Underwater robot positioning data correction method, device, equipment and product

Abstract

The invention relates to the technical field of underwater robots, and discloses a method, a device, equipment and a product for correcting positioning data of an underwater robot, and the method, the device, the equipment and the product realize quantification from position information to a motion state by converting position data of an ultra-short baseline system into speed data, so that the information of the ultra-short baseline system is expanded. Furthermore, by fusing the gyroscope speed and the speed deduced by the ultra-short baseline system and combining with the time interval to correct the position data, the problems of position information hopping and reliability reduction of the ultra-short baseline system in a complex scene are solved, and the reliability of the finally output target position data is improved. Therefore, by implementing the method and the system, the positioning data of the underwater robot is corrected by combining the data of the ultra-short baseline system and the gyroscope, the reliability of positioning information is improved, dependence on a high-precision inertial navigation system is not needed, the requirements on hardware cost and computing power are reduced, and deployment on an upper computer is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to an underwater robot positioning data correction method, device, equipment and product. BACKGROUND

[0002] The existing underwater robot positioning mainly relies on ultra-short baseline system positioning and inertial navigation system positioning, and the two systems independently give positioning information. However, the ultra-short baseline system is easy to be disturbed when the underwater robot is in a complex scene such as close to the bottom of the water or the wall surface, resulting in position information jumping and reducing the credibility of the positioning information; the high-precision inertial navigation system has higher requirements for cost and computing power, and needs more underlying development work, which is not convenient for fusion positioning algorithm development on the host computer. SUMMARY

[0003] Therefore, the present application provides an underwater robot positioning data correction method, device, equipment and product to solve the problem of low accuracy of the existing underwater robot positioning method.

[0004] In a first aspect, the present application provides an underwater robot positioning data correction method, and an ultra-short baseline system and a gyroscope are arranged in the underwater robot; the method comprises:

[0005] The first position data of the underwater robot at the first time and the second position data of the underwater robot at the second time are obtained by using the ultra-short baseline system, and the first speed vector of the underwater robot at the first time is obtained by using the gyroscope, and the second time is the previous time adjacent to the first time; the time interval is determined according to the first time and the second time; the second speed vector of the underwater robot measured by the ultra-short baseline system is determined according to the time interval, the first position data and the second position data; the second position data of the underwater robot is corrected according to the first speed vector, the time interval and the second speed vector, and the target position data of the underwater robot after correction is obtained.

[0006] The underwater robot positioning data correction method provided by the application avoids the limitations of two systems independently giving positioning information and the defects of a single system in a complex scene by simultaneously obtaining the first position data of the ultra-short baseline system, the second position data of the underwater robot and the first speed vector measured by the gyroscope. At the same time, the gyroscope avoids the high cost and development difficulty of the high-precision inertial navigation system, and is convenient for the deployment of the host computer. Further, by explicitly defining the time interval of adjacent time points, the rigor of subsequent speed vector and movement distance vector calculations is ensured, laying a foundation for the reliability of the correction result. Further, the position data of the ultra-short baseline system is converted into speed data, realizing the quantization of position information to motion state, and further enabling the information of the ultra-short baseline system to be expanded, providing more dimensional data support for subsequent correction. Further, by fusing the speed of the gyroscope and the speed derived by the ultra-short baseline system, and combining the time interval to correct the position data, the problem of position information jumping and reduced reliability of the ultra-short baseline system in a complex scene is solved, and the reliability of the final output target position data is improved. Therefore, by implementing the application, the positioning data of the underwater robot is corrected by combining the data of the ultra-short baseline system and the gyroscope, the reliability of the positioning information is improved, and the requirement for hardware cost and computing power is reduced, which is convenient for deployment on the host computer.

[0007] In an optional implementation, the second speed vector of the underwater robot measured by the ultra-short baseline system is determined according to the time interval, the first position data and the second position data, and includes:

[0008] The position difference value is determined according to the first position data and the second position data, and the second speed vector of the underwater robot measured by the ultra-short baseline system is determined according to the position difference value and the time interval.

[0009] The underwater robot positioning data correction method provided by the application quantifies the position change of the underwater robot at two adjacent time points by calculating the difference between the first position data of the ultra-short baseline system at the first time point and the second position data at the second time point (adjacent previous time point). Further, the position difference value is combined with the time interval for calculation, and the position change information of the ultra-short baseline system is converted into a speed vector (second speed vector), so that the output of the ultra-short baseline system is expanded from static position information to dynamic speed information, filling the gap that it cannot directly provide speed data.

[0010] In an optional implementation, the second position data of the underwater robot is corrected according to the first speed vector, the time interval and the second speed vector, and the corrected target position data of the underwater robot is obtained, and includes:

[0011] According to the first velocity vector and the second velocity vector, the real velocity of the underwater robot is corrected to obtain a corrected third velocity vector of the underwater robot; according to the third velocity vector and the time interval, the second position data is corrected to obtain a corrected target position data of the underwater robot.

[0012] The underwater robot positioning data correction method provided by the present invention, by fusing the first velocity vector of the dynamic trend of the robot motion and the second velocity vector derived by the ultra-short baseline system measured by the gyroscope, realizes the complementary correction of two kinds of velocity data, effectively avoids the limitation of single system.Meanwhile, the high cost and development difficulty of high-precision inertial navigation system are avoided by gyroscope, it is convenient to host computer deployment.Further, by fusion correction, the 3rd velocity vector obtained is made closer to the robot true speed, especially when the ultra-short baseline system is disturbed (such as approaching the bottom of the water, the wall), the jump effect of its velocity data can be weakened, for subsequent position correction provides reliable speed reference.Therefore, by implementing the present invention, by speed fusion, realize the complementary optimization of data, effectively weaken the interference effect of the ultra-short baseline system under complex scenes, reduce position jump, avoid the high cost problem of high-precision inertial navigation system simultaneously, improve stability and the credibility of positioning data.

[0013] In an optional embodiment, the actual speed of the underwater robot is corrected according to the first speed vector and the second speed vector to obtain a corrected third speed vector of the underwater robot, including:

[0014] According to the first velocity vector and the second velocity vector, a velocity vector deviation value and a velocity vector target value are determined; according to the velocity vector deviation value and the velocity vector target value, a correction coefficient is determined; according to the first velocity vector, the second velocity vector and the correction coefficient, the actual velocity of the underwater robot is corrected to obtain a corrected third velocity vector of the underwater robot.

[0015] The underwater robot positioning data correction method provided by the present invention quantifies the difference in velocity data between the two systems by calculating the deviation between a first velocity vector measured by a gyroscope and a second velocity vector derived by an ultra-short baseline system, as well as the target velocity vector values ​​of both. This provides a clear parameter basis for the subsequent calculation of correction coefficients. Furthermore, by calculating the correction coefficient, the weight of the velocity data of the two systems during fusion dynamically changes with the deviation, achieving adaptive adaptation to different scenarios. Furthermore, compared to the existing model of two independent positioning systems, the introduction of the correction coefficient makes velocity fusion more targeted, effectively weakening the interference effect of the ultra-short baseline system, further approximating the robot's true velocity, and enhancing the reliability of the velocity data. Furthermore, the correction coefficient is used to perform a weighted summation of the gyroscope velocity and the ultra-short baseline system velocity to form a final third velocity vector, resolving the problem of velocity jumps in the ultra-short baseline system in complex scenarios. Therefore, by implementing the present invention, the resulting third velocity vector combines the advantages of both systems, utilizing the position correlation information of the ultra-short baseline system while suppressing interference with the stability of the gyroscope. This provides a high-precision velocity reference for subsequent position correction, indirectly improving the credibility of the positioning data.

[0016] In an optional embodiment, the second position data is corrected according to the third velocity vector and the time interval to obtain the corrected target position data of the underwater robot, including:

[0017] Determine the corrected moving distance vector of the underwater robot according to the third speed vector and the time interval; and determine the corrected target position data of the underwater robot according to the moving distance vector and the second position data.

[0018] The underwater robot positioning data correction method provided by the present invention can convert the speed data into a moving distance vector by multiplying the corrected third speed vector by the time interval, thus establishing a bridge from speed correction to position correction, so that the optimization at the speed level can directly act on the position data. At the same time, the moving distance is calculated based on the high-precision third speed vector, avoiding the distance calculation error caused by the speed jump of the original ultra-short baseline system, especially in complex scenes, effectively reducing the abnormal fluctuation of the distance vector, and providing a reliable distance parameter for position correction. Further, the corrected moving distance vector is added to the second position data of the previous moment to obtain the target position data, forming a complete closed loop from the original data to the corrected position, solving the problem of position jump and low credibility of the ultra-short baseline system in complex scenes in the prior art. Therefore, by implementing the present invention, the output corrected position data effectively filters the interference of the ultra-short baseline system, so that the positioning information can more stably reflect the real position of the robot; at the same time, the whole process does not need to rely on a high-precision inertial navigation system, reducing the requirements for hardware cost and computing power, and facilitating deployment on the host computer.

[0019] In a second aspect, the present invention provides an underwater robot positioning data correction device, wherein an ultra-short baseline system and a gyroscope are provided in the underwater robot; the device comprises:

[0020] An acquisition module is used to acquire first position data of the underwater robot at a first moment and second position data at a second moment using an ultra-short baseline system, and to acquire a first velocity vector of the underwater robot at the first moment using a gyroscope, where the second moment is a previous moment adjacent to the first moment; a first determination module is used to determine a time interval based on the first moment and the second moment; a second determination module is used to determine a second velocity vector of the underwater robot measured by the ultra-short baseline system based on the time interval, the first position data and the second position data; and a correction module is used to correct the second position data of the underwater robot based on the first velocity vector, the time interval and the second velocity vector to obtain corrected target position data of the underwater robot.

[0021] In an optional implementation, the second determining module includes:

[0022] The first determination submodule is used to determine the position difference according to the first position data and the second position data; the second determination submodule is used to determine the second velocity vector of the underwater robot measured by the ultra-short baseline system according to the position difference and the time interval.

[0023] In a third aspect, the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the underwater robot positioning data correction method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the underwater robot positioning data correction method of the first aspect or any corresponding embodiment thereof.

[0025] In a fifth aspect, the present invention provides a computer program product comprising computer instructions for causing a computer to execute the underwater robot positioning data correction method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 is a flow chart of a method for correcting positioning data of an underwater robot according to an embodiment of the present invention;

[0028] Figure 2 is a flow chart of another underwater robot positioning data correction method according to an embodiment of the present invention;

[0029] Figure 3 is a flow chart of another underwater robot positioning data correction method according to an embodiment of the present invention;

[0030] Figure 4 2 is a structural block diagram of an underwater robot positioning data correction device according to an embodiment of the present invention;

[0031] Figure 5 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0033] An embodiment of the present invention provides a method for correcting the positioning data of an underwater robot. By combining the data of an ultra-short baseline system and a gyroscope, the positioning data of the underwater robot is corrected to improve the credibility of the positioning information. This method does not rely on a high-precision inertial navigation system, reduces the requirements for hardware costs and computing power, and facilitates deployment on a host computer.

[0034] According to an embodiment of the present invention, an embodiment of a method for correcting positioning data of an underwater robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] This embodiment provides a method for correcting underwater robot positioning data, which can be used in electronic devices such as computers, mobile phones, and tablets. The underwater robot is equipped with an ultra-short baseline system and a gyroscope. Specifically, the ultra-short baseline system is a system used for underwater robot positioning, capable of directly measuring the underwater robot's position data at a specific moment and is a key device for obtaining the underwater robot's spatial position information. The gyroscope is a device used to measure the underwater robot's motion speed, capable of obtaining the underwater robot's velocity vector at a specific moment in real time, reflecting the robot's motion state.

[0036] Figure 1 FIG. 1 is a flow chart of a method for correcting positioning data of an underwater robot according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0037] Step S101: using an ultra-short baseline system to obtain first position data of an underwater robot at a first moment and second position data of an underwater robot at a second moment, and using a gyroscope to obtain a first velocity vector of the underwater robot at the first moment.

[0038] The second moment is a previous moment adjacent to the first moment.

[0039] Specifically, as the basic equipment for underwater positioning, the ultra-short baseline system can measure and output the spatial position information of the current first moment and the underwater robot through its own positioning function, that is, the first position data P ′ Among them, the positioning function can be achieved through conventional ultra-short baseline positioning technologies such as underwater acoustic signals and baseline measurements.

[0040] Furthermore, the spatial position information of the underwater robot at the previous moment (the second moment), ie, the second position data P0, can also be acquired through the ultra-short baseline system.

[0041] In some optional embodiments, first, the sensor module of the ultra-short baseline system (such as an underwater acoustic transducer array) is integrated and installed on the main structure of the underwater robot to ensure that it can stably receive and transmit underwater acoustic signals during the movement of the robot and is not affected by the obstruction of the robot's own structure.

[0042] Secondly, at the first moment (i.e., the current moment, for example, t1), the ultra-short baseline system transmits an acoustic signal and receives the echo signal from the underwater fixed beacon or the mother ship. The distance is calculated using the signal propagation time difference, and the position of the underwater robot at the first moment (such as X0, Y0, Z0 in the three-dimensional coordinate system) is calculated in combination with the baseline length, and recorded as the first position data P ′ .

[0043] Finally, at the second time (i.e. the previous time adjacent to the first time, for example, t0, the time interval between t0 and t1 is Δt, and Δt is a sampling interval preset by the system, such as 0.1 seconds), the ultra-short baseline system repeats the above positioning logic, and the spatial position coordinates (such as X1, Y1, Z1) of the underwater robot at this time are measured in real time and recorded as the second position data P0.

[0044] Further, the gyroscope carried by the underwater robot and the ultra-short baseline system perform synchronous data collection at the first time. Specifically, the gyroscope can measure and output the movement speed vector of the underwater robot at the first time, i.e. the first speed vector

[0045] Through synchronous collection, it is ensured that the speed measurement time of the gyroscope is completely consistent with the time at which the first position data is collected by the ultra-short baseline system, and the matching of the speed data and the position data in the time dimension is ensured, thereby providing an accurate time reference for subsequent comparison and fusion correction of the speed vector.

[0046] In some optional embodiments, the gyroscope (such as a micro-electro-mechanical system gyroscope, MEMS gyroscope) is first integrated and installed on the internal stable structure of the underwater robot, so as to ensure that the measurement axis is aligned with the movement axis (such as the forward, transverse and lifting directions) of the robot, and to avoid measurement errors caused by the vibration or structural deformation of the robot itself.

[0047] Secondly, the sampling time of the gyroscope and the sampling time of the ultra-short baseline system can be time-synchronized and calibrated by the main control system of the underwater robot, so as to ensure that both of them trigger data collection at the first time (such as the current time t1), and to ensure the time correlation of the speed data and the position data.

[0048] Finally, at the first time t1, the gyroscope measures the movement speed components (such as the speed values along the X-axis, Y-axis and Z-axis) of the underwater robot in the three-dimensional space in real time through its own speed measurement mechanism (based on the principle of conservation of angular momentum to perceive the movement state of the robot), and integrates these components into the first speed vector

[0049] Step S102, determining the time interval according to the first time and the second time.

[0050] Specifically, by performing difference operation on the first time and the second time, the time interval Δt between the two times can be obtained.

[0051] Further, by explicitly defining the time interval of the adjacent times, the rigor of the subsequent calculation of the speed vector, the movement distance vector and the like is ensured, thereby laying a foundation for the reliability of the correction result.

[0052] Step S103, determining the second speed vector of the underwater robot measured by the ultra-short baseline system according to the time interval, the first position data and the second position data.

[0053] wherein the second speed vector is used to characterize the speed and direction of the underwater robot in the time interval.

[0054] Specifically, by converting the position data of the ultra-short baseline system into speed data (second speed vector), the quantification of position information into motion state (speed) is realized, which provides an operable parameter for comparison and fusion of speed data (first speed vector) of the gyroscope.

[0055] Further, the ultra-short baseline system in the prior art can only provide position information and is prone to interference jump. In the embodiment, the speed is derived through the position data, so that the information of the ultra-short baseline system is expanded, and more dimensional data support is provided for subsequent correction.

[0056] Step S104, correcting the second position data of the underwater robot according to the first speed vector, the time interval and the second speed vector, to obtain the target position data of the underwater robot after correction.

[0057] Specifically, by fusing the speed of the gyroscope (first speed vector) and the speed derived by the ultra-short baseline system (second speed vector), and combining the time interval to correct the position data, the technical problems of position information jump and reduced reliability of the ultra-short baseline system in complex scenes are solved.

[0058] Further, the position is corrected by speed fusion instead of relying on a single system, and the reliability of the final output target position data is significantly improved, while avoiding the high cost and development difficulty of the high-precision inertial navigation system, facilitating the deployment of the upper computer.

[0059] The underwater robot positioning data correction method provided in the embodiment avoids the limitations of two systems independently giving positioning information and the defects of a single system in a complex scene. Meanwhile, the gyroscope avoids the high cost and development difficulty of a high-precision inertial navigation system, and facilitates the deployment of the host computer. Further, by explicitly defining the time interval of adjacent time points, the rigor of subsequent speed vector and movement distance vector calculations is ensured, laying a foundation for the reliability of the correction result. Further, the position data of the ultra-short baseline system is converted into speed data, realizing the quantization of position information to motion state, and further enabling the information of the ultra-short baseline system to be expanded, providing more dimensional data support for subsequent correction. Further, by fusing the speed of the gyroscope and the speed derived by the ultra-short baseline system and combining the time interval to correct the position data, the problem of position information jumping and reduced reliability of the ultra-short baseline system in a complex scene is solved, and the reliability of the final output target position data is improved. Therefore, by implementing the present application, the positioning data of the underwater robot is corrected by combining the data of the ultra-short baseline system and the gyroscope, the reliability of the positioning information is improved, and the requirement for hardware cost and computing power is reduced, facilitating the deployment of the host computer.

[0060] An underwater robot positioning data correction method is provided in the embodiment, which can be used in electronic devices such as computers, mobile phones, tablet computers and the like. The underwater robot is provided with an ultra-short baseline system and a gyroscope.

[0061] Figure 2 The flowchart of the underwater robot positioning data correction method according to the embodiment of the present application is shown in FIG. 1, which includes the following steps: Figure 2

[0062] In step S201, the first position data of the underwater robot at the first time point and the second position data at the second time point are obtained by using the ultra-short baseline system, and the first speed vector of the underwater robot at the first time point is obtained by using the gyroscope. For details, please refer to step S101 of the embodiment shown in FIG. 1, which will not be repeated here. Figure 1

[0063] In step S202, the time interval is determined according to the first time point and the second time point. For details, please refer to step S102 of the embodiment shown in FIG. 1, which will not be repeated here. Figure 1

[0064] In step S203, the second speed vector of the underwater robot measured by the ultra-short baseline system is determined according to the time interval, the first position data and the second position data.

[0065] Specifically, the above step S203 includes:​​​

[0066] Step S2031, determining a position difference value according to the first position data and the second position data.

[0067] Specifically, the first position data P ′ is subjected to component subtraction operation with the second position data P ′ 0, to obtain the position difference value P

[0068] Further, by calculating the difference value between the first position data of the ultra-short baseline system at the first time and the second position data at the second time (adjacent previous time), the position change of the underwater robot at two adjacent times is quantified. Wherein, the position change includes the size and direction of the change.

[0069] Step S2032, determining a second speed vector of the underwater robot measured by the ultra-short baseline system according to the position difference value and the time interval.

[0070] Specifically, the position difference value P ′ -P0 obtained in step S2031 is divided by the time interval Δt, to obtain the second speed vector as shown in the following relationship (1):

[0071]

[0072] Further, the second speed vector represents the motion speed of the underwater robot between two adjacent times reflected by the ultra-short baseline system, including the size and direction of the speed, and provides a speed parameter based on position data for subsequent fusion correction with the gyroscope speed vector.

[0073] Step S204, correcting the second position data of the underwater robot according to the first speed vector, the time interval and the second speed vector, to obtain the target position data of the underwater robot after correction. For details, please refer to step S104 of the embodiment shown in Figure 1 , which will not be repeated here.

[0074] The underwater robot positioning data correction method provided in the embodiment quantifies the position change of the underwater robot at two adjacent times by calculating the difference value between the first position data of the ultra-short baseline system at the first time and the second position data at the second time (adjacent previous time). Further, the position difference value is combined with the time interval for calculation, and the position change information of the ultra-short baseline system is converted into a speed vector (second speed vector), so that the output of the ultra-short baseline system is expanded from static position information to dynamic speed information, filling the blank that it cannot directly provide speed data.

[0075] In this embodiment, a method for correcting positioning data of an underwater robot is provided, which can be used in electronic devices such as computers, mobile phones, tablet computers, etc. The underwater robot is provided with an ultra-short baseline system and a gyroscope.

[0076] Figure 3 FIG. 1 is a flow chart of a method for correcting positioning data of an underwater robot according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0077] Step S301: Use the ultra-short baseline system to obtain the first position data of the underwater robot at the first moment and the second position data at the second moment, and use the gyroscope to obtain the first velocity vector of the underwater robot at the first moment. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0078] Step S302: Determine the time interval based on the first moment and the second moment. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0079] Step S303: Determine the second velocity vector of the underwater robot measured by the ultra-short baseline system based on the time interval, the first position data, and the second position data. Figure 2 Step S203 of the illustrated embodiment will not be described in detail here.

[0080] Step S304 : correcting the second position data of the underwater robot according to the first velocity vector, the time interval, and the second velocity vector to obtain corrected target position data of the underwater robot.

[0081] Specifically, the above step S304 includes:

[0082] Step S3041: Correcting the actual speed of the underwater robot according to the first speed vector and the second speed vector to obtain a corrected third speed vector of the underwater robot.

[0083] Specifically, by calculating the robot speed derived from the ultra-short baseline system positioning data and comparing it with the speed information derived from the gyroscope, the true speed of the robot can be corrected and the corrected third speed vector of the underwater robot can be obtained.

[0084] Furthermore, the gyroscope has strong speed stability, and the ultra-short baseline speed is closely related to the position. Through fusion correction, the speed jump problem of the ultra-short baseline system in complex scenarios can be weakened, thereby making the output third speed vector more reliable.

[0085] In some optional implementations, step S3041 includes:

[0086] Step a1, determining a speed vector deviation value and a speed vector target value according to the first speed vector and the second speed vector.

[0087] Step a2, determining a correction coefficient according to the speed vector deviation value and the speed vector target value.

[0088] Step a3, correcting the real speed of the underwater robot according to the first speed vector, the second speed vector and the correction coefficient, to obtain a third speed vector of the underwater robot after correction.

[0089] Specifically, the absolute value of the difference between the first speed vector and the second speed vector is calculated as the speed vector deviation value

[0090] Further, the sum of the absolute values of the first speed vector and the second speed vector is calculated as the speed vector target value

[0091] Further, the ratio of the speed vector deviation value and the speed vector target value can be taken as the correction coefficient, as shown in the following relationship (2):

[0092]

[0093] In the formula, K represents the correction coefficient.

[0094] Further, the real speed of the underwater robot can be corrected by combining the obtained first speed vector second speed vector and correction coefficient K, and a third speed vector of the underwater robot after correction is obtained as shown in the following relationship (3):

[0095]

[0096] By dynamically weighting the advantages of the two speeds, the interference of the gyroscope is suppressed, and the relevance of the ultra-short baseline and the position is retained, so that the final output third speed vector is closer to the real motion state of the robot.

[0097] Step S3042, correcting the second position data according to the third speed vector and the time interval to obtain the target position data of the underwater robot after correction.

[0098] Specifically, by passing the result of speed correction to the position level and by integrating the corrected motion distance and the historical position, the position jump problem of the ultra-short baseline system in complex scenes is solved, and the positioning reliability is improved.

[0099] In some optional implementations, step S3042 includes:

[0100] Step b1: determining the corrected moving distance vector of the underwater robot according to the third velocity vector and the time interval.

[0101] Step b2: determining the corrected target position data of the underwater robot according to the moving distance vector and the second position data.

[0102] Specifically, the third velocity vector Multiplying by the time interval Δt between the first moment and the second moment, the corrected moving distance vector can be obtained

[0103] By converting the degree vector into a distance vector, a bridge between speed correction and position correction is established, ensuring that optimization at the speed level can be directly reflected in position changes, avoiding the accumulation of position deviations caused by the original speed error.

[0104] Furthermore, the corrected moving distance vector By adding the second position data P0 at the previous moment (the second moment), the corrected target position data P1 of the underwater robot can be obtained.

[0105] By integrating the corrected motion distance and the position at the previous moment, the output target position data can effectively filter out the interference jumps of the ultra-short baseline system. At the same time, it does not need to rely on a high-precision inertial navigation system, taking into account both positioning accuracy and practicality, and is easy to deploy on the host computer.

[0106] The underwater robot positioning data correction method provided in this embodiment quantifies the difference in velocity data between the two systems by calculating the deviation between the first velocity vector measured by the gyroscope and the second velocity vector derived by the ultra-short baseline system, as well as the target velocity vector values ​​of both. This provides a clear parameter basis for the subsequent calculation of the correction coefficient. Furthermore, by calculating the correction coefficient, the weight of the velocity data of the two systems during fusion dynamically changes with the deviation, achieving adaptive adaptation to different scenarios. Furthermore, compared with the existing model of two independent positioning systems, the introduction of the correction coefficient makes velocity fusion more targeted, effectively weakens the interference effect of the ultra-short baseline system, further approximates the robot's true velocity, and enhances the reliability of the velocity data. Furthermore, the correction coefficient is used to weight the sum of the gyroscope velocity and the ultra-short baseline system velocity to form a final third velocity vector, which solves the problem of velocity jumps in the ultra-short baseline system in complex scenarios. Furthermore, by multiplying the corrected third velocity vector by the time interval, the velocity data can be converted into a movement distance vector, establishing a bridge from velocity correction to position correction, allowing velocity-level optimization to directly affect position data. Furthermore, calculating the travel distance based on the highly accurate third velocity vector avoids distance calculation errors caused by velocity jumps in the original ultra-short baseline system. This effectively reduces abnormal fluctuations in the distance vector, particularly in complex scenarios, and provides reliable distance parameters for position correction. Furthermore, the corrected travel distance vector is added to the second position data from the previous moment to obtain the target position data, forming a complete closed loop from the original data to the corrected position. This solves the existing problem of ultra-short baseline systems suffering from position jumps and low reliability in complex scenarios.

[0107] In one example, a method for correcting underwater robot positioning data in complex scenarios is provided. The method compares the robot speed derived from the ultra-short baseline system positioning data with the speed information derived from the gyroscope to correct the robot's actual speed, thereby obtaining the corrected positioning data for the robot. This method includes:

[0108] 1. Read the position data P of the ultra-short baseline system at this moment ′ , and the difference between the robot position at the previous moment and the time interval P0 is divided by the time interval P0 to obtain the velocity vector measured by the ultra-short baseline. The calculation method is as follows:

[0109]

[0110] 2. The speed of the underwater robot measured by the gyroscope at this moment Underwater robot speed measured by ultra-short baseline system The ratio of the deviation to the sum of the absolute values ​​of the velocities is used as the correction coefficient K, which is calculated as follows:

[0111]

[0112] Further, the gyro measured underwater robot speed at this moment The underwater robot speed measured by the ultra-short baseline system The corrected speed vector of the underwater robot is the sum of the underwater robot speed measured by the ultra-short baseline system and the coefficient K correction, and the calculation method is as follows:

[0113]

[0114] 3, the corrected speed vector Multiply the time interval Δt to get the corrected underwater robot movement distance vector

[0115] 4, the corrected movement distance vector Sum the robot position data P0 at the last moment to get the corrected robot position P1.

[0116] The underwater robot positioning data correction method provided in the example can effectively correct the position information jump phenomenon of the ultra-short baseline system in the positioning process of the ultra-short baseline system in a complex environment, so as to strengthen the credibility of the positioning information. And can be deployed in the host computer software to obtain better hardware compatibility, and facilitate the migration of the method.

[0117] In this embodiment, an underwater robot positioning data correction device is also provided, which is used to realize the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware implementation is also possible and contemplated.

[0118] The embodiment provides an underwater robot positioning data correction device, and the underwater robot is provided with an ultra-short baseline system and a gyroscope; as shown in the figure, the device comprises: Figure 4

[0119] The acquisition module 401 is used to acquire the first position data of the underwater robot at the first moment and the second position data at the second moment by using the ultra-short baseline system, and acquire the first speed vector of the underwater robot at the first moment by using the gyroscope. The second moment is the previous moment adjacent to the first moment.

[0120] The first determination module 402 is used to determine the time interval according to the first moment and the second moment.

[0121] The second determination module 403 is used to determine the second speed vector of the underwater robot measured by the ultra-short baseline system according to the time interval, the first position data and the second position data.​

[0122] The correction module 404 is configured to correct the second position data of the underwater robot according to the first speed vector, the time interval and the second speed vector, to obtain the corrected target position data of the underwater robot.

[0123] In some optional embodiments, the second determination module 403 comprises:

[0124] The first determination sub-module is configured to determine the position difference value according to the first position data and the second position data.

[0125] The second determination sub-module is configured to determine the second speed vector of the underwater robot measured by the ultra-short baseline system according to the position difference value and the time interval.

[0126] In some optional embodiments, the correction module 404 comprises:

[0127] The first correction sub-module is configured to correct the real speed of the underwater robot according to the first speed vector and the second speed vector, to obtain the third speed vector of the underwater robot after correction.

[0128] The second correction sub-module is configured to correct the second position data according to the third speed vector and the time interval, to obtain the corrected target position data of the underwater robot.

[0129] In some optional embodiments, the first correction sub-module comprises:

[0130] The first determination unit is configured to determine the speed vector deviation value and the speed vector target value according to the first speed vector and the second speed vector.

[0131] The second determination unit is configured to determine the correction coefficient according to the speed vector deviation value and the speed vector target value.

[0132] The correction unit is configured to correct the real speed of the underwater robot according to the first speed vector, the second speed vector and the correction coefficient, to obtain the third speed vector of the underwater robot after correction.

[0133] In some optional embodiments, the second correction sub-module comprises:

[0134] The third determination unit is configured to determine the corrected movement distance vector of the underwater robot according to the third speed vector and the time interval.

[0135] The fourth determination unit is configured to determine the corrected target position data of the underwater robot according to the movement distance vector and the second position data.

[0136] The further function descriptions of the above-mentioned modules and units are the same as those of the above-mentioned corresponding embodiments, which will not be repeated here.

[0137] The underwater robot positioning data correction device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0138] The embodiment of the present invention also provides a computer device having the above Figure 4 The underwater robot positioning data correction device shown.

[0139] See also Figure 5 , Figure 5 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of a GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0140] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0141] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0142] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0143] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0144] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0145] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0146] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0147] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for correcting underwater robot positioning data, characterized in that: An ultra-short baseline system and a gyroscope are provided in the underwater robot; the method comprises: obtaining, using the ultra-short baseline system, first position data of the underwater robot at a first moment and second position data at a second moment, and obtaining, using the gyroscope, a first velocity vector of the underwater robot at the first moment, where the second moment is a moment immediately preceding the first moment; determining a time interval according to the first moment and the second moment; determining a second velocity vector of the underwater robot measured by the ultra-short baseline system according to the time interval, the first position data, and the second position data; The second position data of the underwater robot is corrected according to the first velocity vector, the time interval and the second velocity vector to obtain the corrected target position data of the underwater robot.

2. The method according to claim 1, characterized in that Determining a second velocity vector of the underwater robot measured by the ultra-short baseline system according to the time interval, the first position data, and the second position data includes: determining a position difference according to the first position data and the second position data; The second velocity vector of the underwater robot measured by the ultra-short baseline system is determined according to the position difference and the time interval.

3. The method according to claim 1, characterized in that Correcting the second position data of the underwater robot according to the first velocity vector, the time interval, and the second velocity vector to obtain corrected target position data of the underwater robot includes: Correcting the true speed of the underwater robot according to the first speed vector and the second speed vector to obtain a corrected third speed vector of the underwater robot; The second position data is corrected according to the third velocity vector and the time interval to obtain corrected target position data of the underwater robot.

4. The method according to claim 3, characterized in that Correcting the actual speed of the underwater robot according to the first speed vector and the second speed vector to obtain a corrected third speed vector of the underwater robot includes: determining a velocity vector deviation value and a velocity vector target value according to the first velocity vector and the second velocity vector; determining a correction coefficient according to the speed vector deviation value and the speed vector target value; The actual speed of the underwater robot is corrected according to the first speed vector, the second speed vector and the correction coefficient to obtain the corrected third speed vector of the underwater robot.

5. The method according to claim 3, characterized in that Correcting the second position data according to the third velocity vector and the time interval to obtain corrected target position data of the underwater robot includes: determining a corrected moving distance vector of the underwater robot according to the third velocity vector and the time interval; The target position data after correction of the underwater robot is determined according to the moving distance vector and the second position data.

6. An underwater robot positioning data correction device, characterized in that: An ultra-short baseline system and a gyroscope are provided in the underwater robot; the device includes: an acquisition module, configured to acquire, using the ultra-short baseline system, first position data of the underwater robot at a first moment and second position data at a second moment, and to acquire, using the gyroscope, a first velocity vector of the underwater robot at the first moment, wherein the second moment is a moment immediately preceding the first moment; A first determining module, configured to determine a time interval according to the first moment and the second moment; a second determining module, configured to determine a second velocity vector of the underwater robot measured by the ultra-short baseline system according to the time interval, the first position data, and the second position data; The correction module is used to correct the second position data of the underwater robot according to the first velocity vector, the time interval and the second velocity vector to obtain the corrected target position data of the underwater robot.

7. The device according to claim 6, characterized in that The second determining module includes: a first determining submodule, configured to determine a position difference based on the first position data and the second position data; The second determining submodule is configured to determine the second velocity vector of the underwater robot measured by the ultra-short baseline system according to the position difference and the time interval.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the underwater robot positioning data correction method according to any one of claims 1 to 5 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the underwater robot positioning data correction method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The method comprises computer instructions, wherein the computer instructions are used to enable a computer to execute the underwater robot positioning data correction method according to any one of claims 1 to 5.

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