CN110207695A - It is a kind of suitable for deep-sea AUV without velocity aid list beacon localization method - Google Patents
It is a kind of suitable for deep-sea AUV without velocity aid list beacon localization method Download PDFInfo
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- CN110207695A CN110207695A CN201910451093.2A CN201910451093A CN110207695A CN 110207695 A CN110207695 A CN 110207695A CN 201910451093 A CN201910451093 A CN 201910451093A CN 110207695 A CN110207695 A CN 110207695A
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
Abstract
The present invention is to provide a kind of suitable for deep-sea AUV without velocity aid list beacon localization method.Beacon is demarcated, determines the location information of beacon, and establishes navigational coordinate system；AUV and beacon communication obtain the range information of AUV and beacon, and the initial position message using ultra short baseline locating system calibration AUV under navigational coordinate system；During AUV navigation, the range information of the AUV and beacon that are obtained according to the location information of previous moment, the course information of AUV and current time, the depth information of AUV resolve the location information at AUV current time；The location information of the location information at current time and inertial navigation system is merged, the location information of AUV is obtained.The present invention is only needed not needed to obtain the velocity information of AUV using an acoustics beacon by DVL while also AUV not being required persistently to keep single direction line navigation, and the equipment for meeting complete extra large depth AUV is carried and working condition requirement.
Description
Technical field
The present invention relates to a kind of AUV Underwater Navigation air navigation aids.
Background technique
Underwater Navigation airmanship is the necessary technology of underwater operation, and there are cumulative errors for inertial navigation system, needs it
The auxiliary amendment of its means.Since the rate of decay is exceedingly fast electromagnetic wave under water, cause mature global position system can not be under water
It plays a role, and acoustic signal is widely used in underwater communication, positioning because of its characteristic that can be propagated over long distances under water
Equal fields.
Long baselines and ultra short baseline locating system are most common acoustic positioning systems, but in deep-sea AUV application, the two
All have certain problems.Compared to Long baselines positioning system, beacon can be effectively reduced using single beacon positioning system and is laid
Number greatly reduces beacon deployment cost；Compared to ultra short baseline locating system, Dan Xinbiao positioning system due to beacon with
Shorter, the available guarantee of communication frequency of AUV distance.Simultaneously as at present on the market temporarily without suitable for 7000 meters and more flood
Deep DVL product, and it is traditional single beacon localization method such as Publication No. CN107272004A, entitled a kind of based on underwater letter
The modified single beacon distance-measuring and positioning method of cursor position；Publication No. CN108614258A, entitled one kind are based on single acoustic beacon
Method described in the patent documents such as the Underwater Navigation method of range measurement is required to obtain the correct velocity information of AUV using DVL.
However, DVL acquisition speed information can not be passed through for the AUV of 7000 meters and the bigger depth of water.
Summary of the invention
The purpose of the present invention is to provide one kind, and the nothing suitable for deep-sea AUV of location information can be provided for deep-sea AUV
Velocity aid list beacon localization method.
The object of the present invention is achieved like this:
(1) beacon is demarcated, determines the location information of beacon, and establish navigational coordinate system；
(2) AUV and beacon communication, obtain the range information of AUV and beacon, and are demarcated using ultra short baseline locating system
Initial position message of the AUV under navigational coordinate system；
(3) it during AUV is navigated by water, is obtained according to the location information of previous moment, the course information of AUV and current time
AUV and the depth information of the range information of beacon, AUV resolve the location information at AUV current time；
(4) location information at current time and the location information of inertial navigation system that step (3) obtains are merged,
Obtain the location information of AUV.
The present invention may also include:
1. further including step (5), using the location information at fused moment as the location information of previous moment, repeat to walk
Suddenly (3) and (4) are continuously full sea depth AUV and provide location information.
2. the location information for resolving AUV current time specifically includes:
(1) in current t1It is L that moment, which obtains the distance between AUV and beacon,1, t0To t1Course angle in period is θ1,
t1The depth at moment is d1；
(2) depth difference Δ h=d is calculated1-ds, calculate distance L1In the projection R of horizontal plane xoy1,
(3) according to projection value R1Determine the localization region of AUV, i.e., using beacon as origin, with R1For the circle domain of radius；
(4) according to AUV in t0Position (the x at moment0,y0) and course angle θ1One is drawn with (x0,y0) be origin ray,
The ray and the intersection point in circle domain are AUV in t1Specific location (the x at moment1,y1)。
3. the location information of the location information at current time and inertial navigation system is carried out fusion to specifically include: when current
For the location information at quarter as observed quantity, the location information that inertial navigation system is provided utilizes nonlinear filtering as quantity of state
Method merges the two, obtains fused t1The location information at moment.
Non-linear filtering method Kalman filtering or particle filter described in 4..
AUV (Autonomous Underwater Vehicle, Intelligent Underwater Robot) Underwater Navigation navigation of the invention
Method is one kind between AUV and single beacon based on ranging information, while independent of DVL (Doppler Velocity
Log, Doppler anemometer) the deep-sea AUV localization method of ground speed information is provided.Present invention is directed to not have on the market at present
There are DVL (Doppler Velocity Log, Doppler anemometer) finished product suitable for 7000 meters and the bigger depth of water, deep-sea AUV
The problem of ground speed information can not be obtained and propose.
The beneficial effects of the present invention are: application environment of the present invention for complete extra large depth AUV, devise it is a kind of by AUV and
The method that single beacon communication realizes AUV precision underwater navigation.Compared to conventional acoustic positioning system, only need to make in this method
With an acoustics beacon, the complexity of entire positioning system is reduced；Compared to traditional single beacon localization method, in this method
It does not need the velocity information for obtaining AUV by DVL while AUV not being required persistently to keep single direction line navigation yet, meet complete
The equipment of extra large depth AUV is carried and working condition requirement.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is that beacon demarcates schematic diagram；
Fig. 3 is navigational coordinate system schematic diagram；
Fig. 4 is coordinate transition diagram；
Fig. 5 is calculating coordinate method schematic diagram.
Specific embodiment
Of the invention specifically includes that 1. lay beacon simultaneously without velocity aid list beacon localization method suitable for deep-sea AUV
It is demarcated, determines the location information of beacon, and establish navigational coordinate system.2.AUV is communicated with beacon acquisition, obtains AUV and letter
Target range information, and sat using USBL (Ultra-Short Baseline, ultra short baseline locating system) calibration AUV in navigation
Initial position message under mark system.3. AUV navigation during, according to the location information of previous moment, AUV course information and
The range information of AUV and beacon that current time obtains, the depth information of AUV resolve the location information at AUV current time.4. will
The location information of the location information and inertial navigation system that resolve in 3 is merged, to realize the high-precision to complete extra large depth AUV
The purpose of positioning.
It illustrates below and the present invention is described in more detail.
Step 1, beacon is laid in the water surface, the USBL (Ultra-Short carried after it is stable under water using lash ship
Baseline, ultra short baseline locating system) system to beacon carry out multiple bearing, take mean value to determine the depth d of subsea beaconsWith
Location information (x under earth coordinatess,ys,zs), as shown in Fig. 2, and establishing using beacon as the two dimensional navigation coordinate of origin O
System, as shown in Figure 3.
Step 2, in AUV navigation to beacon range, acoustic communication is established with beacon and obtains initial t0The ranging at moment
Information L0, using the location information of surface mother ship calibration AUV, and it is converted to using beacon to be denoted as under the navigational coordinate system of origin
(x0,y0)。
Step 3, in t1It is L that moment, which obtains the distance between AUV and beacon,1, t0To t1Course angle in period is θ1, t1
The depth at moment is d1, (1) calculates depth difference Δ h=d1-dsCalculate distance L1In the projection R of horizontal plane xoy1,As shown in Figure 4；(2) according to projection value R1Determine the localization region of AUV, i.e., using beacon as origin, with R1For
The circle domain of radius；(3) according to AUV in t0Position (the x at moment0,y0) and course angle θ1One can be drawn with (x0,y0) it is origin
Ray, the ray and circle domain intersection point be exactly AUV in t1Specific location (the x at moment1,y1), as shown in figure 5, wherein (x1,y1)
Occurrence can pass through and resolve following equation group and obtain:
Step 4, using location information obtained in step 3 as observed quantity, by current t1Moment inertial navigation system provides
Location information as quantity of state, the two is merged using non-linear filtering methods such as Kalman filtering or particle filters,
Finally obtain revised t1The location information at moment.
Step 5, by fused t1The location information at moment is as previous moment t0Location information, repeat step 3 and step
Rapid 4, it can achieve the purpose that full sea depth AUV offer location information is provided.When AUV completes task floating or is detached from present beacon
List beacon positioning system power cut-off when sphere of action.
Claims (7)
1. it is a kind of suitable for deep-sea AUV without velocity aid list beacon localization method, it is characterized in that:
(1) beacon is demarcated, determines the location information of beacon, and establish navigational coordinate system；
(2) AUV and beacon communication are obtained the range information of AUV and beacon, and are existed using ultra short baseline locating system calibration AUV
Initial position message under navigational coordinate system；
(3) it during AUV is navigated by water, is obtained according to the location information of previous moment, the course information of AUV and current time
The location information at the depth information resolving AUV current time of the range information of AUV and beacon, AUV；
(4) location information at current time and the location information of inertial navigation system that step (3) obtains are merged, is obtained
The location information of AUV.
2. it is according to claim 1 suitable for deep-sea AUV without velocity aid list beacon localization method, it is characterized in that: also
It is repeated step (3) and (4) including step (5) using the location information at fused moment as the location information of previous moment,
It is continuously full sea depth AUV and location information is provided.
3. it is according to claim 1 or 2 suitable for deep-sea AUV without velocity aid list beacon localization method, it is characterized in that
The location information for resolving AUV current time specifically includes:
(1) in current t1It is L that moment, which obtains the distance between AUV and beacon,1, t0To t1Course angle in period is θ1, t1When
The depth at quarter is d1；
(2) depth difference Δ h=d is calculated1-ds, calculate distance L1In the projection R of horizontal plane xoy1,
(3) according to projection value R1Determine the localization region of AUV, i.e., using beacon as origin, with R1For the circle domain of radius；
(4) according to AUV in t0Position (the x at moment0,y0) and course angle θ1One is drawn with (x0,y0) be origin ray, this is penetrated
Line and the intersection point in circle domain are AUV in t1Specific location (the x at moment1,y1)。
4. according to claim 1 or 2 state suitable for deep-sea AUV without velocity aid list beacon localization method, it is characterized in that: will
The location information at current time and the location information of inertial navigation system carry out fusion and specifically include: the location information at current time
As observed quantity, the location information that inertial navigation system is provided as quantity of state, using non-linear filtering method to the two into
Row fusion, obtains fused t1The location information at moment.
5. according to claim 3 state suitable for deep-sea AUV without velocity aid list beacon localization method, it is characterized in that: will work as
The location information at preceding moment and the location information of inertial navigation system carry out fusion and specifically include: the location information at current time is made
For observed quantity, the location information that inertial navigation system is provided carries out the two as quantity of state, using non-linear filtering method
Fusion, obtains fused t1The location information at moment.
6. it is according to claim 4 suitable for deep-sea AUV without velocity aid list beacon localization method, it is characterized in that: institute
The non-linear filtering method Kalman filtering or particle filter stated.
7. it is according to claim 5 suitable for deep-sea AUV without velocity aid list beacon localization method, it is characterized in that: institute
The non-linear filtering method Kalman filtering or particle filter stated.
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| CN110554359A (en) * | 2019-09-11 | 2019-12-10 | 哈尔滨工程大学 | seabed flight node positioning method integrating long baseline positioning and single beacon positioning |
| CN110779519A (en) * | 2019-11-18 | 2020-02-11 | 哈尔滨工程大学 | Underwater vehicle single beacon positioning method with global convergence |
| CN111928850A (en) * | 2020-03-20 | 2020-11-13 | 中国科学院沈阳自动化研究所 | Combined navigation method of autonomous underwater robot suitable for environment under polar ice frame |
| CN111982117A (en) * | 2020-08-17 | 2020-11-24 | 电子科技大学 | AUV optical guiding and direction finding method based on deep learning |
| CN112698273A (en) * | 2020-12-15 | 2021-04-23 | 哈尔滨工程大学 | Multi-AUV single-standard distance measurement cooperative operation method |
| CN113438615A (en) * | 2020-03-04 | 2021-09-24 | 北京京东乾石科技有限公司 | Positioning method and device |
| CN113433553A (en) * | 2021-06-23 | 2021-09-24 | 哈尔滨工程大学 | Precise navigation method for multi-source acoustic information fusion of underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110471096A (en) * | 2019-09-11 | 2019-11-19 | 哈尔滨工程大学 | A kind of distribution seabed flight node group localization method |
| CN110554359A (en) * | 2019-09-11 | 2019-12-10 | 哈尔滨工程大学 | seabed flight node positioning method integrating long baseline positioning and single beacon positioning |
| CN110779519A (en) * | 2019-11-18 | 2020-02-11 | 哈尔滨工程大学 | Underwater vehicle single beacon positioning method with global convergence |
| CN110779519B (en) * | 2019-11-18 | 2021-04-27 | 哈尔滨工程大学 | Underwater vehicle single beacon positioning method with global convergence |
| CN113438615A (en) * | 2020-03-04 | 2021-09-24 | 北京京东乾石科技有限公司 | Positioning method and device |
| CN111928850A (en) * | 2020-03-20 | 2020-11-13 | 中国科学院沈阳自动化研究所 | Combined navigation method of autonomous underwater robot suitable for environment under polar ice frame |
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| CN111982117B (en) * | 2020-08-17 | 2022-05-10 | 电子科技大学 | AUV optical guiding and direction finding method based on deep learning |
| CN112698273A (en) * | 2020-12-15 | 2021-04-23 | 哈尔滨工程大学 | Multi-AUV single-standard distance measurement cooperative operation method |
| CN113433553A (en) * | 2021-06-23 | 2021-09-24 | 哈尔滨工程大学 | Precise navigation method for multi-source acoustic information fusion of underwater robot |
| CN113433553B (en) * | 2021-06-23 | 2022-08-02 | 哈尔滨工程大学 | Precise navigation method for multi-source acoustic information fusion of underwater robot |
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