Depth detection method for semi-submersible navigation body

A technology for depth detection and flying objects, applied in height/horizontal measurement, measuring devices, surveying and navigation, etc., can solve problems such as huge amount of calculation, complex and changeable environment, complex and various parameters, etc., and achieve simple design parameters and high discreteness Low, eliminate the effect of wave high frequency and the effect of

Pending Publication Date: 2022-05-10
宜昌测试技术研究所
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Problems solved by technology

Since the semi-submersible vehicle is a complex robot system and the environment is complex and changeable, it is impossible to use a filter with complex parameters and a large amount of calculation in actual engineering practice.

Method used

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  • Depth detection method for semi-submersible navigation body
  • Depth detection method for semi-submersible navigation body
  • Depth detection method for semi-submersible navigation body

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Embodiment Construction

[0049] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0050] This embodiment provides a method for detecting the depth of a semi-submersible vehicle, see the attached figure 1 ,Specific steps are as follows:

[0051] Step 1, install two depth sensors on the bow and stern of the vehicle respectively. The two depth sensors are the bow depth sensor and the stern depth sensor respectively. The bow depth sensor collects the bow depth data of the vehicle. The stern depth sensor collects the stern depth data of the vehicle, as shown in the attached Figure 3-4 shown;

[0052] Step 2. Construct the wave low-pass filter, that is, construct two identical Butterworth low-pass filters, the two Butterworth low-pass filters are the bow Butterworth low-pass filter and the stern Butterworth low-pass filter Low-pass filter, the bow Butterworth low-pass filter performs low-pass Butterworth filtering on the bow depth data, e...

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Abstract

The invention discloses a depth detection method for a semi-submersible navigation body. Two depth sensors respectively collect boat bow depth data and boat stern depth data; the Butterworth low-pass filter carries out low-pass Butterworth filtering on the boat bow depth data and the boat stern depth data, high-frequency signals in the boat bow depth data and the boat stern depth data are eliminated, and a boat bow low-frequency depth measurement value and a boat stern low-frequency depth measurement value are obtained; a depth fusion filter fuses the low-frequency depth measurement value of the ship bow and the low-frequency depth measurement value of the ship stern, an error signal caused by the installation position of a depth sensor is eliminated, and a navigation body depth estimation value is obtained; the first-order complementary filter fuses the vertical velocity of the navigation body and the depth estimation value of the navigation body, which are acquired by the built-in inertial navigation equipment of the navigation body, and eliminates an error signal caused by the motion of the navigation body to obtain a depth value of the navigation body; the measurement error of the navigation body can be eliminated, and the method is simple and reliable.

Description

technical field [0001] The invention belongs to the technical field of marine robots, and in particular relates to a method for detecting the depth of a semi-submersible navigation body. Background technique [0002] A semi-submersible vehicle is a near-surface robot that can operate at a certain depth underwater. Different from conventional underwater robots, this type of robot has a shallow dive depth and is easily disturbed by the external environment. The top of the robot is equipped with a communication mast, which will affect the navigation performance and fluid characteristics of the robot during navigation, and due to the existence of the top communication mast, the robot's diving depth is greatly limited, which creates high requirements for depth control . High-precision depth control requires a special depth acquisition method, and at the same time requires the acquisition depth to be stable and smooth. In the case of high sea conditions, due to the small inerti...

Claims

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Application Information

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IPC IPC(8): G01B21/18G01C5/00G01C21/16
CPCG01B21/18G01C5/00G01C21/16
Inventor 徐杨邵兴覃月明杨鑫乔鹏飞王卓
Owner 宜昌测试技术研究所
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