An autonomous navigation system for a miniature underwater detection robot

An autonomous navigation system and underwater robot technology, applied in three-dimensional position/channel control and other directions, can solve the problem of divergence in positioning accuracy of the navigation system, and achieve the effects of light weight, low price, and small hardware volume

Active Publication Date: 2022-07-29
江苏深瑞光学技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] The purpose of the present invention is to provide a miniature underwater detection robot autonomous navigation system to solve the problem that the error of the existing navigation system will accumulate over time and lead to the divergence of positioning accuracy

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  • An autonomous navigation system for a miniature underwater detection robot
  • An autonomous navigation system for a miniature underwater detection robot
  • An autonomous navigation system for a miniature underwater detection robot

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Embodiment Construction

[0056] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] The present invention provides such as figure 1 A miniature underwater exploration robot autonomous navigation system shown in , including:

[0058] the first processor;

[0059] The obstacle avoidance sonar sensing unit is used to detect underwater landforms and scan underwater objects for collision avoidance when the underwater robot conducts autonomous navigation;

[0060] A magnetometer to obtain magnetic field strength and...

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Abstract

The invention discloses an autonomous navigation system of a miniature underwater detection robot, belonging to the technical field of AUV underwater navigation, comprising: a first processor; Scan underwater objects for collision avoidance during navigation; magnetometer, used to obtain magnetic field strength and direction; inertial measurement unit, used to obtain three-axis attitude angle, angular rate and acceleration; data recorder, used to sense obstacle avoidance sonar The unit, magnetometer, and inertial measurement unit acquire and store the measurement results; the analog-to-digital converter is used to convert the analog signal into a digital signal; the input and output module is used to input and output data; the autonomous navigation system of the miniature underwater detection robot, It does not rely on external sensors, does not need to arrange acoustic communication positioning nodes, and does not need to surface to combine GNSS signals to achieve long-term, independent, and autonomous underwater navigation.

Description

technical field [0001] The invention belongs to the technical field of AUV underwater navigation, in particular to an autonomous navigation system of a miniature underwater detection robot. Background technique [0002] In recent years, AUV underwater navigation has become the focus and difficulty in the development of underwater positioning technology. After in-depth research by scholars from various countries, initial results have been achieved. Researchers have conducted in-depth research on AUV autonomous navigation and developed a variety of underwater navigation and positioning technologies, mainly including: Inertial Navigation System (INS), Global Navigation Satellite System (GNSS), acoustic positioning System (Acoustic Positioning System, APS), Doppler Velocity Log (DVL), geophysical navigation, these navigation devices have their own advantages and disadvantages; [0003] 1. Inertial navigation, no external equipment is required, and errors accumulate over time; ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 徐盛果白云李娟张仕颖陶树建陈科祥陆雪
Owner 江苏深瑞光学技术有限公司
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