164 results about "Kinematics equations" patented technology

The invention relates to an automatic guided vehicle (AGV) adaptive path tracking method based on MPC. The method comprises the following steps: S1, establishing a kinematic discretization error model based on the kinematic characteristics of the two-wheel differential AGV, processing a continuous kinematic equation by adopting an Euler discretization method, expressing a dynamic change relationship between a transverse deviation distance and an angle deviation in a state-space equation form, and generating a kinematic discrete state-space model; the method has the advantages that the continuous equation is processed by establishing the kinematics discretization error model and adopting the Euler discretization method, the deviation dynamic relation is expressed through the state space, the calculation process is simplified, the precision is kept, sensor data are fused, the wheel type odometer, IMU and laser data are integrated through the extended Kalman filtering algorithm, and the precision is improved. The real-time position and angle deviation are calculated, the positioning accuracy is improved, a model prediction controller objective function is designed, a weight matrix and boundary constraint are introduced according to constraint conditions, and the effect of obstacle avoidance constraint is combined.

The invention relates to the technical field of magnetic suspension conveying lines, in particular to a variable curvature trajectory prediction control method and system for a magnetic suspension conveying line and a storage medium. The method comprises the steps that a variable-curvature trajectory prediction model of the magnetic suspension conveying line is established, and the variable-curvature trajectory prediction model describes the dynamic behavior of a conveying carrier on a variable-curvature path through a kinematics equation and geometric constraints and is used for predicting trajectory deviation in real time. According to the invention, by constructing a variable curvature trajectory prediction model and a multi-target rolling optimization control system, the problems of trajectory tracking and suspension stabilization of a magnetic suspension carrier under a complex path are systematically solved. The method has the advantages that a time domain motion equation is mapped to a space domain path coordinate system based on a curve coordinate system of arc length parameterization and a prediction model constructed by a French-Serret formula, the influence of curvature change on lateral displacement dynamics is accurately described, and dynamics mismatch caused by traditional fixed curvature approximation is eliminated from the model level.

The invention discloses a mechanical arm repetitive motion inverse solution solving method and system considering iteration initial value selection. The problems that when a mechanical arm inverse solution is solved through a numerical iteration method based on a Jacobian matrix, dependence on iteration initial value selection is high, and motion cannot be repeated are solved. Comprising the steps that an accurate reachable working space of the mechanical arm is obtained, a certain number of reference inverse solutions optimized through an operability index are additionally stored in the accurate reachable working space, and an enhanced reachable working space is obtained; according to the expected pose information of the mechanical arm and the enhanced reachable working space, an iteration initial value for solving the inverse solution of the pose is selected and obtained; acquiring a tail end pose error kinematical equation of the mechanical arm at a joint position layer, and deducing to obtain an iterative updating equation of a joint position; and a repeatable motion index function is designed, a joint position iteration updating equation with the repeatable motion function is obtained, and according to the iteration updating equation and the selected iteration initial value, a mechanical arm repeated motion inverse solution solving scheme selected by considering the iteration initial value is obtained.

The invention discloses a satellite attitude system anti-interference finite time control method under complex dynamic disturbance, and the method comprises the steps: building a rigid satellite attitude maneuver control model according to satellite attitude dynamics and kinematics equations; designing a self-adaptive fine disturbance observer to estimate the total disturbance of a satellite attitude system by combining the influence of the external disturbance variable on the rigid satellite attitude maneuver process, and outputting an estimated value of the external disturbance variable; a three-stage segmented sliding mode control method is designed, dynamic continuity of a three-stage sliding mode is ensured, and segmented sliding mode control output is obtained; and compensating the segmented sliding mode control output by using an estimated value of an external disturbance variable output by a self-adaptive fine disturbance observer to realize satellite attitude stable control. According to the method, the problem that the stability of the satellite is reduced in the attitude maneuvering performance process when external disturbance exists is solved, better observation performance and shorter attitude stabilization time are achieved, and the control precision of the satellite is effectively improved.

The invention discloses a self-adaptive recognition method and system based on a four-bar linkage single station machine motion trail, and belongs to the technical field of motion trail recognition. The method comprises the following steps: acquiring a multi-source synchronous data stream, detecting a peak interference frequency, adjusting an adaptive notch filter in real time, obtaining a pure geomagnetic field signal, calculating the equivalent length of a connecting rod by using angle and force data, and establishing a kinematics equation to solve track coordinates; establishing a magnetic field space gradient tensor model through a magnetometer array, fitting a nonlinear mapping relation between an angle and a gradient tensor, and generating a metal magnetic interference compensation model; judging a motion mode and dynamically adjusting filter parameters; constructing a fast and slow dual-time scale filter to fuse multi-source information, and introducing a fading factor to prevent divergence; a future angle is predicted by using a long-short-term memory neural network to serve as a virtual observed quantity to enhance the fault-tolerant capability; and optimizing the reconstruction trajectory through multiple physical constraints. According to the method, the track identification precision, the anti-interference capability and the system robustness are remarkably improved.

The invention discloses a laser radar inertial odometer method based on block-by-block updating, which comprises the following steps: constructing a kinematics equation and an observation equation of a laser radar inertial odometer system based on a block-by-block updating scheme, and performing state propagation on point cloud block laser radar data and inertial measurement data to obtain a prior prediction state; compensating the pose of each point cloud point in the point cloud block, and aligning the point cloud point to the pose of the point cloud block at the last moment; registering the aligned point cloud blocks with a local map, executing nearest neighbor plane search, and then calculating a point-surface residual error; combining the prior state prediction with the posterior state residual error, and performing state iteration updating and iteration convergence to obtain a final result; and then local map updating is carried out. According to the method, the continuous laser radar point cloud data is divided into a plurality of small blocks for batch processing according to the extremely short time interval, so that the time overhead of single update can be remarkably shortened.

The invention relates to a quadrotor unmanned aerial vehicle control method based on priori knowledge and a neural network model, and the method comprises the steps: introducing flight interference and uncertainty based on a first principle, and constructing a quadrotor kinematics equation; parameterizing the flight uncertainty by using a pre-trained neural network model, and constructing a four-rotor kinematics model; constructing a disturbance observer based on a pre-trained neural network model, predicting the interference of the flight, and obtaining a disturbance compensation amount; based on the four-rotor kinematic model and a disturbance observer, generating an optimal control quantity of the four-rotor unmanned aerial vehicle by solving a numerical optimization problem in each control period of the four-rotor unmanned aerial vehicle; and superposing the disturbance compensation quantity and the optimal control quantity to obtain control input of the four-rotor unmanned aerial vehicle. Compared with the prior art, the method solves the problem that the trajectory tracking precision of the quad-rotor unmanned aerial vehicle is insufficient due to model uncertainty and external disturbance.

The invention discloses a traffic safety risk early warning method and system based on intersection traffic flow information, and relates to the technical field of traffic safety monitoring, and the method comprises the steps: dividing an intersection region into space-time grids, generating a pixel-level optical flow field through a minimization energy function, converting the pixel-level optical flow field into a physical optical flow field, and carrying out the early warning of the traffic safety risk based on the physical optical flow field. Mapping the physical optical flow field to a space-time grid, and fusing the average optical flow vector and the velocity vector through a least square method to generate a fused velocity vector; predicting the future trajectory of each vehicle based on a kinematic equation, generating a grid risk by integrating the traffic flow density, the normalized grid confusion degree and the optimized strategy probability vector, and calculating the overall risk of the intersection through weighted average; and carrying out risk early warning on the overall risk of the intersection. According to the method, optical flow field analysis is combined with velocity vector fusion, the representation precision of the motion state of the vehicle is improved, kinematics prediction is combined with trajectory intersection analysis, and the capability of finding potential collision risks in advance is improved.

The invention relates to a method for calculating the power-on and power-off delay time performance of an electromagnetic valve, and the method comprises the following steps: obtaining the mass of a valve element of the electromagnetic valve, the spring stiffness and coil resistance data; establishing an electromagnetic valve equivalent circuit model, and listing a current equation; establishing an electromagnetic valve magnetic circuit mathematical model, and listing a magnetic field equation set; establishing an electromagnetic valve flow field mathematical model, and listing a flow field equation set; establishing a kinematic model of the electromagnetic valve, and listing a kinematic equation; using a finite element method to obtain a valve core electromagnetic force-displacement-current data table and a coil inductance-displacement-current data table; a finite element method is used for obtaining a valve element aerodynamic force-displacement data table; and obtaining the power-on and power-off delay time through data analysis processing and solving of the partial differential equation set. According to the method, prediction of the opening and closing delay response time of the electromagnetic valve is more accurate, visual adjustment in the simulation process is achieved, and the time for obtaining the response time of the electromagnetic valve and the test cost are greatly reduced while the preset precision requirement is met.

The invention provides an orchard tracked vehicle pure tracking control method and system, and the method comprises the steps: constructing a geometry-vector dynamic coupling model based on path geometric features and vector field analysis, quantifying local steering characteristics through a direction change sensing mechanism, introducing a curvature factor to represent path accumulated deformation, inhibiting noise interference in combination with a direction consistency correction term, improving curvature estimation of a three-point arc method, and generating multi-scale curvature characteristic data; based on a tracked vehicle kinematics model, analyzing a coupling relationship between a transverse tracking error and a course tracking error, and generating coupling error state data; and inputting the multi-scale curvature characteristic data and the coupling error state data into a backstepping controller, analyzing and exporting a dynamic look-ahead distance explicit expression through a simultaneous kinematics equation and a backstepping control equation, generating a self-adaptive angular velocity control instruction, and outputting the self-adaptive angular velocity control instruction to an execution mechanism to drive a vehicle to steer. And adaptive optimization of the look-ahead distance along with the path curvature, the vehicle state and the tracking error is realized.

This application provides an automatic parking trajectory tracking control method, storage medium, and electronic device. The method includes: determining the current nearest point and shift point closest to the origin of the vehicle coordinate system from a sequence of discrete trajectory coordinate points; determining at least one preview point based on the current nearest point, and obtaining the vehicle's lateral deviation and heading angle deviation based on the preview point; establishing kinematic equations with lateral deviation and heading angle deviation as state variables, and obtaining discretized state-space equations; constructing an offline parameter table of different vehicle speeds and corresponding state feedback values ​​based on the discretized state-space equations and a preset linear quadratic regulator; obtaining the corresponding vehicle rotation value according to the real-time vehicle speed and the offline parameter table; and performing automatic parking control based on the gear information of the current nearest point and the current vehicle rotation value. This application effectively solves the technical problem of difficulty in simultaneously achieving accuracy, real-time performance, and robustness in existing automatic parking trajectory tracking control methods.

The application discloses a centrifugal pump impeller design method, which comprises the following steps: initial parameter determination; parameterized geometric modeling, wherein the profile lines of the front cover plate and the rear cover plate of the impeller are constructed based on a cubic spline curve, and a blade surface model is generated by controlling point coordinates, a curvature radius and an inlet and outlet angle parameter; manufacturing process coupling design, wherein three-dimensional modeling software is used for parameterized modeling of the impeller, and a cutter kinematics equation of a five-axis machine tool is synchronously introduced; CFD numerical simulation analysis; construction of an artificial neural network; and compound shape reverse optimization. The application solves a three-dimensional RANS equation in a rotating column coordinate system to perform CFD verification, and combines the design strategy of the artificial neural network and the compound shape optimization algorithm to quickly and optimally select an optimal impeller model. The design of the impeller is based on the cubic spline curve to construct an impeller geometric model, and the generative machining technology of the five-axis numerical control machine tool is combined to realize deep cooperation of hydraulic design, three-dimensional modeling and manufacturing process.

The invention relates to a multi-aircraft control method and system considering thrust saturation of a piston engine, and the method comprises the steps: carrying out the dynamic modeling of a cruise type guidance aircraft, and obtaining a kinematical equation and a kinetic equation under a trajectory system; modeling a multi-aircraft system to obtain a leader following type formation control model; an average value model is established for the two-stroke piston engine, a transfer function is obtained through linear processing, and a rotating speed controller is designed based on the active disturbance rejection control theory; constructing a non-singular terminal sliding mode surface matrix with fixed time convergence according to the formation error state; taking the deviation between the actual control input and the expected control input as a state quantity to construct a saturation suppression system; and combining a saturation suppression system with the nonsingular terminal sliding mode surface matrix, and designing an anti-saturation fixed time convergence nonsingular terminal sliding mode formation control law, so that the formation error is converged to zero within fixed time. The formation time can be shortened, and the formation control precision is improved.

The present application relates to the technical field of robot motion control, and particularly relates to a redundant robot continuous control method based on zero space projection, comprising the following steps: S1, constructing a shaping zero space projection operator: based on Mansard continuous inverse definition and task constraint conditions of the redundant robot, an augmented Jacobian operator under an activated task is established; S2, solving a continuous solution of a kinematics equation: inverse containing all activated tasks is constructed, and joint speed is preliminarily calculated by using a closed loop control law; S3, optimizing the solution of joint speed: in the case that conflicts occur between activated tasks, a damping coefficient is introduced, and a new closed loop control law is written; S4, realizing task priority control: a general solution of joint speed is formalized through the shaping zero space, so that the priority of the activated task is controllable. The present application is helpful to improve the working performance and reliability of the robot in a complex dynamic environment.

The invention provides a kinematics equation linearization method of normalized time, which converts a time variable under an absolute scale into a relative scale, thereby facilitating derivation and numerical calculation of an optimal control problem. Converting free time into time with boundary conditions by using normalized time, and converting time serving as a differential term in the motion equation into a multiplication term, so as to realize transformation of the motion equation; and according to the motion equation after time normalization, the time after normalization is optimized, and equivalent solution of an optimal control problem is realized. Equivalent solution of an original optimal control problem is realized, and derivation and numerical calculation of the optimal control problem are facilitated.

The invention relates to a passive derivative linear motion error compensation method for electric cylinders of a six-degree-of-freedom electric platform, and the method comprises the steps: building a kinematics inverse solution equation of six-degree-of-freedom mechanical environment simulation equipment, and obtaining the motion telescoping amount of six electric cylinders; establishing a motion equation of a six-degree-of-freedom mechanical environment simulation equipment branch chain; the rotating angle of the cylinder rod of the electric cylinder relative to the cylinder barrel is calculated through the variable quantity of the vector included angle between the cylinder rod fixing end of the upper hooke joint assembly and the cylinder barrel fixing end of the lower hooke joint assembly; calculating an error caused by passive derivative linear motion of the electric cylinder according to a motion equation of a six-degree-of-freedom mechanical environment simulation equipment branch chain; and correcting the elongation amount of the electric cylinder obtained by the kinematics inverse solution as the error amount to obtain the corrected control elongation amount of the electric cylinder. Therefore, the position and attitude precision of the six-degree-of-freedom mechanical environment simulation equipment for spaceflight inertial navigation product performance test and semi-physical simulation test can meet the technical index requirements.

The invention provides a real-time simulation method for a pipe bending machine, which comprises the following steps: generating a customized three-dimensional simulation model based on a machine tool drawing, carrying out lightweight processing, and establishing a component kinematics equation and a father-son binding relationship; dispersing the pipe into triangular meshes, splicing straight line sections and bent sections, and updating the model in real time along with the forming action; an interference result is obtained through secondary collision detection of surrounding body coarse screening and line segment-triangle fine detection; a control instruction and a simulation state timestamp are aligned through a bidirectional data coupling interface, and low-delay synchronous rendering and early warning feedback are achieved through incremental solution, on-demand calculation and timestamp drive refreshing. By means of a customized lightweight model, pipe grid real-time forming, secondary collision detection and a bidirectional clock alignment and increment on-demand refreshing mechanism, low-delay synchronization of the pipe bending machine and a simulation picture is achieved, the machine adjusting period is remarkably shortened, and the machining safety and the forming verification efficiency are improved.

The embodiment of the specification provides a kind of based on quasi-static electric quantity discrete electric aircraft reachable domain evaluation method and system, wherein, method includes: the quasi-static dimension reduction conversion of electric aircraft dynamics model, according to quasi-static hypothesis, simplify electric aircraft dynamics equation, it is decoupled as horizontal plane kinematics equation and push resistance balance and lift weight balance equation constraint, reduce state quantity dimension, obtain dimension reduction flight dynamics model;The electric quantity discrete conversion of dimension reduction flight dynamics model, the form of relative to time dynamics equation is converted into relative to electric quantity consumption value, determines simulation interval and discrete grid;Based on the dimension reduction flight dynamics model, by setting roll angle numerical sequence, numerical integration simulation is carried out on the simulation interval and discrete grid, and the horizontal plane maneuvering reachable domain boundary of electric aircraft is obtained.

The invention discloses an improved Smith control method for a maritime lightering device, and the method comprises the following steps: S1, building a maritime lightering device kinematics equation based on kinematics analysis; S2, solving a maritime lightering device inverse kinematics equation according to the kinematics equation; s3, a hydraulic servo system is considered, and an offshore lightering device transfer function model is established; s4, designing an improved Smith control method, and constructing an output delay observer; and S5, realizing wave compensation and active operation of the lightering device by using an inverse solution control method, and correcting the tail end position of the lightering device by using the output of the improved Smith controller. According to the method, the problem of control residual errors existing in a classical Smith estimation compensation method can be solved, and therefore it is guaranteed that a maritime lightering device can rapidly and accurately compensate ship swaying motion caused by marine environment disturbance.

The application relates to the technical field of traffic safety, in particular to a vibration deceleration marking setting method based on marking laying length. The visual recognition process of a driver to the deceleration marking is confirmed, and laying parameters are obtained; the psychological perception coefficient of the driver passing through each deceleration marking is obtained; the acceleration of the driver passing through each deceleration marking is obtained according to the psychological perception coefficient of the driver passing through each deceleration marking; the speed of the driver passing through each marking is obtained according to the acceleration of the driver passing through each deceleration marking and the laying parameters; the kinematic equation is established according to the speed of the driver passing through each deceleration marking, and the kinematic equation is solved in combination with the Weber law to obtain the setting interval of the deceleration marking; and the deceleration marking is laid according to the setting interval of the deceleration marking. The laying interval of the deceleration marking is determined by introducing a psychological formula considering the comfort of the driver passing through the vibration deceleration marking, and the application has strong applicability.

The invention discloses a demand flow correction method, device and equipment for a hydraulic oil cylinder and the hydraulic oil cylinder. The method comprises the steps that the mapping relation between a driving instruction signal and displacement of the hydraulic oil cylinder is trained through a long short term memory neural network; building a physical information neural network according to a preset oil cylinder kinematics equation and the long short term memory neural network; calculating the relative displacement of the hydraulic oil cylinder in real time according to the physical information neural network and a preset input signal; wherein when the hydraulic oil cylinder is in a full contraction state, the relative displacement is the displacement zero point of the hydraulic oil cylinder; and correcting the required flow of the hydraulic oil cylinder according to the relative displacement of the hydraulic oil cylinder. The required flow of the hydraulic oil cylinder is corrected by predicting the relative displacement of the hydraulic oil cylinder, the displacement speed of the hydraulic oil cylinder at the tail end can be reduced, and the problem of large action impact caused by sudden speed change of the hydraulic oil cylinder can be solved.

The application discloses a kind of four-axis turning-milling compound machining track optimization post-processing methods, the method includes the following steps: constructing and solving four-axis turning-milling compound numerical control machine tool kinematics equation;With machining precision requirement and machining track interpolation error as constraint, construct the tool position track optimization algorithm for the tool position track of the part to be machined is optimized;With the angle between adjacent tool position points as constraint, construct the tool position point sparsification processing algorithm for the tool position track after tool position track optimization algorithm optimization is sparsified;Four-axis turning-milling compound numerical control machine tool kinematics equation, tool position track optimization algorithm and tool position point sparsification processing algorithm are written into postprocessor, and the tool position track data of the part to be machined is converted into machining code capable of being recognized by four-axis turning-milling compound numerical control machine tool using postprocessor.The method of the application can simultaneously consider machining precision and machining efficiency, and can effectively improve the machining precision, programming quality and machining efficiency of complex surface four-axis turning-milling compound.

According to the satellite anti-collision method and device, a binocular panoramic camera installed on a satellite is used for real-time detection, and when a target is found, a kinematical equation of the target is calculated; comparing the kinematical equation of the target with the kinematical equation of the satellite, and judging whether the target has a threat or not; and if the target has a threat, pushing the satellite to advance in a direction away from the target to avoid. According to the method, the binocular panorama camera which operates in orbit along with the satellite is arranged on the satellite, threatening objects possibly existing in the space are detected and compared in real time, the detection distance is long, the method is not influenced by weather, threatening targets existing in the operation process can be found and avoided to the maximum extent, and the in-orbit operation safety of the satellite is guaranteed.

The application relates to a parallel robot design method, in particular to a parallel robot pose error compensation method based on a physical information neural network. The purpose is to provide a parallel robot pose error prediction and compensation method based on a physical information neural network, so as to ensure that the prediction result conforms to the mechanism mechanism, reduce the experimental cost and process complexity, improve the compensation accuracy, and be suitable for parallel robot mechanisms with clear kinematic equations. The technical scheme is a parallel robot pose error compensation method based on a physical information neural network, which is performed according to the following steps: 1, establishing a parallel robot mechanism inverse kinematics model and a geometric error Jacobian matrix, and then embedding the geometric error Jacobian matrix into the physical information neural network; 2, determining the parameters of the physical information neural network according to the parallel robot structure; 3, simulation verification; 4, experimental correction and feedforward compensation.

This invention provides a grid-connected control method for a flywheel energy storage system based on a dual-rotor brushless motor, belonging to the field of novel energy storage equipment and motor control technology. The control method includes: using the kinematic equation between the stator magnetic field speed, the speed of the adjusting magnetic ring rotor, and the speed of the permanent magnet rotor as the first constraint; using the synchronization of the adjusting magnetic ring rotor speed with the power grid as the second constraint; determining the stator magnetic field speed as the sole control degree of freedom for adjusting the operating state; performing boundary judgment and correction on the stator magnetic field speed; and adjusting the stator magnetic field speed to make the speed of the permanent magnet rotor and the speed of the flywheel change along a linear invariant trajectory determined by the first constraint, thereby realizing the flywheel energy storage system's control requirements for the power grid. This invention has a clear control structure and well-defined constraint relationships, enabling multiple grid-connected support functions while ensuring the safe operation of the flywheel.

The invention discloses a marine test parameter identification method for a high-speed moving ship, which comprises the following steps of: 1, integrating a plurality of inertial sensors through an attitude sensing module, and establishing a kinematics relation equation set among an angle, an angular velocity and an angular acceleration corresponding to three-degree-of-freedom rotating motion; 2, constructing a state estimation framework with fault detection capability, analyzing an actual observation value of the sensor and a Kalman filtering predicted value in real time based on a Kalman filtering algorithm to generate a residual sequence, and realizing diagnosis and identification of a sensor fault through statistical test and logical judgment; step 3, carrying out smoothing processing on the sea test data after fault cleaning by adopting a spectral analysis method, and eliminating measurement noise and data delay; and 4, based on the processed high-quality data, establishing a motion equation of the high-speed moving ship, performing linearization processing, converting the motion equation into a discrete ARMAX model structure, and executing ship system model parameter identification by using a generalized least square method.

The application discloses an automatic driving racing car control method based on integral compensation, which comprises the following steps: establishing a vehicle dynamics model and a kinematics equation; defining a state space and an action space; constructing a reinforcement learning control strategy based on a double-delay deep deterministic policy gradient method, combining an action mapping mechanism to maximize vehicle performance under the premise that the control output satisfies the tire friction force constraint; fitting a track center line trajectory according to a sampling point sequence of a track center line in front of the vehicle; designing an integral compensation mechanism to generate a compensation error state, adjust the vehicle control output and realize control strategy optimization. The application enhances the utilization ability of the system to historical yaw information by introducing the integral compensation technology, enables the control strategy to adaptively adjust based on the accumulated error trend, makes the driving trajectory of the racing car on the track more smooth and coherent, reduces unnecessary oscillation and deviation, improves the overall lap speed and improves the control performance of the automatic driving racing car in the high-speed limit driving environment.

This application discloses a method, system, and program product for solving the error source term of oil film thickness in a hydrostatic slider. The method includes: Step S1: Constructing an oil film thickness function model that includes the error source term of the hydrostatic slider; Step S2: Constructing a pressure equation dependent on the error source term based on a preset transient Reynolds equation and the oil film thickness function model; Step S3: Calculating the mechanical characteristics between the hydrostatic slider and the oil film based on the pressure equation, and establishing a kinematic equation based on the mechanical characteristics; Step S4: Coupling and solving the pressure equation and the kinematic equation to obtain the error source term and the dynamic response result of the oil film thickness. The method, system, and program product for solving the error source term of oil film thickness in a hydrostatic slider of this application can at least solve the problems of large deviations in the oil film thickness predicted by existing hydrostatic slider oil film thickness prediction methods and the inability to accurately predict transient fluctuations in oil film thickness.

The application belongs to the field of navigation and positioning, and particularly relates to a combined navigation method for an amphibious robot. The method comprises the following steps: (1) navigation initialization: using the IMU, DVL and GNSS arranged on the amphibious robot to estimate the initial noise and state of the system; (2) nominal state prediction: using the median integral result of the IMU as the nominal state of the amphibious robot during navigation; (3) error state prediction: using error state Kalman filtering to calculate the discrete kinematics equation and the prediction covariance matrix of the error state; (4) observation update: using the DVL, pressure depth gauge and GNSS to construct the observation equation and the observation covariance matrix for correcting the nominal state. The application has faster response speed, smaller operation burden and more accurate pose estimation during the navigation of the amphibious robot.