Underwater robot navigation method based on randomly distributed nodes

Abstract

The invention relates to an underwater robot positioning technology, and aims to provide an underwater robot navigation method based on randomly distributed nodes. The method comprises the following steps: acquiring distance measurement data and motion parameters of an underwater robot AUV; importing data, and establishing a measurement random finite set; establishing a target state finite set; updating the state; repeating the previous steps until the navigation time is ended; and recovering the equipment after the navigation time is over, deriving path estimation and node distribution information of the underwater robot, and giving an estimation error. According to the invention, the method can fully describe the uncertainty between the state and the measurement, does not need a data association process, improves the positioning precision and the anti-interference capability, and achieves the position estimation and tracking of the AUV in a complex environment; only a sonar or a communication machine with a distance measuring function needs to be installed on the underwater robot, and other auxiliary devices are not needed; the ranging sonar is easy and convenient to install, and navigation algorithm program portability is good; and cooperative navigation precision is obviously improved, stability and reliability are achieved, and results are accurate.

Description

technical field [0001] The invention relates to an underwater robot positioning technology, in particular to an underwater robot navigation method and device based on randomly distributed nodes. Background technique [0002] Underwater robot technology is an emerging marine intelligent manufacturing technology, which is widely used at home and abroad. An underwater robot is a robot that can navigate at a depth of several meters or even thousands of meters or tens of thousands of meters below the water surface. Compared with drones, unmanned vehicles and unmanned ships, the task environment of underwater robots is more complex, and the sensors and propulsion systems used are also different. The specific manifestations are as follows: 1) High-frequency radio waves cannot be used at a depth of more than ten meters underwater, which will make it difficult for the operator to maintain a good communication link with the underwater robot; and the use of underwater acoustic communi...

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Problems solved by technology

The specific manifestations are as follows: 1) High-frequency radio waves cannot be used at a depth of more than ten meters underwater, which will make it difficult for the operator to maintain a good communication link with the underwater robot; and the use of underwater acoustic communicators is not only costly, but also has a high communication rate. The capacity cannot be compared with radio waves; 2) The cost of a single high-precision underwater robot navigation equipment is high, which restricts the further application of large-scale underwater robot groups; 3) Satellite positioning signals such as Beidou and GPS cannot be received underwater , underwater mobile carriers such as underwater robots cannot perform navigation and positioning based on satellite positioning

[0003] At present, the navigation technology of a single underwater robot can no longer meet the needs of practical application in multiple underwater robot groups.

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