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Underwater robot polar region under-ice visual aided navigation method based on image code road sign

An underwater robot, a technology for assisting navigation, applied in the directions of instruments, satellite radio beacon positioning systems, measuring devices, etc., can solve the problems of limiting the accuracy and working time of underwater operations, and the inability of underwater robots to float, and achieve improved navigation. The effect of precision

Pending Publication Date: 2022-04-29
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

Underwater robots that carry out under-ice detection, because their operating sea area is covered by sea ice, the underwater robot cannot float to the water surface for calibration during navigation, which limits the accuracy and working time of its underwater operations

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  • Underwater robot polar region under-ice visual aided navigation method based on image code road sign

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Embodiment Construction

[0024] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the specific implementation methods of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous 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 different from those described here, and those skilled in the art can make similar improvements without violating the connotation of the invention, so the present invention is not limited by the specific implementation disclosed below.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the invention is for the purpose of...

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Abstract

The invention relates to an underwater robot polar region under-ice visual aided navigation method based on an image code road sign. The method comprises the following steps: making the image code road sign and carrying out position information coding on the image code road sign; drilling holes in the ice surface through an ice drill, and then placing the image code road sign at the ice bottom; identifying the under-ice image code road sign by using a camera or other optical equipment in the under-ice navigation process of the underwater robot; determining a position coordinate corresponding to the image code through identification of the image code; estimating the position of the underwater robot relative to the road sign point according to the posture of the underwater robot; corresponding image code road sign position information and the estimated distance road sign distance direction are obtained through road sign label information, current estimated position updating information of the underwater robot is obtained, and correction of the under-ice position is achieved.

Description

technical field [0001] The invention relates to the field of polar underwater robot control, in particular to a vision-assisted navigation method for underwater robots under polar ice based on image code road signs. Background technique [0002] At present, the underwater robot mainly uses the inertial navigation system carried by itself to perform dead reckoning and estimate the underwater navigation position. Since the inertial navigation system has a cumulative error that increases with time, in order to maintain high-precision underwater navigation, underwater The robot needs to float to the surface of the water regularly, and correct its absolute position through its own Beidou or GPS. Underwater robots that carry out under-ice detection, because their operating sea area is covered by sea ice, the underwater robot cannot float to the water surface for calibration during navigation, which limits the accuracy and working time of its underwater operations. Contents of th...

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Application Information

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IPC IPC(8): G01S19/48G01S19/41
CPCG01S19/485G01S19/41
Inventor 曾俊宝阎述学徐高鹏刘崇德李一平李硕
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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