CN104613979A - Apparatus and method used for calibrating parameter of AUV autonomous navigation sensor - Google Patents

Abstract

The invention relates to the technical field of underwater robot, and especially relates to an apparatus and a method used for calibrating parameter of AUV(Autonomous Underwater Vehicle) autonomous navigation sensor. The apparatus comprises a GPS reception machine, a speed sensor, a course sensor and a control computer. The method is characterized in that after continuous three segments of linear routes by the AUV, and the calibration result for parameter of the autonomous navigation sensor can be calculated. The apparatus can be used for AUV and can be used for other sea robots and underwater automation equipment, and the apparatus has the advantages of simple apparatus, simple usage, stabilization and reliability, accurate detection result and wide application scope.

Description

A kind of apparatus and method for demarcating AUV independent navigation sensor parameters

Technical field

The present invention relates to underwater robot technical field, particularly relating to a kind of for demarcating AUV(Autonomous Underwater Vehicle, autonomous underwater robot) apparatus and method of independent navigation sensor parameters.

Background technology

Before AUV carries out independent navigation under water, need to demarcate AUV independent navigation sensor parameters in advance, demarcate two parameters: one is the mounting shift angle of heading sensor and speed of a ship or plane sensor, another one is that speed of a ship or plane sensor tests the speed coefficient.Classic method is: AUV is in water surface line navigation, and Real-time Collection GPS location data, heading sensor data and speed of a ship or plane sensing data, gps antenna need surface to receive gps signal always in the process, after line navigation one segment distance, reclaims AUV.Derive the above-mentioned data of AUV record, utilize common computer to carry out processed offline, obtain the calibration result to navigation sensor parameter.This method has following shortcoming: (1) AUV timing signal needs at surface navigation, and gps signal is easily disturbed; (2) calibration result can only be calculated after reclaiming AUV, can not on-line proving.

Summary of the invention

In order to overcome the deficiency of classic method, the technical problem to be solved in the present invention be to provide a kind of can in the apparatus and method of line computation independent navigation sensor parameters calibration result.

The technical scheme that the present invention is adopted for achieving the above object is: a kind of device for demarcating AUV independent navigation sensor parameters, comprises

GPS, gps antenna is arranged on AUV outside, for receiving gps signal, GPS receiving element connection control computing machine;

Speed of a ship or plane sensor, its processing section is arranged on AUV inside, and measure portion is arranged on AUV outside, and processing section is connected with computer for controlling, and the coefficient that tests the speed is to be calibrated, for measuring forward speed and the dextrad speed of AUV in real time;

Heading sensor, is arranged on AUV enclosure interior, is connected with computer for controlling, and the mounting shift angle of heading sensor and speed of a ship or plane sensor is to be calibrated, for measuring the course of AUV in real time;

Computer for controlling, is installed on AUV enclosure interior, by the equipment connection on the communications cable and the water surface, records for Real-time Collection gps signal, the forward speed of AUV, dextrad speed and the course data that the said equipment exports.

Described GPS, speed of a ship or plane sensor, heading sensor be connected with the power input of computer for controlling AUV electric power output interface,

Described computer for controlling is for controlling the electric power break-make of described GPS, speed of a ship or plane sensor, heading sensor.

The transmission cycle of the forward speed of described gps data, AUV, dextrad speed and course data is between 0.1 second ~ 10 seconds.

For demarcating a method for AUV independent navigation sensor parameters, AUV navigates by water behind three sections of straight line air routes continuously, calculates the calibration result of AUV independent navigation sensor parameters, comprises the following steps:

AUV navigates by water first paragraph air route: in the starting point in first paragraph air route, GPS inputs gps signal to controlling calculation; At the terminal in first paragraph air route, computer for controlling receives gps signal by GPS;

AUV navigation second segment air route: AUV starts the navigation of second segment air route at first paragraph air route terminal, and at the terminal in second segment air route, computer for controlling receives gps signal by GPS;

AUV navigates by water the 3rd section of air route: AUV and starts the navigation of the 3rd section of air route at second segment air route terminal, and at the terminal in the 3rd section of air route, computer for controlling receives gps signal by GPS;

The computer for controlling gps data received calculates east orientation displacement and the north orientation displacement in each section of air route, east orientation position and north orientation displacement is calculated with heading sensor and speed of a ship or plane sensing data, by calculating the displacement of the former with the latter and comparing, obtain speed of a ship or plane sensor and to test the speed coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor.

The air route quantity that in three sections of air routes of described AUV navigation, length is greater than 800 meters is not less than 2.

Described computer for controlling to test the speed coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor at line computation speed of a ship or plane sensor.

The gps signal of described computer for controlling record, the forward speed of AUV, dextrad speed and course data are transferred on other computing machine, carry out calculated off-line, obtain speed of a ship or plane sensor and to test the speed coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor.

The test the speed computing method of coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor of described speed of a ship or plane sensor are:

If the course angle of speed of a ship or plane sensor measurement is ψ, forward speed and the dextrad speed of speed of a ship or plane sensor measurement are respectively v _fand v _r, mounting shift angle H _sas follows with the computing formula of the coefficient δ that tests the speed:

$\mathrm{\ΔE}=\mathrm{\δ}\underset{i=1}{\overset{k}{\mathrm{\Σ}}}[V_e^{g^{\′}}\left(i\right)+H_s\·V_n^{g^{\′}}\left(i\right)]\·\mathrm{\ΔT}---\left(1\right)$

$\mathrm{\ΔN}=\mathrm{\δ}\underset{i=1}{\overset{k}{\mathrm{\Σ}}}[V_n^{g^{\′}}\left(i\right)-H_s\·V_e^{g^{\′}}\left(i\right)]\·\mathrm{\ΔT}---\left(2\right)$

In formula, Δ T represents the sampling period, $V_n^{g^{\′}}=-\sin \mathrm{\ψ}\·v_r+\cos \mathrm{\ψ}\·v_f$ Represent north orientation speed, $V_e^{g^{\′}}=\cos \mathrm{\ψ}\·v_r+\sin \mathrm{\ψ}\·v_f$ Represent east orientation speed, k represents sampling sum.R _m, R _nrepresent meridian radius of circle and fourth of the twelve Earthly Branches radius of circle at the tenth of the twelve Earthly Branches respectively, λ, L represent longitude and latitude respectively; Wherein following parameter is known quantity:

R _M=Re*(1-2*fearth+3*fearth*sin(L)*sin(L));

R _N=Re*(1+fearth*sin(L)*sin(L));

ΔE=Re*cos(lati_1)*(longi_2-longi_1)*(1+fearth*sin(lati_1)*sin(lati_1)

ΔN=Re*((lati_2-lati_1)*(1-2*fearth+3*fearth*0.5)-3*fearth*0.25*(sin(2*lati_2)-sin(2*lati_1)))

In formula, fearth=1/298.257, Re=6378137, (longi_1, lati_1) and (longi_2, lati_2) represents the latitude and longitude coordinates of starting point and terminal respectively;

Formula (1) can be divided out the coefficient δ that tests the speed divided by formula (2), obtains following formula

Vse/Vsn=ΔE/ΔN (3)

Wherein,

$\mathrm{Vse}\left(k\right)=\underset{i=1}{\overset{k}{\mathrm{\Σ}}}[V_e^{g^{\′}}\left(i\right)+H_s\·V_n^{g^{\′}}\left(i\right)]$

$\mathrm{Vsn}\left(k\right)=\underset{i=1}{\overset{k}{\mathrm{\Σ}}}[V_n^{g^{\′}}\left(i\right)-H_s\·V_e^{g^{\′}}\left(i\right)]$

Formula (3) is only containing a unknown number mounting shift angle H _s, utilize formula (3) directly to solve; H _ssolve rear substitution formula (1) or formula (2) can solve the coefficient δ that tests the speed.

The present invention has the following advantages and beneficial effect:

1. device is simple, easy to use.Calibration algorithm, without the need to other servicing unit, only need be transplanted on AUV internal control computing machine by apparatus of the present invention.

2. reliable and stable, testing result is accurate.The inventive method can online and off-line calibration navigation sensor parameter, and testing result is accurate.

4. applied range.The present invention not only can be applied to AUV, can also be used for other ocean robot and automated arm under water.

Accompanying drawing explanation

Fig. 1 is device arrangement plan of the present invention;

Fig. 2 is three sections of straight line air routes of the present invention;

Embodiment

Below in conjunction with drawings and Examples, the present invention is described in further detail.

AUV independent navigation sensor parameters caliberating device as shown in Figure 1.AUV adopts constant speed, orientation, depth-keeping navigation mode, successively the following three sections of straight line air routes of navigation, as shown in Figure 2:

First paragraph straight line air route, line navigation 1.6 km, then starts second segment straight line air route, and resail 1.6 kms, finally navigation the 3rd section of air route, and distance to go does not do requirement.

In navigation process, AUV keeps course and the attitude stabilization of sail body, records the measurement data of speed of a ship or plane sensor and the course data of heading sensor respectively.Before every section of straight line air route starts, AUV discharges gps antenna and receives gps data, when pending data is effective, regains antenna.At every section of air route terminal, AUV discharges gps antenna and receives gps data, when pending data is effective, regains antenna.

After three sections of straight line air routes complete, obtain independent navigation sensor parameters calibration result by online process of the present invention or processed offline mode.

Claims (9)

1. for demarcating a device for AUV independent navigation sensor parameters, it is characterized in that, comprising

GPS, gps antenna is arranged on AUV outside, for receiving gps signal, GPS receiving element connection control computing machine;

Speed of a ship or plane sensor, its processing section is arranged on AUV inside, and measure portion is arranged on AUV outside, and processing section is connected with computer for controlling, and the coefficient that tests the speed is to be calibrated, for measuring forward speed and the dextrad speed of AUV in real time;

Heading sensor, is arranged on AUV enclosure interior, is connected with computer for controlling, and the mounting shift angle of heading sensor and speed of a ship or plane sensor is to be calibrated, for measuring the course of AUV in real time;

Computer for controlling, is installed on AUV enclosure interior, by the equipment connection on the communications cable and the water surface, records for Real-time Collection gps signal, the forward speed of AUV, dextrad speed and the course data that the said equipment exports.

2. a kind of device for demarcating AUV independent navigation sensor parameters according to claim 1, is characterized in that, described GPS, speed of a ship or plane sensor, heading sensor are connected the electric power output interface of AUV with the power input of computer for controlling.

3. a kind of device for demarcating AUV independent navigation sensor parameters according to claim 1, is characterized in that, described computer for controlling is for controlling the electric power break-make of described GPS, speed of a ship or plane sensor, heading sensor.

4. a kind of device for demarcating AUV independent navigation sensor parameters according to claim 1, is characterized in that, the transmission cycle of the forward speed of described gps data, AUV, dextrad speed and course data is between 0.1 second ~ 10 seconds.

5. for demarcating a method for AUV independent navigation sensor parameters, it is characterized in that, AUV navigates by water behind three sections of straight line air routes continuously, calculates the calibration result of AUV independent navigation sensor parameters, comprises the following steps:

AUV navigates by water first paragraph air route: in the starting point in first paragraph air route, GPS inputs gps signal to controlling calculation; At the terminal in first paragraph air route, computer for controlling receives gps signal by GPS;

AUV navigation second segment air route: AUV starts the navigation of second segment air route at first paragraph air route terminal, and at the terminal in second segment air route, computer for controlling receives gps signal by GPS;

AUV navigates by water the 3rd section of air route: AUV and starts the navigation of the 3rd section of air route at second segment air route terminal, and at the terminal in the 3rd section of air route, computer for controlling receives gps signal by GPS;

The computer for controlling gps data received calculates east orientation displacement and the north orientation displacement in each section of air route, east orientation position and north orientation displacement is calculated with heading sensor and speed of a ship or plane sensing data, by calculating the displacement of the former with the latter and comparing, obtain speed of a ship or plane sensor and to test the speed coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor.

6. a kind of method for demarcating AUV independent navigation sensor parameters according to claim 5, is characterized in that, the air route quantity that in three sections of air routes of described AUV navigation, length is greater than 800 meters is not less than 2.

7. a kind of method for demarcating AUV independent navigation sensor parameters according to claim 5, is characterized in that, described computer for controlling to test the speed coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor at line computation speed of a ship or plane sensor.

8. the method for demarcating AUV independent navigation sensor parameters according to claim 5, it is characterized in that, the gps signal of described computer for controlling record, the forward speed of AUV, dextrad speed and course data are transferred on other computing machine, carry out calculated off-line, obtain speed of a ship or plane sensor and to test the speed coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor.

9. the method for demarcating AUV independent navigation sensor parameters according to claim 5, is characterized in that, the test the speed computing method of coefficient and the mounting shift angle between heading sensor and speed of a ship or plane sensor of described speed of a ship or plane sensor are:

If the course angle of speed of a ship or plane sensor measurement is ψ, forward speed and the dextrad speed of speed of a ship or plane sensor measurement are respectively v _fand v _r, mounting shift angle H _sas follows with the computing formula of the coefficient δ that tests the speed:

In formula, Δ T represents the sampling period, represent north orientation speed, represent east orientation speed, k represents sampling sum.R _m, R _nrepresent meridian radius of circle and fourth of the twelve Earthly Branches radius of circle at the tenth of the twelve Earthly Branches respectively, λ, L represent longitude and latitude respectively; Wherein following parameter is known quantity:

R _M=Re*(1-2*fearth+3*fearth*sin(L)*sin(L));

R _N=Re*(1+fearth*sin(L)*sin(L));

ΔE=Re*cos(lati_1)*(longi_2-longi_1)*(1+fearth*sin(lati_1)*sin(lati_1)

ΔN=Re*((lati_2-lati_1)*(1-2*fearth+3*fearth*0.5)-3*fearth*0.25*(sin(2*lati_2)-sin(2*lati_1)))

In formula, fearth=1/298.257, Re=6378137, (longi_1, lati_1) and (longi_2, lati_2) represents the latitude and longitude coordinates of starting point and terminal respectively;

Formula (1) can be divided out the coefficient δ that tests the speed divided by formula (2), obtains following formula

Vse/Vsn=ΔE/ΔN (3)

Wherein,

Formula (3) is only containing a unknown number mounting shift angle H _s, utilize formula (3) directly to solve; H _ssolve rear substitution formula (1) or formula (2) can solve the coefficient δ that tests the speed.