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Synchronous positioning and mapping method for underwater vehicle and underwater vehicle

An underwater vehicle, synchronous positioning technology, applied in the directions of instruments, navigation, surveying and navigation, etc., to achieve a universal effect

Pending Publication Date: 2022-05-13
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the existing problems, the present invention provides a method for synchronous positioning and mapping of an underwater vehicle and an underwater vehicle

Method used

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  • Synchronous positioning and mapping method for underwater vehicle and underwater vehicle
  • Synchronous positioning and mapping method for underwater vehicle and underwater vehicle
  • Synchronous positioning and mapping method for underwater vehicle and underwater vehicle

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Embodiment Construction

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0029] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing function and circuit communication function.

[0030] It is to be understood that the terms "length", "width", "top", "bottom", "front"...

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Abstract

The invention provides an underwater vehicle synchronous positioning and mapping method and an underwater vehicle, and the method comprises the steps: S1, employing a multi-beam image sonar to obtain the sensing data of a detected region, and enabling the multi-beam image sonar to be disposed on the underwater vehicle; s2, estimating real-time attitude information of the multi-beam image sonar according to the sensing data; and S3, integrating the real-time attitude information by adopting a nonlinear optimization algorithm to obtain a first track and a first map of the multi-beam image sonar. On the basis of a multi-beam image sonar sensor, an SLAM technology and an algorithm thereof suitable for an actual marine environment are established, a map is established in a completely unknown environment under the condition that the position of an aircraft is uncertain, and meanwhile self-positioning and navigation are conducted through the map.

Description

technical field [0001] The invention relates to the technical field of underwater positioning and map construction, in particular to a method for synchronous positioning and mapping of an underwater vehicle and the underwater vehicle. Background technique [0002] Accurate positioning information is the key to underwater vehicles navigating in vast seas. At present, the relatively mature underwater positioning methods mainly include the following categories: The first type relies on the inertial sensor (IMU), and calculates the positioning information by measuring the three-axis attitude angle and acceleration of the object. Positioning can be achieved without the assistance of external information. The disadvantage is that the inertial sensor of the IMU will have an error accumulation effect. As time goes by, the positioning error will increase and the accuracy will drift greatly. The second category is based on the acoustic baseline system, which mainly includes long, sho...

Claims

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Application Information

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IPC IPC(8): G01S15/89G01S15/93G01C21/20
CPCG01S15/89G01S15/93G01C21/203
Inventor 李强王凯甬舒明瑞荆宏政李雪萌陈文颖郑宇
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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