CN103968830B - Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method - Google Patents
Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method Download PDFInfo
- Publication number
- CN103968830B CN103968830B CN201410201315.2A CN201410201315A CN103968830B CN 103968830 B CN103968830 B CN 103968830B CN 201410201315 A CN201410201315 A CN 201410201315A CN 103968830 B CN103968830 B CN 103968830B
- Authority
- CN
- China
- Prior art keywords
- uuv
- lash ship
- data
- sonar
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001360 synchronised effect Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 239000011159 matrix material Substances 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 81
- 230000006854 communication Effects 0.000 claims description 80
- 230000001537 neural effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000002123 temporal effect Effects 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 4
- 238000012549 training Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 15
- 230000008447 perception Effects 0.000 abstract description 7
- 238000013459 approach Methods 0.000 description 7
- 238000012360 testing method Methods 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410201315.2A CN103968830B (en) | 2014-05-14 | 2014-05-14 | Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410201315.2A CN103968830B (en) | 2014-05-14 | 2014-05-14 | Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103968830A CN103968830A (en) | 2014-08-06 |
CN103968830B true CN103968830B (en) | 2015-12-02 |
Family
ID=51238623
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410201315.2A Active CN103968830B (en) | 2014-05-14 | 2014-05-14 | Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103968830B (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105758405B (en) * | 2016-03-14 | 2018-09-21 | 哈尔滨工程大学 | A kind of UUV suitable for high sea situation tracks lash ship path planning method |
CN106027188A (en) * | 2016-05-12 | 2016-10-12 | 哈尔滨工程大学 | UUV distributed control system time alignment method for compensating underwater acoustic communication time delay |
CN107168312B (en) * | 2017-05-17 | 2019-12-06 | 哈尔滨工程大学 | Space trajectory tracking control method for compensating UUV kinematic and dynamic interference |
CN107830860B (en) * | 2017-10-31 | 2019-09-27 | 江苏科技大学 | A kind of unmanned boat lifting recycling visual guide method |
CN107902053A (en) * | 2017-12-13 | 2018-04-13 | 常熟市电子仪器厂 | Lie up optical directory means |
CN108471328A (en) * | 2018-01-31 | 2018-08-31 | 湖北大学 | The subsurface communication link establishment mechanism and method of acousto-optic fusion |
CN109116360B (en) * | 2018-08-03 | 2019-06-28 | 国家深海基地管理中心 | A kind of deep-sea real-time high-precision locating method and system |
CN111290413A (en) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot water surface monitoring system and method |
CN113342015A (en) * | 2021-06-15 | 2021-09-03 | 哈尔滨工程大学 | Distributed sea area cross-medium heterogeneous system consistency formation method |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1779485A (en) * | 2004-11-17 | 2006-05-31 | 中国科学院沈阳自动化研究所 | Combined navigation positioning method of manned submersible |
CN101408772A (en) * | 2008-11-21 | 2009-04-15 | 哈尔滨工程大学 | AUV intelligent touching-avoiding apparatus and method |
CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
CN103033817A (en) * | 2012-11-25 | 2013-04-10 | 中国船舶重工集团公司第七一○研究所 | Obstruction automatic recognition system for collision preventing of large-scale autonomous underwater vehicle (AUV) |
EP2682782A1 (en) * | 2012-07-05 | 2014-01-08 | Roke Manor Research Limited | Sensor location method and system |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102446367B (en) * | 2011-09-19 | 2013-03-13 | 哈尔滨工程大学 | Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data |
-
2014
- 2014-05-14 CN CN201410201315.2A patent/CN103968830B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1779485A (en) * | 2004-11-17 | 2006-05-31 | 中国科学院沈阳自动化研究所 | Combined navigation positioning method of manned submersible |
CN101408772A (en) * | 2008-11-21 | 2009-04-15 | 哈尔滨工程大学 | AUV intelligent touching-avoiding apparatus and method |
EP2682782A1 (en) * | 2012-07-05 | 2014-01-08 | Roke Manor Research Limited | Sensor location method and system |
CN103033817A (en) * | 2012-11-25 | 2013-04-10 | 中国船舶重工集团公司第七一○研究所 | Obstruction automatic recognition system for collision preventing of large-scale autonomous underwater vehicle (AUV) |
CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
Also Published As
Publication number | Publication date |
---|---|
CN103968830A (en) | 2014-08-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN103968830B (en) | Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method | |
US11899104B2 (en) | Navigation system for underwater vehicles | |
Kebkal et al. | AUV acoustic positioning methods | |
EP2689263B1 (en) | Determining a position of a submersible vehicle within a body of water | |
CN101900558B (en) | Combined navigation method of integrated sonar micro navigation autonomous underwater robot | |
CN100495066C (en) | Underwater GPS positioning navigation method and system without high stable frequency scale | |
CN104316045A (en) | AUV (autonomous underwater vehicle) interactive auxiliary positioning system and AUV interactive auxiliary positioning method based on SINS (strapdown inertial navigation system)/LBL (long base line) | |
Eustice et al. | Recent advances in synchronous-clock one-way-travel-time acoustic navigation | |
CN111366962A (en) | Deep open sea low-cost long-endurance collaborative navigation positioning system | |
CN106767793A (en) | A kind of AUV underwater navigation localization methods based on SINS/USBL tight integrations | |
JP2020500303A (en) | Offshore GNSS reference station device, offshore GNSS positioning system, and method for generating positioning reference data offshore | |
CN105547290B (en) | It is a kind of based on ultra short baseline locating system from latent device air navigation aid | |
NO334597B1 (en) | Underwater navigation method and system | |
KR100906362B1 (en) | Underwater Navigation System for a Platoon of Multiple Unmanned Underwater Vehicles Using Range Measurements on Two Reference Stations and Inertial Sensors | |
Fallon et al. | Cooperative AUV navigation using a single surface craft | |
CN1325932C (en) | Combined navigation positioning method of manned submersible | |
RU2437114C1 (en) | System for determining coordinates of underwater objects | |
JP5581718B2 (en) | Position calibration method for underwater vehicle | |
MX2014008733A (en) | Actively controlled buoy based marine seismic survey system and method. | |
CN105486313A (en) | Positioning method based on low-cost USBL-assisted SINS | |
CN106054135A (en) | Passive underwater sound positioning method based on moving time window periodically | |
JP2018084445A (en) | Underwater acoustic positioning system | |
US7362655B1 (en) | Time-synchronous acoustic signal ranging system and method | |
Crosbie et al. | Synchronous navigation of AUVs using WHOI micro-modem 13-bit communications | |
CN105115494B (en) | Inertial navigation/underwater sound Combinated navigation method of the one kind based on " accurate short baseline " |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170209 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Patentee after: Bian Xinqian Patentee after: Yan Zheping Patentee after: Xia Guoqing Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: Harbin Engineering Univ. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170316 Address after: 150028 high tech Industrial Development Zone, Heilongjiang province science and technology innovation city innovation and entrepreneurship Plaza, building 1, No. 15255 source road, enterprise accelerator unit 2, level 1, Patentee after: Harbin ship Intelligent Equipment Technology Co., Ltd. Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Patentee before: Bian Xinqian Patentee before: Yan Zheping Patentee before: Xia Guoqing Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University |
|
TR01 | Transfer of patent right |
Effective date of registration: 20190201 Address after: 150001 15/F Ship Building, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Co-patentee after: Yan Zheping Patentee after: Bian Qin Co-patentee after: Xia Guoqing Co-patentee after: Harbin Engineering University Science Park Development Co., Ltd. Address before: Level 2, Enterprise Acceleration Unit 1, 15255 Zhongyuan Avenue, Building 1, Innovation Plaza, Science and Technology Innovation City, Harbin Hi-tech Industrial Development Zone, Heilongjiang Province, 150028 Patentee before: Harbin ship Intelligent Equipment Technology Co., Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190517 Address after: 150001 15/F Ship Building, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Co-patentee after: Xia Guoqing Patentee after: Yan Zheping Co-patentee after: Zhang Honghan Co-patentee after: Chen Tao Co-patentee after: Zhou Jiajia Co-patentee after: Liu Xiangbo Co-patentee after: Liu Jianxu Co-patentee after: Wang Yuanhui Co-patentee after: Chen Xinghua Co-patentee after: Wang Chenglong Co-patentee after: Bian Qin Co-patentee after: Tang Zhaodong Co-patentee after: Wang Hongjian Co-patentee after: Xia Guoqing Wang Hongjian Ding Fuguang Fu Ming Yulin Xiaogong Xu Jian Zhangwei Li Juan Zhangxun Zhang Honghan Chen Tao Zhou Jiaga Liu Xiangbo Liu Jiaxu Wang Yuan Hui Chen Xinghua Wang Chenglong Benqin Tangzhao East Harbin Engineering University Science Park Development Co., Ltd. Co-patentee after: Ding Fuguang Co-patentee after: Fu Mingyu Co-patentee after: Lin Xiaogong Co-patentee after: Xu Jian Co-patentee after: Zhang Wei Co-patentee after: Li Juan Co-patentee after: Zhang Xun Address before: 150001 15/F Ship Building, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Co-patentee before: Yan Zheping Patentee before: Bian Qin Co-patentee before: Xia Guoqing Co-patentee before: Harbin Engineering University Science Park Development Co., Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190822 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee after: Harbin Shipboard Intelligent Technology Partnership (Limited Partnership) Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Xia Guoqing Patentee before: Yan Zheping Co-patentee before: Zhang Honghan Co-patentee before: Chen Tao Co-patentee before: Zhou Jiajia Co-patentee before: Liu Xiangbo Co-patentee before: Liu Jianxu Co-patentee before: Wang Yuanhui Co-patentee before: Chen Xinghua Co-patentee before: Wang Chenglong Co-patentee before: Bian Qin Co-patentee before: Tang Zhaodong Co-patentee before: Wang Hongjian Co-patentee before: Xia Guoqing Wang Hongjian Ding Fuguang Fu Ming Yulin Xiaogong Xu Jian Zhangwei Li Juan Zhangxun Zhang Honghan Chen Tao Zhou Jiaga Liu Xiangbo Liu Jiaxu Wang Yuan Hui Chen Xinghua Wang Chenglong Benqin Tangzhao East Harbin Engineering University Science Park Development Co., Ltd. Co-patentee before: Ding Fuguang Co-patentee before: Fu Mingyu Co-patentee before: Lin Xiaogong Co-patentee before: Xu Jian Co-patentee before: Zhang Wei Co-patentee before: Li Juan Co-patentee before: Zhang Xun |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190924 Address after: Room 801, 1st floor, 8th building, Science and Technology Innovation Industrial Park, Songbei District, Harbin City, Heilongjiang Province, No. 3043, Zhigu Second Street, Songbei District, Shenzhen Patentee after: Harbin ship Intelligent Equipment Technology Co., Ltd. Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Harbin Shipboard Intelligent Technology Partnership (Limited Partnership) Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University |
|
TR01 | Transfer of patent right |