Underwater inspection robot navigation method, device and system and storage medium

Abstract

The invention discloses an underwater inspection robot navigation method, device and system and a storage medium, the underwater inspection robot navigation method is applied to underwater culture equipment, and comprises the following steps: in the process that an underwater inspection robot inspects culture netting, the underwater inspection robot performs navigation on the culture netting; continuously obtaining the observation navigation attitude information of the underwater inspection robot through a positioning device carried by the underwater inspection robot, and continuously obtaining the motion information of the culture netting; obtaining expected heading attitude information of the underwater inspection robot through a global path planning algorithm based on the observed heading attitude information and the motion information; and correcting the navigation parameters of the underwater inspection robot through a Kalman filtering algorithm framework based on the deviation between the observed navigation attitude information and the expected navigation attitude information. According to the navigation method for the underwater inspection robot, the technical problem that high-precision navigation cannot be realized due to the fact that a current path tracking mode for the underwater inspection robot is difficult to adapt to irregular movement conditions of fishery breeding equipment can be solved.

Description

technical field [0001] The invention belongs to the technical field of underwater inspection, and in particular relates to a navigation method for an underwater inspection robot, a navigation device for an underwater inspection robot, a navigation system for an underwater inspection robot and a computer-readable storage medium. Background technique [0002] Deep-sea aquaculture has become the main development direction of marine fish farming. With the development of large-scale, industrialized and intelligent fish farming equipment, higher requirements are also put forward for its daily operation and maintenance. When choosing an underwater inspection robot (AUV) with better mobility and higher safety for daily inspection and maintenance of fish farming equipment, an important problem that needs to be solved is how to realize the path tracking of the underwater inspection robot. navigation. [0003] Due to the influence of the underwater environment on electromagnetic waves...

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Problems solved by technology

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a navigation method for an underwater inspection robot, which aims to solve the problem that the current path tracking navigation method for an underwater inspection robot is difficult to adapt to the irregular movement of fish farming equipment , so that it is impossible to realize the technical problem of high-precision navigation

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