Master-slave USV collaborative navigation method based on corner network condition adjustment

By adopting a collaborative navigation method based on edge and corner network condition adjustment in the USV formation, the measurement information accuracy is improved and the DVL speed measurement information is combined, which solves the problem of insufficient USV navigation positioning performance in satellite denial environment, and achieves higher navigation status estimation accuracy and stability.

CN119714294AActive Publication Date: 2025-03-28HARBIN ENG UNIV
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Patent Information

Application Number
CN202510039000.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-09
Publication Date
2025-03-28
Estimated Expiration
2045-01-09

AI Technical Summary

Technical Problem

In satellite denial environment, the navigation and positioning performance of the USV formation is affected by the accuracy and stability of the measurement information, especially the ranging and angle measurement information are easily affected by the environment, making it difficult to ensure its performance.

Method used

The master-slave USV collaborative navigation method based on edge-angle network condition adjustment is adopted to estimate the difference between the edge-to-angle measurement and angle measurement adjustment, and the navigation status estimation is estimated by estimating the measurement edge-to-angle measurement measurement difference, and the DVL speed measurement information is combined with the navigation status estimation.

Benefits of technology

It improves the navigation positioning performance of the USV formation in a satellite denial environment, enhances the accuracy and stability of navigation state estimation, and reduces the impact of measurement errors.

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Abstract

The invention discloses a master-slave USV collaborative navigation method based on corner net condition adjustment, and belongs to the technical field of autonomous underwater navigation, and the method comprises the following steps: using a strapdown inertial navigation system to obtain a navigation state of a USV to be positioned at an initial moment, receiving a current position shared by other USV data in a USV formation by the USV to be positioned, converting the current position into a two-dimensional coordinate, and carrying out navigation on the two-dimensional coordinate; the USV to be positioned obtains the relative distance measurement information # imgabs0 # and the relative azimuth angle # imgabs1 # between the USV to be positioned and other USVs according to the equipped sensor, establishes a state equation and a measurement equation for describing the USV to be positioned, establishes a corner net condition adjustment mathematical model, processes measurement vectors, obtains a measurement vector adjustment value and a variance matrix thereof, sets an observation noise variance matrix, and obtains the measurement vector adjustment value of the USV to be positioned according to the measurement information # imgabs0 # and the relative azimuth angle # imgabs1 # of the USV to be positioned. And measurement updating is carried out in combination with DVL speed measurement information. By adopting the corner net condition adjustment-based master-slave USV collaborative navigation method disclosed by the invention, high-precision estimation and collaborative correction of the navigation state of the USV to be positioned can be realized.
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