一种用于水下沉管对接的测控方法及系统
By combining inverse dynamics estimation and time-frequency domain analysis, noise and motion signals are separated during the underwater submerged tube docking process, solving the problem of noise influence in traditional methods and achieving high-precision pose estimation and docking control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- WUHAN NORTH & SOUTH POLE SURVEYING & MAPPING GEOGRAPHIC INFORMATION CO LTD
- Filing Date
- 2025-12-23
- Publication Date
- 2026-07-17
AI Technical Summary
During the underwater tube docking process, traditional multi-source sensor fusion algorithms are difficult to effectively separate noise signals from real motion signals, resulting in residual errors and jitter in the pose estimation results, which affects the docking control accuracy.
The inverse dynamics estimation algorithm is used to repair the position of the occluded beacon. Combined with time-frequency domain analysis, the sensor data is separated into motion main signal and noise signal components. The data are then processed separately by motion state filter and noise state model filter to generate feedforward compensation terms to eliminate the influence of noise, and finally the optimal pose estimate is generated.
It achieves extremely high accuracy and reliability in estimating the attitude of immersed tubes in a highly disturbed underwater environment, thus improving docking accuracy in complex underwater environments.
Smart Images
Figure CN121433333B_ABST