An underwater robot assisted positioning method based on forward-looking multi-beam sonar

By directly identifying and processing the center point parameters of cylindrical targets using forward-looking multibeam sonar, and combining this with dynamic weight fusion, the real-time performance and stability issues of existing underwater robot positioning methods are resolved, achieving a low-cost and efficient positioning solution.

CN122194157APending Publication Date: 2026-06-12SU ZHOU SHI HANG ZHI NENG KE JI YOU XIAN GONG SI
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SU ZHOU SHI HANG ZHI NENG KE JI YOU XIAN GONG SI
Filing Date
2026-03-09
Publication Date
2026-06-12

AI Technical Summary

Technical Problem

Existing underwater robot positioning methods rely on the deployment of external base stations/beacons, and the computational complexity leads to insufficient real-time performance or decreased stability in environments with dense structures and multipaths, making it difficult to provide stable and reliable positioning support under low-cost and rapid deployment.

Method used

By using forward-looking multibeam sonar to scan and identify columnar targets with known geographic coordinates, the center point parameters are obtained, and the sonar geographic coordinates are calculated inversely through geometric triangulation and dynamic weight fusion, which simplifies acoustic image processing and reduces system complexity and cost.

Benefits of technology

It achieves fast and reliable underwater robot positioning, improves real-time performance and robustness, is suitable for complex and narrow waters, and reduces equipment costs and computational burden.

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Abstract

The present application relates to underwater navigation technology field, specifically to a kind of underwater robot auxiliary positioning method based on forward-looking multi-beam sonar.It includes: by forward-looking multi-beam sonar periodic scanning underwater environment, identify the columnar target with known geographic coordinates;Real-time acquisition target center point radial distance and deflection angle parameters in sonar coordinate system;Using trigonometric relationship, the above polar coordinate parameters are converted into relative displacement in local rectangular coordinate system;Based on the known geographic coordinates of target and the relative displacement, the instantaneous geographic coordinates of underwater robot carried sonar are calculated by coordinate conversion relationship.When multiple targets are identified, the position independently solved by each target is weighted average using dynamic weight fusion mechanism based on inverse square of distance, and the final optimized positioning result is obtained.The present application does not need to lay additional beacon or carry out complex image processing, and has the advantages of strong real-time, low cost, high reliability, easy integration and the like.
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