00Y02A90/30
Inventor 张昕牟鹏程何波
Owner 青岛澎湃海洋探索技术有限公司
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