Intelligent integrated navigation method, system and equipment of underwater glider and medium

Abstract

The invention provides an intelligent combined navigation method, system and equipment of an underwater glider and a medium. The three-dimensional attitude angle of the underwater glider under an inertial coordinate system is acquired by adopting an attitude sensor, the three-dimensional attitude angle is subjected to attitude angle conversion of a navigation coordinate system by an artificial intelligence chip module, and the attitude angle under the navigation coordinate system is converted into an attitude angle under a carrier coordinate system by a central processing system, a real-time navigation speed and an acceleration are calculated based on an attitude matrix under the carrier coordinate system, a Beidou navigation system monitors the real-time real three-dimensional attitude angle, the navigation speed and the acceleration and constructs a misalignment angle matrix and a misalignment state matrix, and the attitude matrix delta t under the carrier coordinate system constructed by the central processing system is corrected in a time slot, then the white noise part in the real-time navigation speed and acceleration is corrected, thus the navigation path of the underwater glider, which is finally provided by the central processing system, is corrected, and the accuracy and the precision of the navigation path of the underwater glider are improved.

Description

technical field [0001] The invention belongs to the technical field of underwater drones, and in particular relates to an intelligent combined navigation method, system, equipment and medium for an underwater glider. Background technique [0002] Underwater Glider (AUG) is an ocean observation technology platform developed on the basis of self-sustaining neutral buoys to supplement the functions of drifting buoys that do not have autonomous horizontal movement and directional navigation. As a new type of underwater unmanned vehicle, the underwater glider has the advantages of low cost, long battery life, reusability, etc., and has certain track control capabilities, and has become an important part of the marine environment observation and detection platform. In addition, it also has the ability of short-delay information transmission and large-scale operation, and is one of the powerful observation and exploration tools in the four-dimensional ocean space. AUG can also be ...

AI Technical Summary

Problems solved by technology

[0004] The underwater glider provided in the prior art has the following disadvantages: the underwater glider works underwater most of the time, and the GPS signal does not have very strong penetrability when moving underwater, and it cannot penetrate more than 100 meters deep in water. Meter depth positioning, and affected by ocean currents, will cause the underwater glider to deviate from the predetermined track during movement. There is no information such as longitude and latitude underwater to detect its own deviation value. After a long period of movement, it will cause a large water exit point. The error with the target point needs to be corrected

Especially when the performance of the speed sensor used is relatively poor, due to the influence of the ocean current, the measured speed will be affected by the ocean current velocity, and there will be a large error after a long time

Images