Assembled navigation positioning method for manned submersible

A manned submersible and positioning method technology, which is applied in the field of manned submersible positioning in the ocean, and can solve problems such as signal fusion

Inactive Publication Date: 2006-05-31
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, they tend to be simple navigation signal backups rather than performing signal fusion

Method used

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  • Assembled navigation positioning method for manned submersible
  • Assembled navigation positioning method for manned submersible
  • Assembled navigation positioning method for manned submersible

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Experimental program
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Embodiment Construction

[0036] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0037] The manned submersible is a cable-free submersible, and the manned submersible communicates with the operating mother ship through an underwater acoustic communication machine. The navigation and positioning system of the manned submersible is composed of two parts above water and underwater. The above water part includes: surface monitoring computer (including computer data processing system, status information display system of manned submersible), ultra-short baseline positioning sonar data processing system Transceiver transducer for ultra-short baseline positioning sonar, GPS (Global Positioning System) receiver, waterborne system for underwater acoustic communication machine. The GPS receiver can determine the coordinates of the mother ship in the inertial coordinate system, and transmit the coordinates of the mother ship in the inertial coordina...

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Abstract

A combined navigation positioning method of manned submersible includes picking up speed value of motion transducer and Doppler speed measurement sonar, utilizing the first stage of kalman filter to integrate out the best speed value and position value of manned submersible, picking up ultra short base line positioning sonar measured position value being used to obtain the best position value together with said position value through the second stage of Kalman filter, applying delay ultra short base line measured data compromise manner to realize purpose of using past position data of manned submersible to calibrate current position ¿C calculation data of manned submersible.

Description

technical field [0001] The present invention relates to the positioning technology of manned submersibles in the ocean. Specifically, after comprehensively processing the signals of various navigation devices, a smooth manned submersible that is closest to the real position information of the manned submersible is estimated. Combined navigation positioning method. technical background [0002] Manned submersibles sail in the ocean and need to know their current position and attitude information in real time. At present, the functions of the manned submersible navigation and positioning system include: determining the position of the manned submersible relative to the operating mother ship, the position of the manned submersible in the inertial navigation coordinate system, the attitude of the manned submersible (including heading, depth, vertical tilt, height). [0003] Manned submersibles and autonomous underwater vehicles (AUVs) are collectively referred to as untethered...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/60G01C21/16
Inventor 于开洋
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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