CN105974456B - A kind of autonomous underwater vehicle combined navigation system - Google Patents
A kind of autonomous underwater vehicle combined navigation system Download PDFInfo
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- CN105974456B CN105974456B CN201610351400.6A CN201610351400A CN105974456B CN 105974456 B CN105974456 B CN 105974456B CN 201610351400 A CN201610351400 A CN 201610351400A CN 105974456 B CN105974456 B CN 105974456B
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- 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
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of autonomous underwater vehicle combined navigation systems, including pressure-resistant GPS positioning device, acceleration transducer, gyroscope, embedded central processing unit, built-in pressure gauge and underwater acoustic communication sonar, underwater human body's surrounding is equipped with several cameras, Beidou module is mounted in each camera, water flow rate sensor and off-board pressure transducer are also equipped on the underwater acoustic communication sonar outer wall, it further include data processing module, panoramic video generation module, physical model establishes module, virtual actuator, virtual-sensor, navigation routine sunykatuib analysis module.The design that the present invention passes through Beidou module, complete the detection of GPS positioning device and its each sensor position, location parameter correction can be automatically performed, it is convenient to use, the analogue simulation of every emulation route can be carried out by physical model simultaneously, so that the route after being optimized, improves the visuality of system, while also improving the accuracy and safety of route.
Description
Technical field
The present invention relates to a kind of navigation system, and in particular to a kind of autonomous underwater vehicle combined navigation system.
Background technique
At present Intelligent Underwater Robot to miniaturization be one of its development trend.Small underwater robot is due to its body
Product is small, maneuverability, at low cost, carrying is convenient, all has wide practical use military-civil.Navigation problem is still underwater machine
Device people designs faced one of chief technology.Present underwater robot navigation common method has dead reckoning, inertia
Navigation and acoustic method etc..The general volume of inertial navigation system is larger, expensive, it is most important that the navigation of pure-inertial guidance system exists
Its position error will be accumulated and be dissipated, the underwater sound with voyage at any time in the case where not having other sensor data informations to compensate
Positioning system (Long baselines, short baseline, ultra-short baseline etc.) positioning accuracy improves a lot, and disadvantage is exactly that operating distance is limited.
Dead reckoning navigation is a kind of air navigation aid of low cost, is the important navigation means of underwater robot, and method is simple, passes through
Ji, underwater robot is other than being equipped with tachymeter, posture, depth transducer etc., it is only necessary to which given initial position message passes through one
Fixed algorithm just may make up real-time, the reliable autonomic navigation system with certain precision.Microminiature underwater robot is limited
It is limited in volume, cost, energy etc., to navigation system, more stringent requirements are proposed for this, this leads to constructing a kind of miniaturization and combine
Boat system increases difficulty.Navigation system is generally made of miniaturization, inexpensive sensor, and sensor accuracy is lower, meanwhile, water
Lower robot is generally operational in distinctive ocean underwater environment, and interfering noise signal is big, the various generally existing essences of underwater sound sensor
Low, the wild high disadvantage of rate is spent, it is particularly important to pick out wild point information to the preferable filtering of sensing data progress.Dead reckoning is led
It navigates to generally require and periodically carries out position correction, if latent deep larger by emerging through GPS progress position readjustment, this will disappear
For consumption compared with multiple-energy-source, this is particularly disadvantageous to the microminiature underwater robot of limited energy.Existing underwater robot navigation system simultaneously
Generally there is no route analogue simulations to operate for system, and while visual poor, accuracy is low.
Summary of the invention
To solve the above problems, passing through Beidou the present invention provides a kind of autonomous underwater vehicle combined navigation system
The design of module completes the detection of GPS positioning device and its each sensor position, so as to be automatically performed location parameter school
Just, use is greatly facilitated, while the analogue simulation of every emulation route can be carried out by physical model, to be optimized
Route afterwards, on the one hand improves the visuality of system, on the other hand also improves the accuracy and safety of route.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of autonomous underwater vehicle combined navigation system, including pressure-resistant GPS positioning device, acceleration transducer, top
Spiral shell instrument, embedded central processing unit, built-in pressure gauge and underwater acoustic communication sonar, the pressure resistance GPS positioning device, acceleration sensing
Device, gyroscope, embedded central processing unit and built-in pressure gauge are mounted in underwater human body, the underwater acoustic communication sonar
It is mounted on underwater human body front end, the underwater human body surrounding is equipped with several cameras, and each camera adds
Beidou mould is mounted in velocity sensor, gyroscope, embedded central processing unit, built-in pressure gauge and underwater acoustic communication sonar
Block is also equipped with water flow rate sensor and off-board pressure transducer, the pressure resistance GPS positioning on the underwater acoustic communication sonar outer wall
Device, acceleration transducer, gyroscope, built-in pressure gauge, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar
It is connected with the input terminal of embedded central processing unit, further includes
Data processing module, for receive camera collected video data and its corresponding Beidou module positioning
Data, the label of video data is completed with received location data, and sends aphorama for the data after the completion of label
Frequency generation module；
Panoramic video generation module generates panoramic video data for video data based on the received, and will generate
Data be sent to embedded central processing unit；
The embedded central processing unit is for receiving pressure-resistant GPS positioning device, acceleration transducer, gyroscope, built-in
Number transmitted by pressure gauge, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar and panoramic video generation module
According to and the data conversion received by these being built at physical model by the data storage received in corresponding database
The data that formwork erection block can identify are sent to physical model and establish module；Data based on the received are also used to, by default
Algorithm export integrated navigation information to display screen；
Physical model establishes module, generates for the data according to transmitted by embedded central processing unit and control command each
Kind underwater robot physical model；
Virtual actuator, for driving Parameters variation, after establishing each element opening relationships in module with physical model,
Parameter can be changed in specified range, be counted so as to driving simulation analysis method for different parameters
It calculates and solves；
Virtual-sensor, for the logic for the target that can directly acquire corresponding result or information being inserted into physical model
Unit；
Navigation routine sunykatuib analysis module completes navigation routine for leading to various simulation analysis algorithms and simulating analysis
Simulation analysis；
Human-machine operation module, for inputting the basic parameter data of underwater human body, data call order and various
Control command, and embedded centre is sent by the basic parameter data inputted, data call order, various control commands
Manage device；
The virtual actuator executes simulation algorithm or emulation mode by circulation and result is fed back to navigation routine simulation
Analysis module, the navigation routine sunykatuib analysis module automatically extract data to virtual-sensor, and the virtual-sensor is automatic
Display analysis result.
Preferably, pressure-resistant GPS positioning device includes GPS chip, RFID chip, electronic compass chip and Beidou module, GPS
Chip includes central processing module, noise suppression module, gain amplification module and Beidou module, and GPS input signal passes through noise
Suppression module and gain amplification module enter central processing module, and GPS output signal is exported by modulation module to Beidou module,
Data transmission is completed by Beidou module, RFID chip and electronic compass chip are connected with central processing module, and built-in Beidou
Module.
Preferably, the Beidou module realizes data transmission using short message communication.
Preferably, the virtual actuator includes dummy unit actuator, virtual characteristics actuator and Virtual Load actuation
Device.
Preferably, the panoramic video generation module completes the generation of panoramic video by following steps:
S1, after carrying out video denoising, enhancing pretreatment, accurate edge is obtained, and the marginal point to obtain is as feature
Point obtains three-dimensional point cloud by converting between coordinate system, rebuilds accurate surface model；
S2, the texture mapping without deformation is carried out to model, makes to rebuild effect closer to true three-dimensional scenic, is directed into
In video-splicing software, the Auto-matching of starting point is completed, realizes the splicing of video data；Entire splicing covers camera
Calibration, sensor image distortion correction, the projective transformation of image, match point choose, Panorama Mosaic and brightness and face
The equilibrium treatment of color.
Preferably, the display screen is two, one of them is used for the sunykatuib analysis of navigation routine, another is used for other
The display of data.
Preferably, the embedded central processing unit completes data transmission by Beidou module.
The invention has the following advantages:
By the design of Beidou module, the detection of GPS positioning device and its each sensor position is completed, so as to certainly
It is dynamic to complete location parameter correction, greatly facilitate use；The transmission that data are completed by Beidou module, avoids due to signal too
Difference and generation the case where lead to data-transmission interruptions；The design of module, and virtual actuator, void are established by physical model
The design of quasi- sensor and navigation routine sunykatuib analysis module realizes the analogue simulation of every emulation route, so as to
Route after to optimization, on the one hand improves the visuality of system, on the other hand also improves the accuracy and safety of route.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of autonomous underwater vehicle combined navigation system of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of pressure-resistant GPS positioning device in the embodiment of the present invention.
Specific embodiment
In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
It is described in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As Figure 1-Figure 2, the embodiment of the invention provides a kind of autonomous underwater vehicle combined navigation systems, including
Pressure-resistant GPS positioning device, acceleration transducer, gyroscope, embedded central processing unit, built-in pressure gauge and underwater acoustic communication sound
It receives, the pressure resistance GPS positioning device, acceleration transducer, gyroscope, embedded central processing unit and built-in pressure gauge are mounted on
In underwater human body, the underwater acoustic communication sonar is mounted on underwater human body front end, the underwater human body
Surrounding is equipped with several cameras, each camera, acceleration transducer, gyroscope, embedded central processing unit, built-in pressure
It is mounted on Beidou module in meter and underwater acoustic communication sonar, is also equipped with water flow rate sensor on the underwater acoustic communication sonar outer wall
And off-board pressure transducer, the pressure resistance GPS positioning device, acceleration transducer, gyroscope, built-in pressure gauge, water flow velocity pass
Sensor, off-board pressure transducer, underwater acoustic communication sonar are connected with the input terminal of embedded central processing unit, further include
Data processing module, for receive camera collected video data and its corresponding Beidou module positioning
Data, the label of video data is completed with received location data, and sends aphorama for the data after the completion of label
Frequency generation module；
Panoramic video generation module generates panoramic video data for video data based on the received, and will generate
Data be sent to embedded central processing unit；
The embedded central processing unit is for receiving pressure-resistant GPS positioning device, acceleration transducer, gyroscope, built-in
Number transmitted by pressure gauge, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar and panoramic video generation module
According to and the data conversion received by these being built at physical model by the data storage received in corresponding database
The data that formwork erection block can identify are sent to physical model and establish module；Data based on the received are also used to, by default
Algorithm export integrated navigation information to display screen；
Physical model establishes module, generates for the data according to transmitted by embedded central processing unit and control command each
Kind underwater robot physical model；
Virtual actuator, for driving Parameters variation, after establishing each element opening relationships in module with physical model,
Parameter can be changed in specified range, be counted so as to driving simulation analysis method for different parameters
It calculates and solves；
Virtual-sensor, for the logic for the target that can directly acquire corresponding result or information being inserted into physical model
Unit；
Navigation routine sunykatuib analysis module completes navigation routine for leading to various simulation analysis algorithms and simulating analysis
Simulation analysis；
Human-machine operation module, for inputting the basic parameter data of underwater human body, data call order and various
Control command, and embedded centre is sent by the basic parameter data inputted, data call order, various control commands
Manage device；
The virtual actuator executes simulation algorithm or emulation mode by circulation and result is fed back to navigation routine simulation
Analysis module, the navigation routine sunykatuib analysis module automatically extract data to virtual-sensor, and the virtual-sensor is automatic
Display analysis result.
Pressure-resistant GPS positioning device includes GPS chip, RFID chip, electronic compass chip and Beidou module, GPS chip packet
Central processing module, noise suppression module, gain amplification module and Beidou module are included, GPS input signal passes through noise suppression mould
Block and gain amplification module enter central processing module, and GPS output signal is exported by modulation module to Beidou module, pass through north
The module that struggles against completes data transmission, and RFID chip and electronic compass chip are connected with central processing module, and built-in Beidou module.
The Beidou module realizes data transmission using short message communication.
The virtual actuator includes dummy unit actuator, virtual characteristics actuator and Virtual Load actuator.
The panoramic video generation module completes the generation of panoramic video by following steps:
S1, after carrying out video denoising, enhancing pretreatment, accurate edge is obtained, and the marginal point to obtain is as feature
Point obtains three-dimensional point cloud by converting between coordinate system, rebuilds accurate surface model；
S2, the texture mapping without deformation is carried out to model, makes to rebuild effect closer to true three-dimensional scenic, is directed into
In video-splicing software, the Auto-matching of starting point is completed, realizes the splicing of video data；Entire splicing covers camera
Calibration, sensor image distortion correction, the projective transformation of image, match point choose, Panorama Mosaic and brightness and face
The equilibrium treatment of color.
The display screen is two, one of them is used for the sunykatuib analysis of navigation routine, another is for other data
Display.
The embedded central processing unit completes data transmission by Beidou module.
Beidou module is equipped in the water flow rate sensor, off-board pressure transducer.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of autonomous underwater vehicle combined navigation system, which is characterized in that including pressure-resistant GPS positioning device, acceleration
Sensor, gyroscope, embedded central processing unit, built-in pressure gauge and underwater acoustic communication sonar, the pressure resistance GPS positioning device,
Acceleration transducer, gyroscope, embedded central processing unit and built-in pressure gauge are mounted in underwater human body, the water
Acoustic communication sonar is mounted on underwater human body front end, and the underwater human body surrounding is equipped with several cameras, often
Pacify in a camera, acceleration transducer, gyroscope, embedded central processing unit, built-in pressure gauge and underwater acoustic communication sonar
Equipped with Beidou module, it is also equipped with water flow rate sensor and off-board pressure transducer on the underwater acoustic communication sonar outer wall, it is described
Pressure-resistant GPS positioning device, acceleration transducer, gyroscope, built-in pressure gauge, water flow rate sensor, off-board pressure transducer, water
Acoustic communication sonar is connected with the input terminal of embedded central processing unit, further includes
Data processing module, for receive camera collected video data and its corresponding Beidou module positioning number
According to completing the label of video data with received location data, and send panoramic video for the data after the completion of label
Generation module；
Panoramic video generation module generates panoramic video data for video data based on the received, and by the number of generation
According to being sent to embedded central processing unit；
The embedded central processing unit is for receiving pressure-resistant GPS positioning device, acceleration transducer, gyroscope, built-in pressure
Data transmitted by meter, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar and panoramic video generation module,
By the data storage received in corresponding database, and the data conversion received by these is established into mould at physical model
The data that block can identify are sent to physical model and establish module；Data based on the received are also used to, preset calculation is passed through
Method exports integrated navigation information to display screen；
Physical model establishes module, generates various water for the data according to transmitted by embedded central processing unit and control command
Lower robot physical model；
Virtual actuator, can be with after establishing each element opening relationships in module with physical model for driving Parameters variation
Parameter is changed in specified range, calculate for the same parameter of wood so as to driving simulation analysis method and ask
Solution；
Virtual-sensor, for the logic list for the target that can directly acquire corresponding result or information being inserted into physical model
Member；
Navigation routine sunykatuib analysis module completes the imitative of navigation routine for leading to various simulation analysis algorithms and simulating analysis
True analysis；
Human-machine operation module, for inputting basic parameter data, data call order and the various controls of underwater human body
Order, and embedded central processing is sent by the basic parameter data inputted, data call order, various control commands
Device；
The virtual actuator executes simulation algorithm or emulation mode by circulation and result is fed back to navigation routine sunykatuib analysis
Module, the navigation routine sunykatuib analysis module automatically extract data to virtual-sensor, and the virtual-sensor is shown automatically
Analyze result；
Wherein, pressure-resistant GPS positioning device includes GPS chip, RFID chip, electronic compass chip and Beidou module, GPS chip packet
Central processing module, noise suppression module, gain amplification module and Beidou module are included, GPS input signal passes through noise suppression mould
Block and gain amplification module enter central processing module, and GPS output signal is exported by modulation module to Beidou module, pass through north
The module that struggles against completes data transmission, and RFID chip and electronic compass chip are connected with central processing module, and built-in Beidou module；
The panoramic video generation module completes the generation of panoramic video by following steps:
S1, after carrying out video denoising, enhancing pretreatment, accurate edge is obtained, and the marginal point to obtain leads to as characteristic point
Conversion obtains three-dimensional point cloud between crossing coordinate system, rebuilds accurate surface model；
S2, the texture mapping without deformation is carried out to model, makes to rebuild effect closer to true three-dimensional scenic, is directed into video
Splice in software, completes the Auto-matching of starting point, realize the splicing of video data；Entire splicing covers the mark of camera
The fixed, projective transformation of sensor image distortion correction, image, match point choose, Panorama Mosaic and brightness and color
Equilibrium treatment.
2. a kind of autonomous underwater vehicle combined navigation system according to claim 1, which is characterized in that the Beidou
Module realizes data transmission using short message communication.
3. a kind of autonomous underwater vehicle combined navigation system according to claim 1, which is characterized in that described virtual
Actuator includes dummy unit actuator, virtual characteristics actuator and Virtual Load actuator.
4. a kind of autonomous underwater vehicle combined navigation system according to claim 1, which is characterized in that the display
Screen is two, one of them is used for the sunykatuib analysis of navigation routine, another is used for the display of other data.
5. a kind of autonomous underwater vehicle combined navigation system according to claim 1, which is characterized in that described embedded
Formula central processing unit completes data transmission by Beidou module.
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| CN107340777B (en) * | 2016-12-06 | 2020-12-29 | 北京臻迪科技股份有限公司 | Underwater unmanned ship control system and method |
| CN106989778A (en) * | 2017-05-11 | 2017-07-28 | 商洛学院 | A kind of Tailings Dam on-line monitoring system |
| CN107728627B (en) * | 2017-10-13 | 2021-04-16 | 中国船舶重工集团公司七五0试验场 | Underwater robot return control method, computer and storage medium |
| CN108319268A (en) * | 2018-02-08 | 2018-07-24 | 衢州职业技术学院 | A kind of robot navigation of view-based access control model moves into one's husband's household upon marriage method |
| CN110160504A (en) * | 2019-04-30 | 2019-08-23 | 苏州科技大学 | A kind of nobody naval vessels type submerged plant coverage instrument waterborne of shallow lake |
| CN110132183B (en) * | 2019-04-30 | 2021-12-28 | 苏州科技大学 | Underwater robot type submerged plant coverage meter for deep water area |
| CN111965316A (en) * | 2020-06-29 | 2020-11-20 | 盐城工学院 | Water environment monitoring system based on GPS |
| CN112433219B (en) * | 2020-11-03 | 2024-05-31 | 深圳市汇海潜水工程服务有限公司 | Underwater detection method, system and readable storage medium |
| CN115150433B (en) * | 2022-07-04 | 2024-08-23 | 新疆维吾尔自治区环境保护科学研究院 | Auxiliary device and monitoring method for environmental pollution remote sensing monitoring equipment |
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| CN102809375A (en) * | 2012-08-07 | 2012-12-05 | 河海大学 | System and method for sensing and computing underwater navigation and water quality parameter longitude and latitude distribution |
| CN102944233A (en) * | 2012-11-08 | 2013-02-27 | 北京航空航天大学 | Navigation system of underwater robot for nuclear power station |
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