Comprehensive navigation system of underwater unmanned vehicle

Abstract

The integrated navigation system is characterized in that a differential satellite navigation positioning system is distributed in a sensor layer and is mounted on a mother ship, and the mother ship provides a power supply for the differential satellite navigation positioning system; an underwater acoustic beacon of the ultra-short baseline positioning system is mounted on an unmanned vehicle in water; the Beidou receiver sends the second pulse signal and UTC time to an atomic clock in the underwater acoustic beacon through an information transmission layer, and the atomic clock carries out time synchronization according to the received satellite navigation time frequency information; the Beidou receivers are distributed in the sensor layer, a DVL log is further distributed in the sensor layer, the atomic clock provides time service signals for the laser inertial navigation and the DVL log, and the information processing layer carries out automatic fault isolation and dynamic information recombination; a Beidou receiver and an ultra-short baseline positioning system of the sensor layer are used for acquiring and utilizing information, optimal position information is sent outwards in a unified mode through laser inertial navigation, and optimal navigation information guarantee is provided for the unmanned vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation systems, and in particular to an integrated navigation system for an underwater unmanned vehicle. Background Art

[0002] As an important branch of UUV, underwater unmanned vehicle (UUV) plays an important role in deep-sea search and detection, ocean survey and seabed mapping. However, the existing single navigation system is prone to unstable signals in deep water, unable to provide stable and accurate navigation for UUV, and difficult to meet the navigation needs in deep water.

[0003] In view of this, it is necessary to provide an integrated navigation system for an underwater unmanned vehicle to overcome the above-mentioned defects. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated navigation system for an underwater unmanned vehicle, which takes laser inertial navigation as the core navigation sensor, and is supplemented by means such as a DVL odometer, an ultra-short baseline (USBL) navigation system, and a differential satellite navigation positioning system, so as to give full play to their respective advantages, avoid their respective disadvantages, optimize the navigation operation process, ensure the reliability and maturity of the navigation system, realize multi-source information measurement and optimal fusion, and meet the navigation capability requirements of UUV underwater work.

[0005] In order to achieve the above object, the technical solution provided by the present invention is implemented as follows: an integrated navigation system for an underwater unmanned vehicle, comprising:

[0006] A differential satellite navigation and positioning system, which is distributed in the sensor layer and installed on a mother ship, and the mother ship provides power for the differential satellite navigation and positioning system;

[0007] An ultra-short baseline positioning system, wherein the ultra-short baseline positioning system is distributed in the sensor layer, and an underwater acoustic beacon of the ultra-short baseline positioning system is installed on an unmanned vehicle in the water;

[0008] A BeiDou receiver sends the pulse-per-second signal and UTC time to an atomic clock in an underwater acoustic beacon through an information transmission layer, and the atomic clock synchronizes time according to the received satellite navigation time and frequency information.

[0009] The Beidou receiver is distributed in the sensor layer, and a DVL speed meter is also distributed in the sensor layer. The atomic clock provides timing signals for the laser inertial navigation of the information processing layer and the DVL speed meter of the sensor layer through the RS422 serial port.

[0010] The information processing layer performs automatic fault isolation and dynamic information reorganization;

[0011] The Beidou receiver and ultra-short baseline positioning system of the sensor layer are used to obtain and utilize information, and send the optimal position information to the outside in a unified manner through laser inertial navigation, so as to provide the best navigation information guarantee for the unmanned aerial vehicle.

[0012] Preferably, the laser inertial navigation includes a data fusion module and a data storage module, the data fusion module is communicatively connected to the Beidou receiver, the data fusion module is communicatively connected to the underwater acoustic beacon of the ultra-short baseline positioning system and the DVL odometer of the Beidou receiver, and the data storage module is communicatively connected to the data fusion module.

[0013] Preferably, the underwater acoustic beacon includes an underwater acoustic beacon transducer installed on the top of the unmanned vehicle and an electronic compartment in the unmanned vehicle, wherein an atomic clock, a lithium battery and a circuit board are installed in the electronic compartment, wherein the lithium battery is electrically connected to the circuit board, wherein the circuit board is electrically connected to the lithium battery and the acoustic beacon transducer, and the lithium battery supplies power to the circuit board and the atomic clock.

[0014] Preferably, the DVL odometer includes a DVL transducer installed at the bottom of the electronic dry cabin of the unmanned vehicle, the laser inertial navigation is installed in the electronic dry cabin of the unmanned vehicle and is communicatively connected to the DVL transducer, the electronic cabin is connected to the electronic dry cabin, and the laser inertial navigation communicates bidirectionally with the underwater acoustic beacon.

[0015] Preferably, a Beidou receiver is installed in the electronic dry cabin of the unmanned aerial vehicle, and the Beidou receiver is connected to the laser inertial navigation communication. A satellite navigation antenna is coaxially connected to the Beidou receiver, and the signal of the Beidou satellite positioning system is received by the satellite navigation antenna and sent to the Beidou receiver. The Beidou receiver sends the received data information to the data fusion module of the laser inertial navigation, and the data processed by the data fusion module is sent to the user equipment. At the same time, the data processed by the data fusion module is sent to the data storage module for storage.

[0016] Preferably, a network switch is installed in the electronic dry compartment of the unmanned aerial vehicle, and the network switch is communicatively connected with the data storage module. The network switch can obtain the information stored in the data storage module and send it to the user's electronic device.

[0017] Preferably, a DVL electronic chassis is installed in the electronic dry cabin of the unmanned aerial vehicle, the DVL transducer of the DVL odometer is communicatively connected to the data fusion module of the laser inertial navigation through the DVL electronic chassis, and the DVL electronic chassis is communicatively connected to the network switch.

[0018] Compared with the prior art, the beneficial effect lies in that, in order to meet the navigation capability of deep-sea UUV in deep-sea environment, the present invention fully considers the technical characteristics of UUV miniaturization and component sealing, and the navigation system adopts an architecture of local concentration of computing information and distributed arrangement of sensors, with laser inertial navigation as the core navigation sensor, supplemented by DVL odometer, ultra-short baseline (USBL) navigation system, differential satellite navigation positioning system and other means, giving full play to their respective advantages, avoiding their respective disadvantages, optimizing the navigation operation process, ensuring the reliability and maturity of the navigation system, realizing multi-source information measurement and optimal fusion, meeting the navigation capability requirements of UUV underwater work, and then providing navigation positioning and motion state measurement information for underwater vehicles deep-sea reconnaissance, detection and other operational tasks, ensuring the safe navigation of underwater vehicles, establishing a unified space reference and transmitting space reference information to users such as reconnaissance and detection, and providing necessary information sources for underwater unmanned vehicles to complete automatic control, detection and other tasks.

[0019] Other features and advantages of the present invention will be set forth in the following description, and part will be apparent from the description, or can be understood by implementation of the present invention. Features and advantages of the present invention can be realized and obtained by the elements and combinations specifically pointed out in the appended application scope. These and other features of the present invention will become more clearly understood according to the following description and the appended claims, or can be understood by the implementation of the embodiments described in the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 An architectural diagram of the integrated navigation system for the underwater unmanned vehicle provided by the present invention.

[0022] Figure 2 for Figure 1 Schematic diagram of the integrated navigation system for an underwater unmanned vehicle shown.

[0023] Figure 3 for Figure 1 Schematic diagram of the integrated navigation system for an underwater unmanned vehicle shown.

[0024] Figure 4 for Figure 1 Schematic diagram of the integrated navigation system for an underwater unmanned vehicle shown. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and beneficial technical effect of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described in this specification are only for explaining the present invention, not for limiting the present invention.

[0026] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "install", "connect", "connect", "fix", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be determined according to the specific circumstances.

[0028] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In addition, the meaning of "multiple" and "several" refers to two or more, unless otherwise clearly and specifically defined.

[0029] See also Figures 1 to 4 The present invention provides an integrated navigation system for an underwater unmanned vehicle, comprising:

[0030] A differential satellite navigation and positioning system, which is distributed in the sensor layer and installed on a mother ship, and the mother ship provides power for the differential satellite navigation and positioning system;

[0031] An ultra-short baseline (USBL) positioning system, wherein the USBL positioning system is distributed in the sensor layer, and an underwater acoustic beacon of the USBL positioning system is installed on an unmanned vehicle (UUV) in the water;

[0032] A BeiDou receiver sends a pulse per second signal (PPS) and UTC time (Universal Time Coordinated) to an atomic clock in an underwater acoustic beacon through an information transmission layer, and the atomic clock performs time synchronization according to the received satellite navigation time and frequency information.

[0033] The Beidou receiver is distributed in the sensor layer, and a DVL (Doppler) speed meter is also distributed in the sensor layer. The atomic clock provides timing signals for the laser inertial navigation of the information processing layer and the DVL speed meter of the sensor layer through the RS422 serial port.

[0034] The information processing layer can automatically isolate faults and dynamically reorganize information (dynamically reorganize position information, and when the satellite navigation signal is valid, the precise position information output by the inertial / satellite navigation combined navigation is preferably used;

[0035] When the satellite navigation signal is invalid, if USBL is valid, the position information output by the inertial / USBL combined navigation is selected; if USBL is invalid and the DVL (Doppler) log is valid, the position information output by the laser inertial navigation / DVL combined navigation is selected; if both USBL and DVL are invalid, the position information output by the laser inertial navigation autonomous navigation is selected) to achieve uninterrupted guarantee of navigation information;

[0036] Speed ​​information is dynamically reorganized, and relative speed information is preferably DVL log water speed information;

[0037] The absolute speed information preferably uses the optimal speed information after the differential satellite navigation positioning system / laser inertial navigation fusion. When the differential satellite navigation positioning system is disturbed and cannot work normally, the system outputs the speed information of the laser inertial navigation / DVL speed combination, and finally outputs the laser inertial navigation autonomous navigation speed information;

[0038] Dynamic reorganization of posture information,

[0039] Under normal conditions, the attitude information output by the laser inertial navigation after data fusion is used as the attitude reference of the unmanned vehicle);

[0040] The Beidou receiver and ultra-short baseline positioning system of the sensor layer are used to acquire and utilize information (wherein the Beidou receiver acquires and utilizes position information, speed information, and time information; the ultra-short baseline positioning system acquires and utilizes longitude and latitude information), and sends the optimal position information to the outside through laser inertial navigation, thereby providing the best navigation information guarantee for the unmanned aerial vehicle.

[0041] In a preferred embodiment, the laser inertial navigation includes a data fusion module and a data storage module. The data fusion module is communicatively connected to the Beidou receiver via an RS232 serial port. The data fusion module is communicatively connected to the underwater acoustic beacon, Beidou receiver and DVL odometer of the ultra-short baseline positioning system via an RS422 serial port. The data storage module is communicatively connected to the data fusion module.

[0042] In a preferred embodiment, the underwater acoustic beacon includes an underwater acoustic beacon transducer installed on the top of the unmanned vehicle and an electronic compartment in the unmanned vehicle, wherein an atomic clock, a lithium battery and a circuit board are installed in the electronic compartment, wherein the lithium battery is electrically connected to the circuit board, wherein the circuit board is electrically connected to the lithium battery and the acoustic beacon transducer, and the lithium battery supplies power to the circuit board and the atomic clock.

[0043] In a preferred embodiment, the DVL odometer includes a DVL transducer installed at the bottom of the electronic dry compartment of the unmanned vehicle, the laser inertial navigation is installed in the electronic dry compartment of the unmanned vehicle and is communicatively connected to the DVL transducer, the electronic compartment is connected to the electronic dry compartment through a watertight socket, and the laser inertial navigation and the underwater acoustic beacon use RS422 serial port bidirectional communication.

[0044] In a preferred embodiment, a Beidou receiver is installed in the electronic dry cabin of the unmanned aerial vehicle. The Beidou receiver is connected to the laser inertial navigation communication via an RS232 serial port. A satellite navigation antenna is coaxially connected to the Beidou receiver. The signal of the Beidou satellite positioning system is received by the satellite navigation antenna and sent to the Beidou receiver. The Beidou receiver sends the received data information to the data fusion module of the laser inertial navigation. The data processed by the data fusion module is sent to the user's electronic device. At the same time, the data processed by the data fusion module is sent to the data storage module for storage.

[0045] In a preferred embodiment, a network switch is installed in the electronic dry compartment of the unmanned aerial vehicle, and the network switch is communicatively connected to the data storage module. The network switch can obtain the information stored in the data storage module and send it to the user's electronic device (such as a computer). The network switch can obtain the information stored in the data storage module and send it to the user's electronic device.

[0046] In a preferred embodiment, a DVL electronic chassis (including a communication circuit mainboard) is installed in the electronic dry compartment of the unmanned aerial vehicle, and the DVL transducer of the DVL speed meter is connected to the data fusion module of the laser inertial navigation through the DVL electronic chassis using an RS422 serial port, and the DVL electronic chassis is connected to the network switch. The user's electronic device can set parameters and control the DVL electronic chassis through the network switch.

[0047] It should be noted that, in this embodiment, the guidance and positioning system can use a satellite-ground fusion enhanced GNSS receiver with a satellite-station differential (PPP) positioning accuracy of 0.1 meter;

[0048] The laser inertial navigation uses high-precision laser gyro inertial navigation equipment, and the key technical indicators are as follows:

[0049] Pure inertial navigation accuracy: ≤1nmil / 1h (RMS, static and dynamic alignment, alignment time is no more than 15min),

[0050] Heading accuracy: ≤0.05°secL(RMS);

[0051] Pitch angle and roll angle accuracy: ≤0.015°(1σ);

[0052] The DVL speedometer requirements are:

[0053] a) Operating frequency: 300kHz;

[0054] b) Speed ​​measurement range: -10kn~+18kn;

[0055] c) Speed ​​measurement accuracy: ≤2‰V±3mm / s;

[0056] d) Maximum bottom tracking depth: 200m (typical seabed);

[0057] e) Minimum bottom depth: 2m; (vehicle stable navigation);

[0058] h) Transducer array pressure resistance: 60Mpa.

[0059] (1) Laser Inertial Navigation:

[0060] ① The laser inertial navigation system and the UUV user port use 100M network communication, through a watertight socket, to achieve the sending and receiving interaction with the user, including receiving the control commands of the inertial navigation system and sending the navigation information of the inertial navigation system;

[0061] ② The laser inertial navigation and ultra-short baseline underwater acoustic beacon adopt RS422 serial communication, receive the ultra-short baseline position through the watertight socket, realize the position calibration of the vehicle during diving and underwater navigation, and send ultra-short baseline control instructions;

[0062] ③ The laser inertial navigation uses the RS232 serial port to receive data information from the Beidou receiver to achieve surface integrated navigation and initial alignment;

[0063] ④ The laser inertial navigation uses the RS422 serial port to receive the Doppler speed information of the underwater navigation information to realize underwater speed combined navigation.

[0064] ⑤The laser inertial navigation sends the fused data to the storage module through the RS422 serial port for storage.

[0065] (2) Beidou receiver (Beidou receiver)

[0066] ① Beidou receiver receives external analog signal information;

[0067] ② The Beidou receiver sends data information to the laser inertial navigation system through the RS232 serial port;

[0068] ③The Beidou receiver has a short message function, which can directly communicate with the outside world through the RS232 serial port and the watertight socket to achieve two-way transmission and reception.

[0069] (3) Beidou receiver's DVL (Doppler) speedometer

[0070] ①DVL electronic chassis is connected to the transducer;

[0071] ②DVL electronic chassis is connected to the network switch through 100M network to realize software update;

[0072] ③The Doppler transducer realizes two-way transceiver function with the laser inertial navigation through the RS422 serial port. The laser inertial navigation receives the speed information of the DVL speed meter, and the DVL speed meter receives the control instructions sent by the inertial navigation.

[0073] (4) System operation control process

[0074] Combining the functional performance characteristics of laser inertial navigation, DVL odometer and ultra-short baseline (USBL) positioning system, the unmanned vehicle (UUV) adopts laser inertial navigation / USBL combined navigation for positioning during the diving phase. During the underwater navigation phase of UUV, if USBL is available, laser inertial navigation / USBL / DVL combined navigation is adopted. If USBL is out of the range and the data is unavailable, laser inertial navigation / DVL combined navigation is adopted for positioning.

[0075] When the satellite navigation signal is valid, the precise position information output by the inertial / satellite navigation combined navigation shall be used first;

[0076] When the satellite navigation signal is invalid, if USBL is valid, the position information output by the inertial / USBL combined navigation is selected; if the ultra-short baseline (USBL) positioning system and the DVL (Doppler) log are valid, the position information output by the laser inertial navigation / DVL combined navigation is selected; if both USBL and DVL are invalid, the position information output by the inertial autonomous navigation is selected) to achieve uninterrupted guarantee of navigation information;

[0077] Speed ​​information is dynamically reorganized, and relative speed information is preferably DVL log water speed information;

[0078] The absolute speed information is preferably the optimal speed information after the satellite navigation / inertial navigation fusion. When the satellite navigation is interfered and cannot work normally, the system outputs the speed information of the inertial navigation / DVL speed combination, and finally outputs the inertial navigation autonomous navigation speed information;

[0079] Dynamic reorganization of posture information,

[0080] Under normal conditions, the attitude information output by the laser inertial navigation after data fusion is used as the attitude reference of the unmanned vehicle).

[0081] The data fusion of all navigation in the integrated navigation system is realized in the data fusion module of the laser inertial navigation. After the laser inertial navigation enters the navigation working state, it sends navigation information to the host and the user. The working state operation control of the integrated navigation system is mainly controlled by the laser inertial navigation.

[0082] After the laser inertial navigation device enters the working state, it can automatically select and switch the operating mode according to the host command or external measurement information and the carrier motion state.

[0083] (5)Working mode design

[0084] The UUV integrated navigation system has six main working modes, including autonomous navigation, satellite combined navigation, DVL combined navigation, USBL combined navigation, multi-source combined navigation, and position correction.

[0085] Autonomous navigation: In the absence of satellite navigation positioning information, the depth meter provides depth information. The navigation system adopts this working mode when the DVL speed meter works in convection speed mode or is invalid.

[0086] Satellite-guided combined navigation: If there is satellite navigation positioning information and the validity time of the satellite navigation positioning information exceeds 3 minutes, the navigation system will adopt this working mode.

[0087] DVL combined navigation: Under the premise of no satellite navigation positioning information, when the platform is sailing steadily underwater, if the UUV is out of the range of the ultra-short baseline, the depth meter provides depth information, and the DVL speed measurement module works in the bottom speed mode, the navigation system adopts this working mode.

[0088] USBL combined navigation: In the absence of satellite navigation positioning information, when the unmanned vehicle is in the diving stage, the depth meter provides depth information and USBL provides location information. The accuracy of DVL is unreliable, so the navigation system adopts this working mode.

[0089] Multi-source combined navigation: Under the premise of no satellite navigation positioning information, when the unmanned vehicle is sailing steadily underwater, if the UUV has not left the range of the ultra-short baseline, the USBL provides position information, the depth meter provides depth information, and the DVL speed measurement module provides bottom speed information when working in the bottom speed mode. The navigation system adopts this working mode.

[0090] Position correction: If there is satellite navigation positioning information, and the satellite navigation positioning information is valid for no more than 3 minutes, the navigation system adopts this working mode. This mode is commonly used in the working environment of short-term floating correction of the aircraft.

[0091] Satellite navigation can provide position and speed reference information, and its error presents white noise characteristics; USBL can provide position reference information, depth gauge can provide underwater depth information, and DVL log can provide speed reference information. There are errors in their calibration factors and the measurement results are affected by installation errors, which can be estimated and preprocessed and compensated by establishing state observations; laser inertial navigation performs online monitoring based on the received multi-source auxiliary information, judges the validity of the information and autonomously selects the optimal reference information for estimating navigation errors.

[0092] The attitude error, velocity error, position error, gyro bias, accelerometer bias of the laser inertial navigation system, as well as the scale factor error and installation error of the DVL are taken as state variables, and the Kalman filter state observation is established to estimate and compensate for each error.

[0093] Through the Kalman filtering technology, the laser inertial navigation error is estimated and compensated online, and when the filtering time is sufficient, the estimation and compensation of the zero position error of the relevant inertial devices are completed to output the optimal navigation information.

[0094] The present invention is not limited to what is described in the specification and implementation modes, and therefore additional advantages and modifications can be easily realized by those skilled in the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein.

Claims

1. An integrated navigation system for an underwater unmanned vehicle, characterized in that: include: A differential satellite navigation and positioning system, which is distributed in the sensor layer and installed on a mother ship, and the mother ship provides power for the differential satellite navigation and positioning system; An ultra-short baseline positioning system, wherein the ultra-short baseline positioning system is distributed in the sensor layer, and an underwater acoustic beacon of the ultra-short baseline positioning system is installed on an unmanned vehicle in the water; A BeiDou receiver sends the pulse-per-second signal and UTC time to an atomic clock in an underwater acoustic beacon through an information transmission layer, and the atomic clock synchronizes time according to the received satellite navigation time and frequency information. The Beidou receivers are distributed in the sensor layer, and a DVL speedometer is also distributed in the sensor layer. The atomic clock provides timing signals for the laser inertial navigation of the information processing layer and the DVL speedometer of the sensor layer. The information processing layer performs automatic fault isolation and dynamic information reorganization; The Beidou receiver and ultra-short baseline positioning system of the sensor layer are used to obtain and utilize information, and send the optimal position information to the outside in a unified manner through laser inertial navigation, so as to provide the best navigation information guarantee for the unmanned aerial vehicle.

2. The integrated navigation system for an underwater unmanned vehicle as claimed in claim 1, characterized in that: The laser inertial navigation includes a data fusion module and a data storage module. The data fusion module is communicatively connected to a Beidou receiver. The data fusion module is communicatively connected to an underwater acoustic beacon, a Beidou receiver and a DVL odometer of an ultra-short baseline positioning system. The data storage module is communicatively connected to the data fusion module.

3. The integrated navigation system for an underwater unmanned vehicle as claimed in claim 2, characterized in that: The underwater acoustic beacon includes an underwater acoustic beacon transducer installed on the top of the unmanned vehicle and an electronic cabin in the unmanned vehicle. An atomic clock, a lithium battery and a circuit board are installed in the electronic cabin. The lithium battery is electrically connected to the circuit board, and the circuit board is electrically connected to the lithium battery and the acoustic beacon transducer. The lithium battery supplies power to the circuit board and the atomic clock.

4. The integrated navigation system for an underwater unmanned vehicle as claimed in claim 3, characterized in that: The DVL odometer includes a DVL transducer installed at the bottom of the electronic dry cabin of the unmanned vehicle, the laser inertial navigation is installed in the electronic dry cabin of the unmanned vehicle and is communicatively connected to the DVL transducer, the electronic cabin is connected to the electronic dry cabin, and the laser inertial navigation communicates bidirectionally with the underwater acoustic beacon.

5. The integrated navigation system for underwater unmanned vehicles as claimed in claim 4, characterized in that: The Beidou receiver is installed in the electronic dry cabin of the unmanned aerial vehicle and connected to the laser inertial navigation communication. A satellite navigation antenna is coaxially connected to the Beidou receiver. The signal of the Beidou satellite positioning system is received by the satellite navigation antenna and sent to the Beidou receiver. The Beidou receiver sends the received data information to the data fusion module of the laser inertial navigation. The data processed by the data fusion module is sent to the user equipment. At the same time, the data processed by the data fusion module is sent to the data storage module for storage.

6. The integrated navigation system for an underwater unmanned vehicle as claimed in claim 4, characterized in that: A network switch is installed in the electronic dry compartment of the unmanned aerial vehicle. The network switch is communicatively connected with the data storage module. The network switch can obtain the information stored in the data storage module and send it to the user's electronic device.

7. The integrated navigation system for an underwater unmanned vehicle as claimed in claim 6, characterized in that: A DVL electronic chassis is installed in the electronic dry cabin of the unmanned aerial vehicle. The DVL transducer of the DVL odometer is communicatively connected with the data fusion module of the laser inertial navigation through the DVL electronic chassis. The DVL electronic chassis is communicatively connected with the network switch.

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