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Underwater robot attitude estimation method and device, electronic equipment and storage medium

An underwater robot, attitude technology, applied in electronic equipment and storage medium, device, underwater robot attitude estimation method field, can solve the problem that underwater robot attitude information is easily affected by drift and the like

Pending Publication Date: 2022-07-22
上海中车艾森迪海洋装备有限公司
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Problems solved by technology

[0004] The present invention provides an underwater robot attitude estimation method, device, electronic equipment and storage medium to solve the problem that the underwater robot attitude information obtained by the existing three-axis gyroscope-based inertial navigation system is easily affected by drift

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  • Underwater robot attitude estimation method and device, electronic equipment and storage medium
  • Underwater robot attitude estimation method and device, electronic equipment and storage medium
  • Underwater robot attitude estimation method and device, electronic equipment and storage medium

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Embodiment Construction

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the specific embodiments and the accompanying drawings.

[0022] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of the present invention shall have the usual meanings understood by those with ordinary skill in the art to which the present disclosure belongs. "First", "second" and similar words used in the embodiments of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Comprises" or "comprising" and similar words mean that the elements or things appearing before the word encompass the elements or things recited after the word and their equivalents, but do not exclude other elements or things. Words like "connected" or "connected" are not limited to ...

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Abstract

The invention provides an underwater robot attitude estimation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the first position information of acoustic beacons in a reference coordinate system, and arranging a plurality of underwater acoustic positioning systems comprising the acoustic beacons and transducers in the reference coordinate system; second position information of the acoustic beacon relative to the energy converter is measured through the energy converter, then third position information of the acoustic beacon relative to the underwater robot is obtained, and the energy converter is installed on the underwater robot; according to the first position information and the third position information, a first transformation matrix of transformation from the reference coordinate system to a robot body coordinate system is obtained; and calculating the attitude information of the underwater robot relative to the reference coordinate system at the current moment according to the first transformation matrix and the Euler angle relation matrix of the underwater robot relative to the reference coordinate system. According to the invention, the acoustic beacons are installed in different reference coordinate systems, so that the attitude information of the underwater robot relative to different reference coordinate systems can be accurately measured.

Description

technical field [0001] The invention belongs to the technical field of underwater measurement, and in particular relates to an underwater robot attitude estimation method, device, electronic equipment and storage medium. Background technique [0002] When underwater robots fly or operate underwater, they need to continuously upload their own status information, including position information and attitude information, so that operators can respond in time. And when the automatic control system is operating, the underwater robot also needs to continuously send its own state information to the control system as state feedback to achieve precise automatic control functions. [0003] In order to obtain the attitude information of the underwater robot, it is usually necessary to install a three-axis high-precision gyro sensor on the robot, that is, the so-called inertial navigation system. The inertial navigation system based on the three-axis gyroscope has the advantages of high...

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Application Information

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IPC IPC(8): B25J19/00B25J9/16B25J19/02
CPCB25J19/00B25J9/16B25J9/1664B25J19/02Y02A90/30
Inventor 朱迎谷张定华尚敬严允涂绍平卢倪斌胡斌炜朱建波宋俊辉王勇徐蕾
Owner 上海中车艾森迪海洋装备有限公司
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