CN110207695B - Non-speed auxiliary single beacon positioning method suitable for deep-sea AUV - Google Patents
Non-speed auxiliary single beacon positioning method suitable for deep-sea AUV Download PDFInfo
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- CN110207695B CN110207695B CN201910451093.2A CN201910451093A CN110207695B CN 110207695 B CN110207695 B CN 110207695B CN 201910451093 A CN201910451093 A CN 201910451093A CN 110207695 B CN110207695 B CN 110207695B
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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
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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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
- 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 invention provides a speed-free auxiliary single beacon positioning method suitable for a deep-sea AUV. Calibrating the beacon, determining the position information of the beacon, and establishing a navigation coordinate system; the AUV communicates with the beacon to obtain the distance information of the AUV and the beacon, and an ultra-short baseline positioning system is used for calibrating the initial position information of the AUV in a navigation coordinate system; in the AUV navigation process, resolving the position information of the AUV at the current time according to the position information of the previous time, the course information of the AUV, the distance information between the AUV and the beacon acquired at the current time and the depth information of the AUV; and fusing the position information of the current moment and the positioning information of the inertial navigation system to obtain the positioning information of the AUV. The method only needs to use one acoustic beacon, does not need to acquire the speed information of the AUV through the DVL, does not require the AUV to continuously keep straight line navigation in a single direction, and meets the requirements of equipment carrying and operation working conditions of the AUV in the full sea depth.
Description
Technical Field
The invention relates to an AUV underwater positioning navigation method.
Background
The underwater positioning navigation technology is a necessary technology for underwater operation, and an inertial navigation system has accumulated errors and needs other means for auxiliary correction. Since the electromagnetic wave attenuates very fast underwater, a mature satellite positioning system cannot play a role underwater, and acoustic signals are widely applied to the fields of underwater communication, positioning and the like due to the characteristic that the acoustic signals can be transmitted for a long distance underwater.
Long baseline and ultra-short baseline positioning systems are the most commonly used underwater acoustic positioning systems, but both have certain problems in deep-sea AUV applications. Compared with a long-baseline positioning system, the single-beacon positioning system can effectively reduce the number of beacon layout, and greatly reduce the beacon layout cost; compared with an ultra-short baseline positioning system, the single beacon positioning system has the advantage that the communication frequency can be guaranteed due to the fact that the distance between the beacon and the AUV is short. Meanwhile, because there is no DVL product suitable for 7000 m and greater water depth in the market at present, and the traditional single beacon positioning method is, for example, published as CN107272004A, named as a single beacon ranging positioning method based on underwater beacon position correction; the methods disclosed in patent documents with publication number CN108614258A, entitled underwater positioning method based on single-underwater-sound-beacon distance measurement, and the like all require the DVL to obtain accurate speed information of the AUV. However, for AUVs at water depths of 7000 m and greater, velocity information cannot be obtained by DVL.
Disclosure of Invention
The invention aims to provide a speed-free auxiliary single beacon positioning method which can provide positioning information for a deep-sea AUV and is suitable for the deep-sea AUV.
The purpose of the invention is realized as follows:
(1) calibrating the beacon, determining the position information of the beacon, and establishing a navigation coordinate system;
(2) the AUV communicates with the beacon to obtain the distance information of the AUV and the beacon, and an ultra-short baseline positioning system is used for calibrating the initial position information of the AUV in a navigation coordinate system;
(3) in the AUV navigation process, resolving the position information of the AUV at the current time according to the position information of the previous time, the course information of the AUV, the distance information between the AUV and the beacon acquired at the current time and the depth information of the AUV;
(4) and (4) fusing the position information of the current moment obtained in the step (3) with the positioning information of the inertial navigation system to obtain the positioning information of the AUV.
The present invention may further comprise:
1. and (5) taking the positioning information of the fused moment as the position information of the previous moment, and repeating the steps (3) and (4) to continuously provide positioning information for the full-sea-depth AUV.
2. The calculating of the position information of the AUV at the current time specifically includes:
(1) at the present t 1 The distance between the AUV and the beacon is L 1 ，t 0 To t 1 Course angle in time period is theta 1 ，t 1 Depth of moment d 1 ；
(2) Calculating the depth difference Δ h ═ d 1 -d s Calculating the distance L 1 Projection R at horizontal plane xoy 1 ，
(3) According to the projection value R 1 Determining the location area of AUV, i.e. using beacon as origin, R 1 A circular field of radius;
(4) according to AUV at t 0 Position of time (x) 0 ,y 0 ) And heading angle theta 1 Draw a line with (x) 0 ,y 0 ) Ray of origin, intersection of the ray with the circle region being AUV at t 1 Specific position of time (x) 1 ,y 1 )。
3. The fusing the position information of the current moment and the positioning information of the inertial navigation system specifically comprises: the position information at the current moment is used as observed quantity, the position information given by an inertial navigation system is used as state quantity, the observed quantity and the state quantity are fused by utilizing a nonlinear filtering method, and the fused t is obtained 1 Location information of the time of day.
4. The nonlinear filtering method is Kalman filtering or particle filtering.
The invention relates to an AUV (Autonomous Underwater Vehicle) Underwater positioning navigation method, which is a deep sea AUV positioning method based on distance measurement information between an AUV and a single beacon and independent of DVL (Doppler Velocity Log) for providing ground speed information. The invention is provided for solving the problem that a DVL (Doppler Velocity Log) finished product suitable for 7000 m and larger water depth is not available in the market at present and the deep-sea AUV cannot acquire the ground speed information.
The invention has the beneficial effects that: the invention designs a method for realizing AUV accurate underwater navigation through AUV and single beacon communication aiming at the application environment of full-sea-depth AUV. Compared with the traditional acoustic positioning system, only one acoustic beacon is needed to be used in the method, so that the complexity of the whole positioning system is reduced; compared with the traditional single beacon positioning method, the method does not need to acquire the speed information of the AUV through the DVL, and simultaneously does not need to continuously keep straight navigation in a single direction, so that the requirements of equipment carrying and operation working conditions of the AUV in the whole sea depth are met.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of beacon calibration;
FIG. 3 is a schematic view of a navigation coordinate system;
FIG. 4 is a schematic diagram of coordinate transformation;
fig. 5 is a schematic diagram of a coordinate calculation method.
Detailed Description
The invention discloses a speed-free auxiliary single beacon positioning method suitable for deep-sea AUV, which mainly comprises the following steps: 1. and arranging and calibrating beacons, determining the position information of the beacons, and establishing a navigation coordinate system. And 2, obtaining communication between the AUV and the beacon to obtain distance information of the AUV and the beacon, and calibrating initial position information of the AUV in a navigation coordinate system by using an Ultra-Short base line (USBL). 3. And in the AUV navigation process, calculating the position information of the AUV at the current time according to the position information of the previous time, the course information of the AUV, the distance information between the AUV and the beacon acquired at the current time and the depth information of the AUV. 4. And (3) fusing the position information resolved in the step (3) with the positioning information of the inertial navigation system, thereby achieving the purpose of high-precision positioning of the full-sea-depth AUV.
The invention is described in more detail below by way of example.
Step 1, arranging beacons on the water surface, positioning the beacons for multiple times by using an Ultra-Short base line (USBL) system carried by a mother ship after the beacons are stabilized underwater, and taking an average value to determine the depth d of the underwater beacons s And position information (x) in the geodetic coordinate system s ,y s ,z s ) As shown in fig. 2, and establishes a two-dimensional navigation coordinate system with the beacon as the origin O, as shown in fig. 3.
Step 2, the AUV navigates to the beacon action range, establishes acoustic communication with the beacon to obtain initial t 0 Ranging information L of time 0 And calibrating the position information of the AUV by using the mother ship on the water surface, converting the position information into a navigation coordinate system with the beacon as the origin, and recording as (x) 0 ,y 0 )。
Step 3, at t 1 The distance between the AUV and the beacon is L 1 ，t 0 To t 1 Course angle in time period is theta 1 ，t 1 Depth of moment d 1 (1) calculating the depth difference Δ h ═ d 1 -d s Calculating the distance L 1 Projection R at horizontal plane xoy 1 ，
As shown in fig. 4; (2) according to the projection value R 1 Determining the location area of AUV, i.e. using beacon as origin, R 1 A circular field of radius; (3) according to AUV at t 0 Position of time (x) 0 ,y 0 ) And heading angle theta 1 One can draw a line with (x) 0 ,y 0 ) The ray of origin, the intersection point of the ray and the circle domain is the AUV at t 1 Specific position of time (x) 1 ,y 1 ) As shown in FIG. 5, wherein (x) 1 ,y 1 ) The specific value of (b) can be obtained by solving the following equation set:
step 4, taking the position information obtained in the step 3 as an observed quantity, and taking the current t as the observed quantity 1 Position information given by the moment inertial navigation system is used as a state quantity, and the position information and the state quantity are fused by utilizing nonlinear filtering methods such as Kalman filtering or particle filtering, and the like, so that the corrected t is finally obtained 1 Location information of the time of day.
Step 5, fusing the t 1 The position information of the time is taken as the previous time t 0 And (4) repeating the step (3) and the step (4) to achieve the aim of continuously providing positioning information for the full-sea-depth AUV. And when the AUV finishes the task and floats upwards or is out of the action range of the current beacon, the single beacon positioning system finishes working.
Claims (4)
1. A non-speed auxiliary single beacon positioning method suitable for deep-sea AUV is characterized in that:
(1) calibrating the beacon, determining the position information of the beacon, and establishing a navigation coordinate system;
(2) the AUV communicates with the beacon to obtain the distance information of the AUV and the beacon, and an ultra-short baseline positioning system is used for calibrating the initial position information of the AUV in a navigation coordinate system;
(3) in the AUV navigation process, resolving the position information of the AUV at the current time according to the position information of the previous time, the course information of the AUV, the distance information between the AUV and the beacon acquired at the current time and the depth information of the AUV; the calculating of the position information of the AUV at the current time specifically includes:
(3.1) at the present time t 1 The distance between the AUV and the beacon is L 1 ，t 0 To t 1 Course angle in time period is theta 1 ，t 1 Depth of moment d 1 ；
(3.2) calculating the depth difference Δ h ═ d 1 -d s Calculating the distance L 1 Projection R at horizontal plane xoy 1 ，
Wherein d is s Depth of the underwater beacon;
(3.3) according to the projection value R 1 Determining the location area of AUV, i.e. using beacon as origin, R 1 A circular field of radius;
(3.4) at t according to AUV 0 Position of time (x) 0 ,y 0 ) And a heading angle theta 1 Draw a line with (x) 0 ,y 0 ) Ray of origin, intersection of the ray with the circle region being AUV at t 1 Specific position of time (x) 1 ,y 1 )；
(4) And (4) fusing the position information of the current moment obtained in the step (3) with the positioning information of the inertial navigation system to obtain the positioning information of the AUV.
2. The method of claim 1, wherein the method comprises: and (5) taking the positioning information of the fused moment as the position information of the previous moment, and repeating the steps (3) and (4) to continuously provide positioning information for the full-sea-depth AUV.
3. The method of claim 1 or 2, wherein the method comprises: the fusing the position information of the current moment and the positioning information of the inertial navigation system specifically comprises: the position information at the current moment is used as observed quantity, the position information given by an inertial navigation system is used as state quantity, the observed quantity and the state quantity are fused by utilizing a nonlinear filtering method, and the fused t is obtained 1 Location information of the time of day.
4. The method of claim 3, wherein the method comprises: the nonlinear filtering method is Kalman filtering or particle filtering.
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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 |
| CN110554359B (en) * | 2019-09-11 | 2021-07-09 | 哈尔滨工程大学 | Seabed flight node positioning method integrating long baseline positioning and single beacon positioning |
| 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 |
| CN111928850B (en) * | 2020-03-20 | 2023-12-29 | 中国科学院沈阳自动化研究所 | Combined navigation method of autonomous underwater robot suitable for polar region ice frame environment |
| 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 |
| CN112698273B (en) * | 2020-12-15 | 2022-08-02 | 哈尔滨工程大学 | Multi-AUV single-standard distance measurement cooperative operation method |
| 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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