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Underwater terrain aided navigation method based on improved dogvessel colony algorithm

A technology of sea squirt group and underwater terrain, applied in the direction of navigation, navigation, mapping and navigation through velocity/acceleration measurement, can solve the problems of difficult work, large amount of calculation, long working time, etc., to increase accuracy and success efficiency, reducing the amount of calculation, and the overall effect is excellent

Active Publication Date: 2022-01-21
JIANGSU OCEAN UNIV
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Problems solved by technology

The second type is the underwater remote control submersible ROV, and the underwater submersible is unmanned and needs cables to supply energy and transmit commands and data. Its working hours can be very long, but it needs to be equipped with special ports. surface mother ship
When the objective function is more complex, this work is more difficult and the amount of calculation is relatively large

Method used

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  • Underwater terrain aided navigation method based on improved dogvessel colony algorithm
  • Underwater terrain aided navigation method based on improved dogvessel colony algorithm
  • Underwater terrain aided navigation method based on improved dogvessel colony algorithm

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Embodiment Construction

[0069] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0070] The present invention discloses an underwater terrain auxiliary navigation method based on improved Bohai sheabard group algorithm, including the following steps:

[0071] S1 build a submarine topographic map.

[0072] like figure 1 , 2 As shown, the East Section 127.528 ° -128.205 ° in the US National Ocean and Atmospheric Authority is selected, the north latitude 27.328 ° -28.005 ° seabed topographic elevation data is used as a typical test area, and the 4-grid spline function is formed to form 100M rule grid. Net elevated terrain data, the seabed digital topographic map size is 752 * 752.

[0073] S2 multi-beam acquisition surface.

[0074] Select the 50 * 50 sub-map in the subsea digital topographic map to add 1dB, 5dB, 10dB, and 15dB signal-to-noise ratio instead of the real-time terrain matching surface of the multi-beam acquisition, t...

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Abstract

The invention discloses an underwater terrain aided navigation method based on an improved dogvessel colony algorithm. The underwater terrain aided navigation method comprises the following steps: 1, making a seabed digital topographic map; 2, collecting submarine topography by multiple beams to form a sub-graph; and 3, realizing location of the sub-graph in the seabed digital topographic map by using an improved dogvessel colony algorithm. According to the method, two-dimensional matching positioning is carried out on underwater positioning by using the intelligent group algorithm, and compared with a traditional underwater positioning method, the method does not need to require first-order and second-order derivatives of a function, inverse of a matrix and the like. And under the condition that the target function is relatively complex, the calculation amount is relatively small.

Description

Technical field [0001] The present invention belongs to the technical field of underwater positioning, and more particularly to an underwater terrain auxiliary navigation method based on improving the sea shegglock algorithm. Background technique [0002] In recent years, with our country's exploration and utilization of the ocean, the demand for the positioning accuracy of the underwater is getting higher and higher, and AUV has its own visual and sensory system, which can pass the remote control under water. Or self-operate mode of operation, which can be assisted or replaced by people to complete some special underwater jobs. Underwater submersible can be divided into three categories, the first category is the water to download people HOV, which needs to ensure the safety of the diver, so the depth depth is limited and the working time is short. The second category is underwater remote control Submers ROV, and the underwater subaracotids are unmanned cables, and the cable is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G06N3/12
CPCG01C21/203G01C21/165G06N3/126G01C21/3826G06N3/006Y02A90/30
Inventor 孙佳龙张鹏赵思聪吉方正朱国豪王晓田慧娟于浩夏天钰王秋雅骆剑波袁叔婷蔡靖慧
Owner JIANGSU OCEAN UNIV