A method for high-depth precise positioning of an underwater platform

Abstract

The present invention relates to the field of deep-sea navigation and control technology, and in particular to a method for precise positioning of an underwater platform at great depth. The present invention comprises: a submersible device performs self-inspection; a coarse alignment is performed on the inertial navigation system of the submersible device to obtain an inertial navigation system after coarse alignment; a fine alignment is performed on the inertial navigation system after coarse alignment to obtain an inertial navigation system after fine alignment; an attitude adjustment is performed on the inertial navigation system after fine alignment to obtain an inertial navigation system after attitude adjustment; a vertical adjustment control is performed on the inertial navigation system after attitude adjustment to obtain an inertial navigation system after vertical adjustment control; a guidance main plane alignment control is performed on the inertial navigation system after vertical adjustment control to accurately adjust the attitude of the inertial navigation system. The present invention can effectively cope with various complex situations in the deep-sea environment, and maintain high-precision positioning and attitude control during autonomous operation, ensuring that the submersible device can operate stably and accurately collect data in deep-sea exploration missions.

Description

Technical Field

[0001] The present invention relates to the field of deep sea navigation and control technology, and in particular to a method for high depth precision positioning of an underwater platform. Background Art

[0002] Underwater devices that can dive to great depths are usually used for ocean exploration, resource exploration, scientific research, and military purposes. As the human need to explore the depths of the ocean continues to increase, the development of related technologies has also received increasing attention. In particular, underwater devices need to work stably in deep ocean environments, facing multiple challenges such as changes in water density, ocean currents, and complex terrain. Therefore, inertial navigation, attitude adjustment, and error compensation technology have become the key to the design and research of deep-diving devices. Navigation technology, as the core technology of AUV, is also one of the most difficult key technologies to solve. Existing underwater navigation technologies include:

[0003] 1. Combined navigation: such as SINS (fiber optic gyro inertial navigation system) and DVL (Doppler) combined navigation, this method improves positioning accuracy by integrating inertial navigation and velocity measurement. However, in a deep environment, the effective measurement range of DVL will be limited.

[0004] 2. Hydroacoustic (SONAR) navigation: underwater positioning and obstacle detection through sonar equipment, suitable for shallow sea and mid-water areas. However, in deep sea environments, sound wave propagation is greatly affected, limiting its effective range and accuracy.

[0005] 3. Pure inertial navigation: Relying on inertial sensors (such as gyroscopes and accelerometers) for autonomous navigation, although it can work in the absence of external signals, during long dives, navigation accuracy is often difficult to maintain due to cumulative error problems.

[0006] In view of this, there is an urgent need to provide a precise navigation control method suitable for deep diving devices. Summary of the invention

[0007] In view of the shortcomings of the prior art described above, an object of the present invention is to provide a method for precise positioning of an underwater platform at great depths, which can effectively cope with various complex situations in deep-sea environments and maintain high-precision positioning and attitude control during autonomous operation.

[0008] To achieve the above-mentioned and other related purposes, the present invention provides a method for high-depth precision positioning of an underwater platform, comprising:

[0009] S1. The submersible device performs self-inspection;

[0010] S2, performing coarse alignment on the inertial navigation system of the submersible device to obtain a coarsely aligned inertial navigation system;

[0011] S3, finely aligning the inertial navigation system after the rough alignment to obtain a finely aligned inertial navigation system;

[0012] S4, performing attitude adjustment on the precisely aligned inertial navigation system to obtain an attitude-adjusted inertial navigation system;

[0013] S5, performing vertical control on the inertial navigation system after attitude adjustment to obtain an inertial navigation system after vertical control;

[0014] S6. Perform guidance main plane alignment control on the inertial navigation system after vertical control to accurately adjust the attitude of the inertial navigation system.

[0015] In one embodiment of the present invention, it further includes:

[0016] S7, storing and recording the depth, posture and position data of the detection area of ​​the submersible device;

[0017] S8. Generate a report based on the depth, posture and position data of the detection area.

[0018] In one embodiment of the present invention, the step S2 of roughly aligning the inertial navigation system of the submersible device to obtain a roughly aligned inertial navigation system includes:

[0019] Detect whether the inertial navigation system is in a tilted or spinning state. If so, send an adjustment command to the servo of the submersible device to make the inertial navigation system in a horizontal and stable state.

[0020] In one embodiment of the present invention, the step S3 of finely aligning the coarsely aligned inertial navigation system to obtain a finely aligned inertial navigation system includes:

[0021] S31, performing Kalman filtering on the inertial navigation system after rough alignment, adjusting the attitude error, gyroscope zero drift compensation, and accelerometer zero bias value of the submersible device in real time, and correcting the error in attitude estimation;

[0022] S32, using a backtracking filtering algorithm to process the gyroscope and accelerometer in the inertial navigation system after the rough alignment to obtain an improved inertial navigation system attitude;

[0023] S33, measuring the water depth of the submersible device of the improved inertial navigation system attitude in real time to obtain the submersible speed;

[0024] S34. The inertial navigation system evaluates and compensates for the speed error and position error in the error caused by the ocean current according to the water depth, diving speed, and ocean current error model.

[0025] In one embodiment of the present invention, the step S31 performs Kalman filtering on the inertial navigation system after rough alignment, adjusts the zero bias value of the accelerometer of the submersible device in real time, and corrects the error in the attitude estimation, including:

[0026] Construct a 12-dimensional Kalman filter error model, and select the state vector X as:

[0027]

[0028] Among them, the 12-dimensional state variables are: attitude error, speed error, position error, gyroscope zero drift, accelerometer zero bias, and the diving speed of the diving device is used as the observation quantity.

[0029] In one embodiment of the present invention, the step S32 of processing the gyroscope and accelerometer in the inertial navigation system after the rough alignment by using the back-tracking filtering algorithm to obtain the improved inertial navigation system attitude includes:

[0030] Using the gyroscope and accelerometer in the inertial navigation system after the rough alignment as historical data;

[0031] Analyzing the historical data by backtracking the attitude update matrix to improve the current attitude estimate;

[0032] The backtracking posture update matrix formula is:

[0033]

[0034] in, and Calculated from longitude and latitude and the Earth's rotation speed:

[0035]

[0036] in, is the attitude transformation matrix, is the relationship between the load system and the inertial system during the alignment process, is the initial value of the relative inertia relationship, Using the output of the gyroscope and accelerometer, the quaternion is updated and solved, where λ is the longitude, is latitude, ω ie is the angular velocity.

[0037] In one embodiment of the present invention, the step S4 of performing attitude adjustment on the precisely aligned inertial navigation system to obtain an inertial navigation system after attitude adjustment includes:

[0038] When the submersible device dives to the set bottom position, the sonar device of the submersible device reaches the detection range, and the sonar device is started to start looking for a flat position;

[0039] The inertial navigation system starts to control the position, and the gyroscope and accelerometer feed back the attitude angle and movement speed in real time to obtain the inertial navigation system after attitude adjustment.

[0040] In one embodiment of the present invention, the step of performing vertical control on the inertial navigation system after attitude adjustment to obtain the inertial navigation system after vertical control includes:

[0041] Feedback of the current heading angle by the inertial navigation system keeps the submersible device moving along the specified heading based on the target direction;

[0042] Determine whether the submersible device has yaw or roll angle deviation. If so, adjust the attitude of the submersible device according to feedback information from the servo and inertial navigation system to restore to the preset heading and angle.

[0043] In one embodiment of the present invention, the step of performing the guidance main plane alignment control on the inertial navigation system after the vertical control to accurately adjust the attitude of the inertial navigation system in S6 includes:

[0044] According to the depth of the target, adjusting the pitch angle of the submersible device;

[0045] Determine whether the deviation of the submersible device in the horizontal direction is greater than a set deviation, and if so, adjust the yaw angle;

[0046] Determine whether the submersible device has lateral deviation, and if so, adjust the rolling angle.

[0047] The present invention also provides an electronic device, including a processor and a memory, wherein the memory stores program instructions, and the processor executes the program instructions to implement the above-mentioned method for precise positioning of an underwater platform at great depth.

[0048] As described above, a method for high-depth precision positioning of an underwater platform according to the present invention has the following beneficial effects:

[0049] (1) The method for precise positioning of an underwater platform at great depths of the present invention can effectively cope with various complex situations in the deep-sea environment and maintain high-precision positioning and attitude control during autonomous operation. The present invention integrates a high-precision inertial navigation system, dynamic ocean current error compensation technology, and real-time attitude adjustment to ensure that the submersible device can operate stably and accurately collect data during deep-sea exploration missions.

[0050] (2) After the underwater platform deep-depth precision positioning method of the present invention completes coarse alignment and fine alignment, the inertial navigation system enters autonomous navigation mode, relying on internal sensors to achieve long-term high-precision navigation, reducing dependence on auxiliary means such as external satellite signals, and is particularly suitable for performing tasks in deep-sea environments. The dynamic alignment mechanism solves the problem of insufficient navigation accuracy caused by short alignment time.

[0051] (3) The method for accurate positioning of an underwater platform at great depths of the present invention collects water depth data through a depth sensor, extracts the uniform descent stage, and establishes a Kalman filter model based on speed observation with the speed of this stage as a reference. The Kalman filter algorithm can evaluate and correct instrument errors and navigation solution errors in real time, ensuring that the errors of the submersible device in long-term operation are dynamically controlled and corrected. The present invention dynamically adjusts the model according to the changes in real-time water depth, ocean current intensity and direction, effectively compensates for the speed and position deviations caused by ocean currents, and ensures accurate navigation performance in a complex ocean current environment.

[0052] (4) The method for precise positioning of an underwater platform at great depths of the present invention adopts a collaborative working mode of vertical adjustment control and guidance main plane alignment control. The vertical adjustment control is used to maintain the heading stability of the equipment when it initially approaches the target, while the guidance main plane alignment control is the core control strategy during precise detection and final approach to the target. The coordination of the two ensures that the submersible device can quickly respond to attitude changes in a complex deep-sea environment and accurately complete the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A workflow diagram of a method for precise positioning of an underwater platform at great depth provided in an embodiment of the present application.

[0054] Figure 2 A schematic diagram of a working scheme of a method for precise positioning of an underwater platform at great depth provided in an embodiment of the present application.

[0055] Figure 3 This is a flowchart of the inertial navigation system for a method for precise positioning of an underwater platform at great depths provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0057] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0058] Terms such as first or second can be used to describe various components, but these components are not limited by the above terms. The above terms are used to distinguish one component from another component, for example, without departing from the scope of the concept according to the present disclosure, a first component can be referred to as a second component, and similarly, a second component can be referred to as a first component.

[0059] In addition, "connected / coupled" means that one component is directly electrically coupled to another component or is indirectly electrically coupled through another component. The singular form may include the plural form unless explicitly stated in the sentence. In addition, "include / comprise" or "includes / comprises" used in this specification indicates that one or more components, steps, operations, and elements exist or have been added. The specific structural or functional descriptions of the examples of the implementation of the concepts disclosed in this specification are only illustrated to describe the examples of the implementation of the concepts, and the examples of the implementation of the concepts can be implemented in various forms, but these descriptions are not limited to the examples of the implementation described in this specification.

[0060] According to the concept, various modifications and changes can be applied to the examples of the embodiments, so that the examples of the embodiments will be illustrated in the drawings and described in the specification. However, the examples of the embodiments according to the concept are not limited to the specific embodiments, but include all changes, equivalents or replacements included in the spirit and technical scope of the present disclosure.

[0061] It should be understood that when an element is described as being "coupled" or "connected" to another element, the element may be directly coupled or directly connected to the other element, or may be coupled or connected to the other element through a third element. Conversely, it should be understood that when an element is referred to as being "directly coupled to" or "directly coupled to" another element, no other element is placed between them. Other expressions describing the relationship between components (i.e., "between" and "directly between" or "adjacent to" and "directly adjacent to") need to be interpreted in the same manner.

[0062] The terms used in this specification are only used to describe specific examples of the embodiments and are not intended to limit the present disclosure. If there is no clear opposite meaning in the context, the singular form may include the plural form. In this specification, it should be understood that the term "including" or "having" indicates the presence of the features, quantities, steps, operations, components, parts or combinations thereof described in the specification, but the possibility of the presence or addition of one or more other features, quantities, steps, operations, components, parts or combinations thereof cannot be precluded.

[0063] If there is no contrary definition, all terms (including technical terms or scientific terms) used herein have the same meaning as those generally understood by ordinary technicians in the field. If the terms defined in the commonly used dictionary are not clearly defined in this specification, they should be interpreted as having the same meaning as in the context of the relevant technology, and not interpreted as ideal or overly formal meanings.

[0064] Descriptions of well-known components and processing techniques may be omitted so as not to unnecessarily obscure the embodiments of the disclosure.

[0065] Throughout the specification, the same reference numerals refer to the same elements. Thus, even if a reference numeral is not mentioned or described with reference to one figure, it may be mentioned or described with reference to another figure. Furthermore, even if a reference numeral is not shown in one figure, it may be mentioned or described with reference to another figure.

[0066] In addition, the logic level of the signal may be different or opposite to the described logic level. For example, a signal described as having a logic "high" level may alternatively have a logic "low" level, and a signal described as having a logic "low" level may alternatively have a logic "high" level.

[0067] The following will describe the various embodiments of the present disclosure in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present disclosure, many technical details are provided in order to enable the reader to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be implemented.

[0068] Existing underwater navigation technologies include integrated navigation, hydroacoustic (SONAR) navigation, and pure inertial navigation. Existing technologies face the following major problems and challenges:

[0069] 1. Insufficient navigation accuracy: Inertial navigation systems in existing technologies are prone to rapid decline in navigation accuracy due to accumulated errors over long periods of time and in deep sea conditions. Technologies such as integrated navigation rely on external signals. Without the assistance of external positioning information (such as satellite signals), the system's autonomous navigation capabilities are insufficient, and SINS / DVL deep-depth integrated navigation cannot be effectively supported. When the mission time is tight or the environmental conditions are unstable, the alignment time of the inertial group may be insufficient, resulting in inaccurate initial state, and excessive error accumulation, which ultimately leads to a decline in navigation accuracy.

[0070] 2. The influence of ocean currents is not effectively compensated: The changes in ocean currents in deep-sea environments are complex and unpredictable. The existing navigation system fails to effectively handle and compensate for the speed and position deviations caused by ocean currents, causing the device to be unstable or deviate from the predetermined path during the dive, affecting the accuracy and efficiency of the detection mission. The instrument errors and cumulative errors of the existing inertial navigation system tend to expand rapidly during long-term operation, and the existing error correction methods have limited accuracy and cannot be corrected in real time and efficiently in a dynamic environment, resulting in navigation errors that are difficult to control.

[0071] 3. Inflexible attitude control: In complex deep-sea environments, existing technologies make it difficult to achieve rapid and precise attitude adjustment and control. Especially in the face of drastic changes in external conditions, navigation devices are prone to attitude instability, yaw or roll, which affects the detection mission.

[0072] In view of the shortcomings of the above-mentioned prior art, the present invention proposes a method for accurate positioning of underwater platforms at great depths, which can effectively cope with various complex situations in deep-sea environments and maintain high-precision positioning and attitude control during autonomous operation. The method integrates a high-precision inertial navigation system, dynamic ocean current error compensation technology, and real-time attitude adjustment to ensure that the submersible device can operate stably and accurately collect data during deep-sea exploration missions.

[0073] See also Figure 1 , Figure 2 , Figure 3 , Figure 1 A workflow diagram of a method for precise positioning of an underwater platform at great depth provided in an embodiment of the present application. Figure 2 A schematic diagram of a working scheme of a method for precise positioning of an underwater platform at great depth provided in an embodiment of the present application. Figure 3 This is a flowchart of the inertial navigation system for a method for precise positioning of an underwater platform at great depths provided in an embodiment of the present application.

[0074] A method for high-depth precision positioning of an underwater platform, comprising:

[0075] Step S1, the submersible device performs self-inspection.

[0076] In one embodiment of the present invention, after the submersible device enters the water, various sensor modules of the submersible device are activated, including a depth sensor, a steering gear, an inertial navigation system (INS), etc. The self-check content includes:

[0077] (1) Depth sensor detection to ensure that depth information can be obtained correctly.

[0078] (2) Self-check of the servo to ensure that the attitude control function is normal.

[0079] (3) Self-test of the inertial navigation system, including the communication test between the inertial navigation equipment and the satellite navigation module to ensure normal communication. The inertial navigation system power-on self-test includes testing the instrument output, instrument temperature, coefficient storage area, etc. to ensure that the equipment is in good working condition.

[0080] Step S2: performing coarse alignment on the inertial navigation system of the submersible device to obtain a coarsely aligned inertial navigation system.

[0081] Specifically, the step S2 of coarsely aligning the inertial navigation system of the submersible device to obtain the coarsely aligned inertial navigation system includes: detecting whether the inertial navigation system is in a tilted or spinning state, and if so, sending an adjustment command to the servo of the submersible device to make the inertial navigation system in a horizontally stable state.

[0082] In one embodiment of the present invention, the inertial navigation system adopts a two-stage alignment scheme, and the first step is coarse alignment. In the coarse alignment process, the output of the gyroscope and the accelerometer is used to solve the initial position and heading information of the inertial navigation system. After the coarse alignment is completed, the inertial navigation system will perform attitude control to ensure that the carrier attitude is stable. If it is detected that the inertial navigation system is in a tilted or spinning state, an adjustment command is sent to the steering gear to adjust the inertial navigation system to a horizontal stable state.

[0083] Step S3: finely aligning the coarsely aligned inertial navigation system to obtain a finely aligned inertial navigation system.

[0084] Specifically, the step S3 of finely aligning the coarsely aligned inertial navigation system to obtain a finely aligned inertial navigation system includes:

[0085] Step S31, performing Kalman filtering on the inertial navigation system after rough alignment, adjusting the attitude error, gyroscope zero drift compensation, and accelerometer zero bias value of the diving device in real time, and correcting the error in attitude estimation.

[0086] In one embodiment of the present invention, after the rough alignment is completed, the system enters the fine alignment stage. In this stage, the navigation accuracy is optimized by the Kalman filter algorithm and the ocean current compensation model. The following are the detailed steps of the fine alignment process:

[0087] Kalman filter optimization:

[0088] Attitude error estimation and compensation: Based on the Kalman filter algorithm, the inertial navigation system estimates and compensates for attitude errors in real time. The Kalman filter can effectively fuse the data of the accelerometer and gyroscope, dynamically adjust the attitude estimation value, and reduce the attitude error. The filter takes into account the noise characteristics of the sensor and improves the estimation accuracy through the prediction and update mechanism.

[0089] Gyroscope zero drift compensation: The filter also compensates for the zero drift of the gyroscope. Zero drift is the phenomenon that the gyroscope still outputs signals when it is not rotating, which will affect the accuracy of attitude estimation. The filter adjusts the zero drift compensation parameters by comparing the actual attitude with the predicted attitude to reduce its impact on navigation accuracy.

[0090] Accelerometer bias compensation: The accelerometer bias (i.e., the non-zero output of the accelerometer when stationary) also affects the attitude estimation. The Kalman filter adjusts the accelerometer bias value in real time to ensure accurate detection of the gravity direction and correct errors in attitude estimation.

[0091] Construct a 12-dimensional output correction Kalman filter error model, and select the state vector X as:

[0092]

[0093] The 12-dimensional state variables are: attitude error, velocity error, position error, gyro zero drift, accelerometer zero bias, and the carrier diving speed is used as the observation quantity.

[0094] Construct the discrete system state equation:

[0095] X k =Φ k / k-1 X k-1 +Γ k / k-1 W k-1

[0096] Z k =H k X k +V k ,

[0097] Feedback correction filter equation:

[0098]

[0099] The method for accurate positioning of an underwater platform at great depths of the present invention collects water depth data through a depth sensor, extracts the uniform descent stage, and establishes a Kalman filter model based on speed observation with the speed of this stage as a reference. The Kalman filter algorithm can evaluate and correct instrument errors and navigation solution errors in real time, ensuring that the errors of the submersible device in long-term operation are dynamically controlled and corrected. The present invention dynamically adjusts the model according to the changes in real-time water depth, ocean current intensity and direction, effectively compensates for the speed and position deviations caused by ocean currents, and ensures accurate navigation performance in a complex ocean current environment.

[0100] Step S32: using a back-tracing filtering algorithm to process the gyroscope and accelerometer in the inertial navigation system after the rough alignment, so as to obtain an improved inertial navigation system attitude.

[0101] In one embodiment of the present invention, data storage and back-tracing filtering: The gyroscope and accelerometer data collected during the coarse alignment process are stored and used for back-tracing filtering. The back-tracing filtering algorithm can be further optimized using historical data to improve the current attitude estimate and reduce alignment time by processing and analyzing past data.

[0102] The backtracking posture update matrix formula is:

[0103]

[0104] in, and Calculated from longitude and latitude and the Earth's rotation speed:

[0105]

[0106] in, is the attitude transformation matrix, is the relationship between the load system and the inertial system during the alignment process, is the initial value of the relative inertia relationship, Using the output of the gyroscope and accelerometer, the quaternion is updated and solved, where λ is the longitude, is latitude, ω ie is the angular velocity.

[0107] Backtracking speed update:

[0108]

[0109] Save alignment time: By using the backtracking filtering algorithm, the system can converge quickly in the fine alignment stage, reducing the time required for alignment. This method also reduces the requirements for carrier mobility, allowing the system to complete fine alignment in a more stable environment.

[0110] Step S33, measuring the water depth of the submersible device of the improved inertial navigation system attitude in real time to obtain the submersible speed.

[0111] In one embodiment of the present invention, the depth sensor provides real-time water depth information during the fine alignment process. This information is used to estimate the dive speed of the carrier and help the system identify the uniform dive stage.

[0112] Extraction of the uniform diving stage: The system uses the data from the depth sensor to identify and extract the state of the underwater device during the uniform diving stage. The stability of this stage is crucial for subsequent precise alignment.

[0113] Step S34: the inertial navigation system evaluates and compensates for the speed error and position error in the error caused by the ocean current according to the water depth, diving speed, and ocean current error model.

[0114] In one embodiment of the present invention, the inertial navigation system uses the water depth information during the uniform diving phase and the ocean current error model to evaluate and compensate for the speed and position errors caused by the ocean current.

[0115] Current error model establishment: During the fine alignment process, the system evaluates the impact of ocean currents on the carrier's speed and position based on the current error model. The current error model takes into account factors such as water depth, current strength and direction to dynamically adjust the model parameters.

[0116] Real-time error estimation and compensation: Combining real-time water depth information and ocean current error models, the system estimates and compensates for speed and position errors caused by ocean currents in real time. Through optimized algorithms, the system can accurately correct navigation errors caused by ocean currents, ensuring high-precision navigation under different water depths and ocean current conditions.

[0117] Step S4: performing attitude adjustment on the precisely aligned inertial navigation system to obtain an inertial navigation system after attitude adjustment.

[0118] In one embodiment of the present invention, the real-time water depth and ocean current data in step S3 provide the basis for the attitude control of this step. When diving to 600 meters below the bottom, the sonar equipment reaches its detection range, and the system starts the sonar equipment to start looking for a flat position. The inertial navigation starts position control, and the gyroscope and accelerometer feedback the attitude angle and movement speed in real time. The system will make preliminary attitude adjustments based on the data of the inertial navigation system. This process is intended to ensure that the detection equipment can still maintain a stable attitude (including pitch angle, yaw angle and roll angle) when affected by the ocean flow environment.

[0119] Step S5: performing vertical control on the inertial navigation system after attitude adjustment to obtain an inertial navigation system after vertical control.

[0120] The vertical adjustment control mode is activated after the sonar initially detects the target, and further refines the attitude adjustment of step S4. Vertical adjustment control is a control method to maintain the current heading angle in a deep water environment, aiming to ensure that the device can move along a fixed heading and avoid unnecessary attitude deviations such as yaw and roll. After the sonar initially detects the target, the system enters the vertical adjustment control mode. The specific steps are as follows:

[0121] Real-time heading hold: The system uses the inertial navigation system to feedback the current heading angle and keeps the device moving along the specified heading based on the target direction. The key to vertical control is to lock the current heading angle to ensure that the yaw and roll angles are maintained within the minimum error range to prevent the device from deviating from the route due to ocean currents or other external interference.

[0122] Attitude correction: If yaw or roll angle deviation is detected, the system will automatically adjust the attitude of the device based on the feedback from the servo and inertial navigation system, and quickly restore it to the predetermined heading and angle.

[0123] Step S6: performing guidance main plane alignment control on the inertial navigation system after vertical adjustment control to accurately adjust the attitude of the inertial navigation system.

[0124] In one embodiment of the present invention, vertical adjustment control provides a basis for the device to maintain a stable heading, and the guidance main plane alignment control further accurately adjusts the attitude of the device on this basis to ensure that the pitch and yaw angles are optimized when approaching the target, so as to achieve precise approach to the target.

[0125] When the device enters the target area and the sonar positioning data is valid, the system enters the guidance main plane alignment control mode to further accurately approach the target. At this time, the inertial navigation system, sonar equipment and guidance control system work together to ensure that the device approaches the target in the best posture.

[0126] Main plane determination: The guidance system determines the relative position and attitude between the device and the target based on the data fed back by the sonar and inertial navigation. The main guidance plane refers to the main direction plane of the device's navigation. In this plane, the pitch angle and yaw angle of the device are the main control objects.

[0127] Guidance main plane alignment control: The system will adjust the device's attitude based on the sonar feedback data to ensure that the pitch and yaw angles are controlled according to the real-time updated data, allowing the device to accurately approach the target.

[0128] Specific operations include:

[0129] Pitch control: The system adjusts the pitch angle of the device according to the depth data of the target to ensure that the device's detector maintains the best detection posture.

[0130] Yaw correction: If the target is detected to have a certain deviation in the horizontal direction, the system will adjust the yaw angle to ensure that the device approaches the target in the best path.

[0131] Roll control: If the device is laterally offset by ocean currents, the system will adjust the roll angle to ensure that the device remains stable in the horizontal direction.

[0132] Through main plane alignment control, the system continuously corrects the attitude and ultimately enables the device to approach the target area steadily, ensuring that the sonar equipment can complete the detection task at the optimal angle.

[0133] The method for precise positioning of an underwater platform at great depths of the present invention adopts a collaborative working mode of vertical adjustment control and guidance main plane alignment control. The vertical adjustment control is used to maintain the heading stability of the equipment when it initially approaches the target, while the guidance main plane alignment control is the core control strategy during precise detection and final approach to the target. The cooperation of the two ensures that the submersible device can quickly respond to attitude changes in a complex deep-sea environment and accurately complete the task.

[0134] Step S7: store and record the depth, posture and position data of the detection area of ​​the submersible device.

[0135] In one embodiment of the present invention, during the entire dive process, the system records the depth, posture and position data of the dive device detection area in real time. These data are stored in the built-in storage module for analysis after the mission is completed.

[0136] Step S8: Generate a report based on the depth, posture and position data of the detection area.

[0137] In one embodiment of the present invention, the system generates a report based on the data, including target diving accuracy, attitude control process and error correction details. After the task is completed, the system automatically enters a standby state and waits for the next task to start.

[0138] The present invention also proposes an electronic device, which includes a processor and a memory, wherein the memory stores program instructions, and the processor runs the program instructions to implement the above-mentioned underwater platform deep precision control method. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components; the memory may include a random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The memory can also be an internal memory of the random access memory (RAM) type, and the processor and memory can be integrated into one or more independent circuits or hardware, such as an application-specific integrated circuit (ASIC). It should be noted that the computer program in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present invention.

[0139] The present invention also proposes a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned method for high-depth precision positioning of an underwater platform. The computer-readable storage medium can be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium, or a semiconductor system or a propagation medium. The computer-readable storage medium can also include semiconductor or solid-state memory, a magnetic tape, a removable computer disk, a random access memory (RAM), a read-only memory (ROM), a hard disk, and an optical disk. The optical disk can include a compact disk-read only memory (CD-ROM), a compact disk-read / write (CD-RW), and a DVD.

[0140] In summary, the method for precise positioning of an underwater platform at great depths of the present invention can effectively cope with various complex situations in the deep-sea environment and maintain high-precision positioning and attitude control during autonomous operation. The present invention integrates a high-precision inertial navigation system, dynamic ocean current error compensation technology, and real-time attitude adjustment to ensure that the submersible device can operate stably and accurately collect data during deep-sea exploration missions.

[0141] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for high-depth precision positioning of an underwater platform, characterized in that: include: S1. The submersible device performs self-inspection; S2, performing coarse alignment on the inertial navigation system of the submersible device to obtain a coarsely aligned inertial navigation system; S3, finely aligning the inertial navigation system after the rough alignment to obtain a finely aligned inertial navigation system; S4, performing attitude adjustment on the precisely aligned inertial navigation system to obtain an attitude-adjusted inertial navigation system; S5, performing vertical control on the inertial navigation system after attitude adjustment to obtain an inertial navigation system after vertical control; S6. Perform guidance main plane alignment control on the inertial navigation system after vertical control to accurately adjust the attitude of the inertial navigation system.

2. A method for high-depth precision positioning of an underwater platform according to claim 1, characterized in that: Also includes: S7, storing and recording the depth, posture and position data of the detection area of ​​the submersible device; S8. Generate a report based on the depth, posture and position data of the detection area.

3. The method for high-depth precision positioning of an underwater platform according to claim 1, characterized in that: The step S2 of coarsely aligning the inertial navigation system of the submersible device to obtain a coarsely aligned inertial navigation system includes: Detect whether the inertial navigation system is in a tilted or spinning state. If so, send an adjustment command to the servo of the submersible device to make the inertial navigation system in a horizontal and stable state.

4. The method for high-depth precision positioning of an underwater platform according to claim 1, characterized in that: The step S3 of finely aligning the roughly aligned inertial navigation system to obtain a finely aligned inertial navigation system includes: S31, performing Kalman filtering on the inertial navigation system after rough alignment, adjusting the attitude error, gyroscope zero drift compensation, and accelerometer zero bias value of the submersible device in real time, and correcting the error in attitude estimation; S32, using a backtracking filtering algorithm to process the gyroscope and accelerometer in the inertial navigation system after the rough alignment to obtain an improved inertial navigation system attitude; S33, measuring the water depth of the submersible device of the improved inertial navigation system attitude in real time to obtain the submersible speed; S34. The inertial navigation system evaluates and compensates for the speed error and position error in the error caused by the ocean current according to the water depth, diving speed, and ocean current error model.

5. The method for high-depth precision positioning of an underwater platform according to claim 4, characterized in that: In step S31, Kalman filtering is performed on the inertial navigation system after rough alignment, and the zero bias value of the accelerometer of the submersible device is adjusted in real time to correct the error in the attitude estimation, including: Construct a 12-dimensional Kalman filter error model, and select the state vector X as: Among them, the 12-dimensional state variables are: attitude error, speed error, position error, gyroscope zero drift, accelerometer zero bias, and the diving speed of the diving device is used as the observation quantity.

6. The method for high-depth precision positioning of an underwater platform according to claim 5, characterized in that: In step S32, the gyroscope and accelerometer in the inertial navigation system after the rough alignment are processed by using the back-tracking filtering algorithm to obtain the improved inertial navigation system attitude, including: Using the gyroscope and accelerometer in the inertial navigation system after the rough alignment as historical data; Analyzing the historical data by backtracking the attitude update matrix to improve the current attitude estimate; The backtracking posture update matrix formula is: in, and Calculated from longitude and latitude and the Earth's rotation speed: in, is the attitude transformation matrix, is the relationship between the load system and the inertial system during the alignment process, is the initial value of the relative inertia relationship, Using the output of the gyroscope and accelerometer, the quaternion is updated and solved, where λ is the longitude, is latitude, ω ie is the angular velocity.

7. A method for high-depth precision positioning of an underwater platform according to claim 6, characterized in that: The step S4 of performing attitude adjustment on the precisely aligned inertial navigation system to obtain an inertial navigation system after attitude adjustment includes: When the submersible device dives to the set bottom position, the sonar device of the submersible device reaches the detection range, and the sonar device is started to start looking for a flat position; The inertial navigation system starts to control the position, and the gyroscope and accelerometer feed back the attitude angle and movement speed in real time to obtain the inertial navigation system after attitude adjustment.

8. The method for high-depth precision positioning of an underwater platform according to claim 7, characterized in that: In S5, the inertial navigation system after attitude adjustment is controlled to obtain the inertial navigation system after vertical adjustment control, including: Feedback of the current heading angle by the inertial navigation system keeps the submersible device moving along the specified heading based on the target direction; Determine whether the submersible device has yaw or roll angle deviation. If so, adjust the attitude of the submersible device according to feedback information from the servo and inertial navigation system to restore to the preset heading and angle.

9. A method for high-depth precision positioning of an underwater platform according to claim 8, characterized in that: In S6, the inertial navigation system after vertical control is aligned with the main guidance plane to accurately adjust the attitude of the inertial navigation system, including: According to the depth of the target, adjusting the pitch angle of the submersible device; Determine whether the deviation of the submersible device in the horizontal direction is greater than a set deviation, and if so, adjust the yaw angle; Determine whether the submersible device has lateral deviation, and if so, adjust the rolling angle.

10. An electronic device, comprising a processor and a memory, wherein the memory stores program instructions, characterized in that: The processor runs program instructions to implement the method for high-depth precision positioning of an underwater platform as described in any one of claims 1 to 9.

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