CN107561541A - A kind of localization method of underwater robot - Google Patents
A kind of localization method of underwater robot Download PDFInfo
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- CN107561541A CN107561541A CN201610526032.4A CN201610526032A CN107561541A CN 107561541 A CN107561541 A CN 107561541A CN 201610526032 A CN201610526032 A CN 201610526032A CN 107561541 A CN107561541 A CN 107561541A
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- underwater robot
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Abstract
The present invention discloses a kind of localization method of underwater robot, comprises the following steps：(1) before autonomous underwater robot dive, the current location information of autonomous underwater robot is obtained；(2) during autonomous underwater robot dive, sonic data is received, Wave beam forming processing is carried out to current sonic data to be imaged to seafloor topography；(3) after autonomous underwater robot dive, Wave beam forming processing is carried out to current sonic data to be imaged to seafloor topography and carry out location estimation to autonomous underwater robot in imaging, obtains current measuring condition probability and autonomous underwater robot in the current transition probability between a rear location estimation；(4) repeat step (3) obtains the posterior probability of all location estimations of autonomous underwater robot；(5) estimation and the actual motion track of the movement locus of autonomous underwater robot are obtained according to the posterior probability of all location estimations.The present invention improves the efficiency of AUV navigation.
Description
Technical field
The present invention relates to the airmanship of autonomous underwater robot, belong to field of ocean engineering.
Background technology
Autonomous underwater robot is the focus of current ocean engineering field technology development, under water environmental monitoring, coastal waters stone
Oily engineer operation, underwater search obtain more and more extensive with mapping and the military field such as submarine mine confrontation and region of war warning in real time
Application.And airmanship is to realize the key of AUV autonomous navigations.Longevity of service, environment possessed by AUV are complicated, information
Source is few, it is disguised require the features such as high, realized to stable, accurate navigation and bring very big challenge.Firstly, since electromagnetic wave exists
Underwater rapid decay, traditional GPS satellite navigation technology are only applicable to the limited region in water body top layer；Secondly, based on acoustics
The Long baselines of navigation and short baseline location technology need to lay in advance or the outside beacon of hull installation so that AUV scopes of activities
It is restricted；For small scale robot, using low cost, the inertial navigation technology of small size or dead reckoning skill
Art, in can not meeting, long-range navigation navigation request.Based on above reason, develop in being applied to, the new navigation skill of long voyage
Art, and combine traditional inertial navigation technology and form integrated navigation as the important of current underwater robot airmanship development
Trend.
The content of the invention
It is an object of the invention to provide a kind of localization method of underwater robot.
The present invention carries out character of the bottom target detection using the sonar that AUV is carried to unknown environments such as subsea, while passes through inspection
Correlation between the character of the bottom target measured realizes the positioning to AUV itself, and the present invention is substantially SLAM skills
A kind of reduced form of art.The present invention makes posterior probability reach maximization to realize AUV location estimation by the method for iteration,
I.e. in the case where AUV initial position priori is obtained by GPS positioning system measurement, other measurement data are merged, utilize AUV
State transinformation and character of the bottom sonograms information, it is optimal by cost function, and cost function it is optimal namely after
Maximum probability is tested, detection and positioning while so as to realize AUV.The present invention and INS, DVL navigation etc. are combined, so as to correct mesh
Preceding INS, DVL due to caused by long-time underwater navigation because of time integral and caused by global navigation error, it is high-precision so as to realize
The underwater robot integrated navigation of degree, significantly improve the performance of AUV overall navigations.
To achieve the above object, the technical solution used in the present invention is：While the autonomous underwater robot detection with
Localization method comprises the following steps：
(1) before autonomous underwater robot dive, main water is obtained from using GPS positioning system and course angle measurement tool
The current location information of lower robot, the current location information include the horizontal plane rectangular co-ordinate position of autonomous underwater robot
With the course angle of autonomous underwater robot；
(2) during autonomous underwater robot dive, start to receive sonic data, the sonic data bag using sonar
The amplitude of acoustical signal is included, Wave beam forming processing is carried out to current sonic data to be imaged to seafloor topography；
(3) after autonomous underwater robot dive, carried out in the current sonic data received to sonar at Wave beam forming
Manage to be imaged to seafloor topography and carry out location estimation to autonomous underwater robot in imaging；According to it is current with it is preceding once
The aberration of seafloor topography imaging obtains current measuring condition probability；Formula is utilized according to current and previous location estimation
(1) autonomous underwater robot is obtained in the current transition probability between a rear location estimation
P (xI | xI-1)=C/ (x＆OverBar；I+Ax&OverBar；I-1)---(1)]]>
In formula (1), and represent to be currently normaliztion constant with previous location estimation, C respectively, A represents autonomous underwater
Preceding once and when the transfer matrix between previous location estimation, p (xI | xI-1) represents autonomous underwater robot preceding for robot
Once and when the transition probability between previous location estimation；
According to the current measuring condition probability and the autonomous underwater robot it is current with a rear location estimation it
Between transition probability obtain autonomous underwater robot current location estimation posterior probability；
(4) repeat step (3) obtains the posterior probability of all location estimations of autonomous underwater robot；
(5) fortune of autonomous underwater robot is obtained according to the posterior probability of all location estimations of the autonomous underwater robot
The estimation of dynamic rail mark, the autonomous underwater machine of autonomous underwater robot is obtained according to the estimation of the movement locus of autonomous underwater robot
The actual motion track of device people.
The present invention is compared to the major advantage of prior art：(1) seafloor topography is represented using the method for probability
Feature, therefore data are received for lacking the unstructured sea-floor relief of the characteristics of image such as point, line and the sonar of lower quality,
The present invention still has preferable tolerance, while also has wide applicability；(2) for compared with the methods of Kalman filtering,
The present invention have a modeling error, its precision also compared with Kalman filtering the methods of height；
Brief description of the drawings
Fig. 1 is the flow chart of the inventive method；
Embodiment
Detection is specific as follows with localization method while autonomous underwater robot of the present invention：
(1) before autonomous underwater robot dive, obtain AUV's using GPS positioning system and course angle measurement tool
Current location information x1, x1=[i (1), j (1), θ (1)], wherein, i (1) and the present level face rectangular co-ordinate that j (1) is AUV
Position, θ (1) are the current course angle of AUV navigation.Course angle measurement tool refers to the measurement work with measurement navigation angle function
Tool, such as Inertial Measurement Unit, electronic compass etc..
(2) during autonomous underwater robot dive, start to receive sonic data, the sound wave number received using sonar
According to the amplitude including acoustical signal；And Wave beam forming processing is carried out to current sonic data to be imaged to seafloor topography.It is described
Wave beam forming processing is exactly using certain weighting, to detect the signal reached from an ad-hoc location.Because weighting procedure
A signal come from ad-hoc location is aggravated, and weakens the signal that other positions are come, thus can be considered as to have obtained from this
The signal that ad-hoc location comes.Wave beam forming processing includes conventional beamformer processing, Adaptive beamformer processing etc..
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (1)
- A kind of 1. localization method of underwater robot, it is characterized in that comprising the following steps：(1) before autonomous underwater robot dive, main underwater machine is obtained from using GPS positioning system and course angle measurement tool The current location information of device people, the horizontal plane rectangular co-ordinate position of the current location information including autonomous underwater robot and from The course angle of main underwater robot；(2) during autonomous underwater robot dive, start to receive sonic data using sonar, the sonic data includes sound The amplitude of signal, Wave beam forming processing is carried out to current sonic data to be imaged to seafloor topography.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610526032.4A CN107561541A (en) | 2016-06-30 | 2016-06-30 | A kind of localization method of underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610526032.4A CN107561541A (en) | 2016-06-30 | 2016-06-30 | A kind of localization method of underwater robot |
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| CN107561541A true CN107561541A (en) | 2018-01-09 |
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| CN201610526032.4A Pending CN107561541A (en) | 2016-06-30 | 2016-06-30 | A kind of localization method of underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415445A (en) * | 2018-02-09 | 2018-08-17 | 西北工业大学 | A kind of submarine navigation device positioning robust Optimal methods based on switch constraint |
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2016
- 2016-06-30 CN CN201610526032.4A patent/CN107561541A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415445A (en) * | 2018-02-09 | 2018-08-17 | 西北工业大学 | A kind of submarine navigation device positioning robust Optimal methods based on switch constraint |
| CN108415445B (en) * | 2018-02-09 | 2020-11-06 | 西北工业大学 | Underwater vehicle positioning robust optimization method based on switch constraint |
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Application publication date: 20180109 |