CN111024076B - Underwater combined navigation system based on bionic polarization - Google Patents
Underwater combined navigation system based on bionic polarization Download PDFInfo
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- CN111024076B CN111024076B CN201911391310.XA CN201911391310A CN111024076B CN 111024076 B CN111024076 B CN 111024076B CN 201911391310 A CN201911391310 A CN 201911391310A CN 111024076 B CN111024076 B CN 111024076B
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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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention discloses an underwater combined navigation system based on bionic polarization, which comprises an underwater bionic polarization module, a Doppler log module, an inertia auxiliary module, a health monitoring module, an underwater navigation information control processor, a storage module, a communication module, a power supply module and an interface circuit. The underwater bionic polarization module collects a polarization image and calculates navigation information; the Doppler log module estimates the three-dimensional absolute speed of the underwater carrier by using the Doppler principle; the inertial auxiliary module provides pose information of the underwater carrier; the health monitoring module can monitor the system health in real time; and the underwater navigation information control processor is responsible for information fusion processing. The bionic autonomous navigation method based on the natural biological polarization sensing characteristic and the acoustic Doppler effect realizes bionic autonomous navigation, can provide highly reliable pose information for the underwater carrier, and is suitable for the application fields of unknown underwater environments such as unfamiliar sea areas, GPS rejection and the like.
Description
Technical Field
The invention relates to an underwater combined navigation system based on bionic polarization, which realizes autonomous navigation based on the bionic polarization based on the perception characteristic of organisms to polarization information in the nature and the acoustic Doppler effect. The underwater GPS naturally rejects and has multi-source interference, the system can provide highly reliable position and attitude information for the underwater carrier under the complex environment of an unknown sea area, has strong autonomy, reliability and environmental adaptability, and is suitable for civil and military purposes such as underwater detection, rescue, reconnaissance and anti-diving.
Background
The living beings in nature have high abilities of sensing and acquiring space motion information, environment information and target information, and can sense sky polarization information to finish autonomous navigation in a complex environment. Research shows that marine organisms can also complete foraging and homing activities underwater by using the natural light polarization phenomenon, and the natural light polarization phenomenon realize self positioning and navigation by using navigation information in marine scattered light polarization information. For example, the marine organisms such as mantis shrimp, cuttlefish and octopus use polarized light alternating current, which can detect underwater polarized light and resolve the position of the sun in the sky for underwater positioning and navigation, and some fishes use polarized imaging for underwater visual navigation, etc. Inspired by the autonomous navigation of marine organisms, an underwater integrated navigation system based on bionic polarization can be designed, and the underwater integrated navigation system has strong autonomy, high reliability and strong environmental adaptability in the marine environment where GPS refuses and multi-source interference exists.
At present, the underwater integrated navigation system commonly used in domestic and foreign research focuses on an inertial navigation system as a main part and is assisted by navigation modes such as acoustic navigation, gravity matching, geomagnetic navigation and the like. For an inertia/underwater sound combined navigation system, although the positioning accuracy is high, a sound wave response matrix needs to be laid in advance, the concealment is poor, the equipment maintenance is difficult, and the inertia/underwater sound combined navigation system is not suitable for occasions such as unknown sea areas, sudden underwater tasks and the like; for the combined navigation system matched with the parameters of the geophysical field such as inertial navigation/gravity matching and the like, accurate geophysical field information (gravity field, geomagnetic field, depth and the like) of a target sea area needs to be known in advance, so that navigation information such as the geographic position, speed, attitude and the like of a carrier can be estimated through physical parameter values measured by a carrier sensor in real time, and the combined navigation system is not suitable for navigation and positioning in an unknown sea area non-structural environment. The underwater combined navigation system based on the bionic polarization is designed based on the bionic science as a theoretical basis and based on the bionic polarization and the Doppler effect, can complete navigation and positioning in a complex environment in a short time without predicting any information and laying equipment, and is applied to vehicles such as underwater vehicles, robots and the like to complete emergency tasks such as underwater detection, rescue, reconnaissance and the like of unknown water areas. An AUV integrated navigation system based on SINS/DVL/GPS, patent number: 201410032817.7, the inertial navigation system needs to be floated out of the water surface to correct attitude accumulation errors of the inertial navigation system, has poor concealment, and is not suitable for the underwater carrier to execute military tasks such as anti-diving, investigation and the like in unknown water areas; a earth magnetism assisted inertial navigation system for underwater vehicles, patent No.: 201120291473.3, geomagnetic information is used for assisting inertial navigation, an underwater geomagnetic field is easy to interfere, uncertainty of the geomagnetic field in an unknown sea area is large, high reliability of pose information cannot be guaranteed, and good environment applicability is not provided; an AUV underwater interaction auxiliary positioning system and method based on SINS/LBL, the patent number: 201410621498.3, the long-baseline underwater acoustic positioning system is used for assisting positioning, the long-time accumulated attitude error cannot be corrected, and an unknown hydrophone is required to be arranged at a known position on the seabed in advance, so that navigation positioning of an unknown water area cannot be realized.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the underwater combined navigation system based on the bionic polarization overcomes errors and health damages caused by the fact that an unknown sea area unstructured complex environment and multisource interferences such as natural rejection of an underwater GPS and radio signals exist, overcomes the defects that the long-time error accumulation of the traditional inertia/polarization navigation cannot meet the requirement of the underwater vehicle for long-term navigation, the integration level of inertia underwater sound combined navigation is low, the concealment is poor and the like, provides an underwater combined navigation system based on the bionic polarization, and provides navigation positioning services with high reliability, strong autonomy and strong adaptability for carriers such as the underwater vehicle, a robot and the like.
The technical scheme for solving the technical problems comprises the following steps: an underwater integrated navigation system based on bionic polarization, comprising: the device comprises an underwater navigation information control processor, an underwater bionic polarization module, a Doppler log module, a health monitoring module, an inertia auxiliary module, a power supply module, an interface circuit, a communication module and a storage module. The underwater bionic polarization module comprises an image type polarization sensor, an RJ45 interface and a polarization information processing unit: the image type polarization sensor consists of a fisheye lens, a filter converter, a CCD camera system and an image buffer; the polarization information processing unit consists of an image feature extraction classifier, a polarization navigation information resolving chip and a navigation information filter; the Doppler log module consists of a sound wave-speed information processor, a transmitter unit, a receiver unit and a signal receiving, transmitting, combining and energy-replacing device; the health monitoring module consists of a temperature sensor, a pressure sensor, a depth sensor, a leakage detection unit, an overpressure alarm device, an operation time monitoring unit and a health monitoring center processor; the inertia auxiliary module comprises a three-axis gyroscope and a three-axis accelerometer; the power supply module consists of a lithium battery, a voltage regulator and a voltage stabilizing module; the interface circuit comprises a USART3 interface, a CAN interface and an RS232 interface; the communication module comprises SPI, USART1 and USART 2; the memory module includes an EEPROM memory or the like.
The underwater bionic polarization module is combined with a fisheye lens through a CCD camera system, image information in the sky is collected underwater, a filtering converter is arranged between the lens and the camera in the image collection process to obtain wide-view-angle image information, an image buffer is connected to the bottom of the camera and used for temporarily storing the image information, an RJ45 interface is responsible for communication between a sensor and a processing unit, the processing unit extracts polarization information in the image by using an image characteristic extraction classifier after receiving the image, then the attitude of an underwater carrier is resolved in a polarization navigation information resolving chip, and the attitude information is transmitted to an underwater navigation information control processor through USART1 communication after filtering; in the Doppler log module, a sound wave-speed information processor drives a transmitter unit circuit to work, an excitation signal transceiving combined transducer emits a sound wave signal, the reflected signal is processed by the transducer and a receiver unit and then is sent to the sound wave-speed information processor, the absolute speed of an underwater carrier is obtained through estimation, and the estimated absolute speed is transmitted to an underwater navigation information control processor through an RS232 interface; the health monitoring module monitors the system environment in real time, monitors the temperature, depth and pressure of the navigation system detected by the monitoring center processor, and has an overpressure alarm device to prompt that the pressure is too large, the leakage detection unit detects the air tightness of the system in real time, the operation time monitoring unit records the operation time of the system, and finally health information is transmitted to the underwater navigation information control processor through USART2 communication; the inertial assisting module measures original navigation data of the underwater carrier by using a gyroscope and an accelerometer, and transmits the original navigation data to the underwater navigation information control processor through SPI communication so as to assist navigation; the underwater navigation information control processor fuses attitude information of the underwater bionic polarization module, speed information of the Doppler log module, health information of the health monitoring module and data of the inertial auxiliary module and the gyroscope to obtain navigation information such as the position, the attitude and the speed of the underwater carrier so as to help the carrier to complete various underwater tasks; the power supply module is respectively connected with the underwater bionic polarization module, the Doppler log module, the health monitoring module and the inertia auxiliary module, and provides corresponding energy for normal operation of the underwater bionic polarization module, the Doppler log module, the health monitoring module and the inertia auxiliary module; the USART2 interface and the CAN interface in the interface circuit are reserved interfaces for adding other auxiliary navigation modes and exchanging external data in the future.
The underwater bionic polarization module utilizes an image type polarization sensor to collect images, the CCD camera system is an array camera, an underwater sky image with a visual angle of 180 degrees is collected by combining a fisheye lens, each pixel point of the image obtains polarized light imaging signals with four different angles, the polarized light imaging signals respectively collect the underwater polarized light intensity and the angle in four polarization directions of 0 degree, 45 degrees, 90 degrees and 135 degrees in the observation direction, the polarized light intensity and the angle are identified and extracted in an image characteristic extraction classifier, the underwater carrier attitude information is obtained through a polarized navigation information resolving chip, and finally the underwater carrier attitude information is processed by a filter and sent to an underwater navigation information control processor. The wide-view-angle sky image is collected in water in the underwater bionic polarization module, polarization information in all directions can be measured in an all-around mode, and the underwater bionic polarization module has good environmental adaptability under the condition that clouds block or other interference exists.
The Doppler log module adopts a Janus (Janus) four-beam configuration, the transducer matrixes are arranged in a pairwise opposite mode, namely, four transducers with the same inclination angle are arranged at the front, the back, the left and the right, and the sound wave-speed information processor drives the opposite channel transmitter unit to work when the log works, so that corresponding transducers are excited to transmit the same sound wave signals. In addition, the log module also adopts the phased array technology, the sound velocity in the sea water can produce errors on the speed measurement, the Doppler principle is utilized to calculate the formula, the sound velocity is assumed to be known, actually, the sound velocity changes at any time, the sound velocity in the sea water is related to the cold and hot degree of the sea water and is also influenced by salinity and other environmental factors, and the influence of the sound velocity change on the speed measurement precision can be eliminated from the working mechanism by adopting the phased array technology. And the log module estimates the absolute velocity of the underwater carrier through the Doppler principle, and transmits velocity information to the underwater navigation information control processor through the RS232 interface to carry out navigation information calculation. The Doppler log module adopts the Zhannas configuration and the phased array technology, so that the speed measurement error caused by formula simplification and left-right shaking and up-down bumping of an underwater carrier can be reduced, the influence of sound velocity change on speed measurement precision can be eliminated from the working mechanism, and the Doppler log module has strong autonomy, high reliability and good environmental adaptability.
The health monitoring module is internally provided with a multi-sensor unit, so that the temperature, depth and pressure parameters of the environment where the system is located can be acquired in real time, and the system can know the self situation while working; in addition, a leakage detection unit is also arranged in the module and used for checking the air tightness of the system and preventing the system from being damaged due to insufficient air tightness; the overpressure alarm device can remind the system to take measures when the pressure is too high; the running time monitoring unit provides convenience for system function analysis by recording the running time of the system. The health monitoring module sends data to the underwater navigation information control processor through USART2 communication, and finally stores the data in the memory.
The inertial assisting module obtains original navigation data by using a three-axis gyroscope and an accelerometer, transmits the data to the underwater navigation information control processor through SPI communication, and performs underwater assisted navigation after calculation processing.
The power module be connected with each big module respectively, it contains lithium cell, voltage regulator and voltage stabilizing module: the lithium battery provides a power supply for the whole system; the voltage regulator regulates voltage to meet the power supply requirements of different modules; the voltage stabilizing module can keep each output voltage stable and ensure the stable work of the system. The power module includes: lithium cell, voltage regulator and voltage stabilizing module can stably output 3.3V, 5V, 12V and 24V voltage, satisfy the power supply demand of different modules.
The storage module is connected with the underwater navigation information processor and is used for storing the original data of each module and the navigation data obtained by resolving; the storage module comprises an EEPROM memory, and can meet the data storage requirement.
The underwater navigation information control processor fuses navigation information of each module, wherein attitude information of the underwater bionic polarization module and attitude information of the inertia auxiliary module are fused to correct long-time attitude accumulation errors of inertial navigation; and the absolute speed information of the Doppler log module and the speed information of the inertia auxiliary module are fused to correct the accumulated error of the long-time position of the inertial navigation. And after the attitude and the position information are subjected to Kalman filtering, the processor provides high-precision position, speed and attitude information for the underwater carrier.
Compared with the prior art, the invention has the advantages that:
(1) according to the invention, the image type polarization sensor is used for acquiring the data image, the image comprises wide-view-angle multi-observation-direction polarization information, and four polarization detection directions are arranged in each observation direction, so that the redundancy of the data information is greatly improved, autonomous navigation can be completed in an underwater complex unstructured environment, and the method has strong autonomy and environmental adaptability.
(2) The underwater GPS and radio signals are naturally rejected, the Doppler log takes the acoustic Doppler principle as a theoretical basis, and combines a Janus configuration method and a phased array technology, so that the interference caused by jolt and fluctuation of an underwater carrier is greatly weakened, the influence of sound velocity change on speed measurement precision is eliminated from the working mechanism, the three-dimensional speed information of the underwater carrier is estimated, and the underwater carrier has high reliability and good environmental adaptability.
(3) Under an unknown sea area unstructured environment, navigation modes such as underwater sound navigation and terrain matching are limited, the bionic module and the log module can autonomously acquire navigation information, inertial navigation assists in navigation and positioning, the requirement of the underwater vehicle during long-term navigation can be met, the integration level is high, and the requirement of a hidden task of the underwater vehicle can be met.
Drawings
FIG. 1 is a block diagram of the structural components of the present invention;
wherein: an underwater navigation information control processor 1, an underwater bionic polarization module 2, a Doppler log module 3, a health monitoring module 4, an inertia auxiliary module 5, a power supply module 6, an interface circuit 7, a communication module 8, a storage module 9, a polarization information processing unit 10, an image type polarization sensor 11, a fisheye lens 12, a filter converter 13, a CCD camera system 14, an image buffer 15, an RJ45 interface 16, an image feature extraction classifier 17, a polarization navigation information resolving chip 18, a navigation information filter 19, a health monitoring center processor 20, a temperature sensor 21, a pressure sensor 22, a depth sensor 23, a leakage detection unit 24, an overvoltage alarm device 25, an operation time monitoring unit 26, a sound wave-speed information processor 27, a transmitter unit 28, a receiver unit 29, a signal transceiving combined transducer 30, a three-axis gyroscope 31, a computer system, and a computer system, The device comprises a three-axis accelerometer 32, a lithium battery 33, a voltage regulator 34, a voltage stabilizing module 35, an RS232 interface 36, a CAN interface 37, a USART3 interface 38, SPI39, USART 140, USART241 and an EEPROM 42.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1, the structural composition block diagram of the present invention, that is, an underwater integrated navigation system based on bionic polarization, includes:
the underwater navigation information control system comprises an underwater navigation information control processor 1, an underwater bionic polarization module 2, a Doppler log module 3, a health monitoring module 4, an inertia auxiliary module 5, a power supply module 6, an interface circuit 7, a communication module 8 and a storage module 9. The underwater bionic polarization module 2 comprises an image type polarization sensor 11, an RJ45 interface 16 and a polarization information processing unit 10: the image type polarization sensor 11 consists of a fisheye lens 12, a filter converter 13, a CCD camera system 14 and an image buffer 15; the polarization information processing unit 10 is composed of an image feature extraction classifier 17, a polarization navigation information resolving chip 18 and a navigation information filter 19; the Doppler log module 3 consists of a sound wave-speed information processor 27, a transmitter unit 28, a receiver unit 29 and a signal transceiving combined transducer 30; the health monitoring module 4 consists of a temperature sensor 21, a pressure sensor 22, a depth sensor 23, a leakage detection unit 24, an overpressure alarm device 25, an operation time monitoring unit 26 and a health monitoring center processor 20; the inertial assistance module 5 comprises a three-axis gyroscope 31 and a three-axis accelerometer 32; the power module 6 consists of a lithium battery 33, a voltage regulator 34 and a voltage stabilizing module 35; the interface circuit 7 comprises a USART3 interface 38, a CAN interface 37 and an RS232 interface 36; the communication module 8 includes SPI39, USART 140, and USART 241; the memory module 9 includes an EEPROM memory 42 and the like.
After the system is powered on and initialized, the health monitoring module 4 starts to work: the health monitoring center processor 20 controls each sensor to acquire environmental information such as temperature, depth, pressure and the like around the underwater carrier, meanwhile, the leakage detection unit detects the integral air tightness of the equipment by means of detecting the internal pressure of the system and the like, the control processor sends the result to the underwater navigation information control processor 1, and after the safety of the internal and external environments of the system is ensured, each module is instructed to work through a serial port instruction; the running time monitoring unit monitors the running condition of the system in real time so as to ensure the safety inside and outside the system; during the operation of the system, acquiring system health information in real time and giving an alarm if necessary;
after the underwater bionic polarization module 2 receives a starting instruction, the CCD camera system 14 acquires images underwater according to a set frequency, image information enters the camera system after being de-noised by the filter converter 13 during shooting, is cached in the image cache 15, and is transmitted to the polarization information processing unit 10 through the RJ45 interface at regular time; after receiving image information from the image type polarization sensor 11, the image characteristic extraction classifier 17 reversely solves the polarization degree and the polarization angle by using a stokes vector algorithm and determines the polarization vector in each observation direction, the polarization navigation information solving chip 18 solves the sun vector at the corresponding moment by using polarization vector cross multiplication and obtains an attitude matrix through coordinate conversion between a navigation system and a carrier system, so that attitude information is obtained, the redundancy of the multi-direction observation solving polarization vector is high, the attitude information solving precision can be ensured in a complex environment, and the obtained attitude information is transmitted to the underwater navigation information control processor 1 through a USART 140 after being subjected to Kalman filtering;
the Doppler log module 3 receives the start command at the same time, the sound wave-speed information processor 27 controls the transmitter unit 28 to trigger the internal transmitting circuit in a phased array mode to transmit an electric signal, the electric signal is converted into a sound signal by the signal receiving and transmitting combined transducer 30 and then transmitted to the seabed, an echo is generated when the sound wave signal is transmitted to the seabed, the receiver unit 29 and the transmitter are started at the same time to prepare for receiving the echo signal, the echo signal is captured by the signal receiving and transmitting combined transducer 30, the sound signal-electric signal is converted, amplified, filtered and the like in the receiver unit 29, and finally transmitted to the sound wave-speed information processor 27, and the sound wave-speed information processor 27 estimates the absolute speed of the underwater carrier according to the frequency shift between the signals by using the Doppler principle. The signal receiving and transmitting combined transducer 30 adopts Janus (Janus) configuration, estimates three-dimensional speed information by combining a phased array technology, can greatly weaken the interference caused by the jolt and the fluctuation of an underwater carrier, eliminates the influence of sound velocity change on speed measurement precision from the working mechanism, and transmits the speed information to the underwater navigation information control processor 1 through an RS232 interface 36;
the inertial assisting module 5 receives a starting instruction at the same time, and after the system is initialized, the three-axis gyroscope 31 and the three-axis accelerometer 32 acquire angular velocity and acceleration information in real time and transmit navigation information to the underwater navigation information control processor 1 through the SPI 39;
after the system initialization is completed, the underwater navigation information control processor 1 commands the health monitoring module 4 to carry out health check, after the health signal is received and returned, the underwater bionic polarization module 2, the Doppler log module 3 and the inertia auxiliary module 5 are synchronously triggered to work, navigation information of the modules is received according to the same frequency, and the angular speed information of the inertia auxiliary module 5 are resolved in the underwater navigation information control processor 1 to obtain position, speed and attitude information: the attitude information obtained by resolving is fused with the attitude information of the underwater bionic polarization module 2 to correct long-time attitude accumulation errors; the calculated speed information is fused with the speed information of the Doppler log module 3 to correct the long-time attitude position accumulated error. After the position, speed and attitude information are fused, accurate navigation information is obtained through Kalman filtering processing and is sent to an underwater carrier central controller and stored in a storage module 9, and autonomous navigation of the underwater carrier is realized.
Claims (4)
1. The underwater combined navigation system based on bionic polarization is characterized in that: it includes: the system comprises an underwater navigation information control processor (1), an underwater bionic polarization module (2), a Doppler log module (3), a health monitoring module (4), an inertia auxiliary module (5), a power supply module (6), an interface circuit (7), a communication module (8) and a storage module (9);
the underwater bionic polarization module (2) can acquire polarization information and resolve attitude information of an underwater carrier, and comprises: an image type polarization sensor (11), an RJ45 interface (16) and a polarization information processing unit (10); the image type polarization sensor (11) is responsible for acquiring image information and sending the image information to the polarization information processing unit (10); the polarization information processing unit (10) receives the image from the image type polarization sensor (11), calculates attitude information after extracting polarization information, and transmits the attitude information and the polarization information to the underwater navigation information control processor (1); the RJ45 interface (16) is responsible for data transmission between the image type polarization sensor (11) and the polarization information processing unit (10);
the Doppler log module (3) can estimate the three-dimensional absolute speed of the underwater carrier through the frequency shift of the acoustic signal, control the transducer to send and receive the acoustic signal, estimate the three-dimensional absolute speed of the underwater carrier by using the Doppler principle, and transmit the speed information to the underwater navigation information control processor (1) through an RS232(36) interface;
the health monitoring module (4) consists of a temperature sensor (21), a pressure sensor (22), a depth sensor (23), a leakage detection unit (24), an overpressure alarm device (25) and an operation time monitoring unit (26); the health monitoring center processor (20) can monitor the temperature, depth and pressure information of the environment where the system is located in real time, and is also provided with a leakage detection unit (24), an overvoltage alarm device (25) and an operation time monitoring unit (26), so that the health monitoring center processor can be responded to the center processor at the first time when the system has a problem and remind the outside to take protective measures;
the inertial auxiliary module (5) consists of a three-axis gyroscope (31) and a three-axis accelerometer (32), and is used for carrying out auxiliary navigation by acquiring data through the accelerometer and the gyroscope and carrying out information transmission with the underwater navigation information control processor (1) through SPI (39) communication;
the power supply module (6) is respectively connected with each module, and supplies energy required by normal operation to each module after voltage is regulated and stabilized;
the interface circuit (7) comprises an RS232 interface (36), a CAN interface (37) and a USART3 interface (38); the USART3(38) interface and the CAN (37) interface are reserved interfaces, so that the auxiliary navigation on water CAN be realized by connecting a GPS later, and meanwhile, the USART3(38) interface and the CAN (37) interface are used for data transmission between an underwater navigation system and an external module;
the communication module (8) comprises an SPI (39), a USART1(40) and a USART2 (41);
the storage module (9) is connected with the underwater navigation information control processor (1) and is used for storing polarization information, health information, inertial navigation data, log data and resolved navigation information which are collected by a system;
the underwater bionic polarization module (2) collects image type polarization information by using an image type polarization sensor (11), transmits the polarization image information to a polarization information processing unit (10) through RJ45 interface (16) communication, extracts the polarization degree and the polarization angle of each pixel point of an image, resolves to obtain the polarization information and the attitude information of an underwater carrier, and transmits the polarization information and the attitude information to the underwater navigation information control processor (1) through USART1(40) communication; in the Doppler log module (3), a sound wave-speed information processor (27) drives an internal circuit of a transmitter unit (28) to work, a signal receiving and transmitting energy converter (30) converts an electric signal into a sound wave signal, captures a reflected sound signal, converts the sound signal into an electric signal and transmits the electric signal to the sound wave-speed information processor (27), the sound wave-speed information processor (27) estimates the absolute speed of an underwater carrier by using the Doppler principle, and speed information is transmitted to an underwater navigation information control processor (1) through an RS232(36) interface; the health detection module (4) is internally provided with a temperature sensor (21), a pressure sensor (22), a depth sensor (23), a leakage detection unit (24), an overpressure alarm device (25) and an operation time monitoring unit (26), the information of each sensor is fused in a health detection center processor (20), the health information is transmitted to an underwater navigation information control processor (1) through USART2(41) communication, the health of the system is monitored in real time, and an alarm can be given when the health of the system is threatened; the underwater navigation information control processor (1) is responsible for fusing the attitude information of the underwater bionic polarization module (2), the absolute speed information of the Doppler log module (3) and the pose information of the inertia auxiliary module (5) to realize underwater autonomous navigation;
the underwater bionic polarization module (2) comprises: the device comprises an image type polarization sensor (11), an RJ45 interface (16) and a polarization information processing unit (10), wherein the image type polarization sensor (11) consists of a fisheye lens (12), a filter converter (13), a CCD camera system (14) and an image buffer (15); the image type polarization sensor (11) takes an array CCD (charge coupled device) polarization camera as a main body, an underwater sky image with a 180-degree visual angle is collected by combining a fisheye lens, each pixel point of the image obtains four polarized light imaging signals with different angles, the polarized light imaging signals respectively collect the underwater polarized light intensity and the angle in four polarization directions of 0 degree, 45 degrees, 90 degrees and 135 degrees in an observation direction, a wide-visual-angle sky image is collected in water in an underwater bionic polarization module, the polarization information in each direction can be measured in an omnibearing manner, and the underwater bionic polarization sensor has good environmental adaptability under the condition of cloud shielding or other interference;
the underwater navigation information control processor (1) performs fusion processing on navigation information of each module, wherein attitude information of the underwater bionic polarization module (2) is fused with attitude information of the inertia auxiliary module (5) so as to correct long-time attitude accumulation errors of inertial navigation; the absolute speed information of the Doppler log module (3) and the speed information of the inertia auxiliary module (5) are fused to correct the inertial navigation long-time position accumulated error; after the attitude and the position information are subjected to Kalman filtering, the processor provides high-precision position, speed and attitude information for the underwater carrier;
the polarization information processing unit (10) is composed of an image feature extraction classifier (17), a polarization navigation information resolving chip (18) and a navigation information filter (19); the image feature extraction classifier (17) receives image information from the image type polarization sensor (11), polarization information of each pixel point is extracted from the image information, the polarization navigation information resolving chip (18) resolves attitude information of an underwater carrier by using the extracted polarization information, a navigation information filter (19) performs Kalman filtering on the obtained attitude information, and finally the information after filtering processing is sent to an underwater navigation information control processor (1) through a USART1 (40);
the Doppler log module (3) is configured by Janus, the signal receiving, transmitting and energy replacing device (30) has four channels, the phased array technology is adopted to trigger each channel to work, each channel is controlled by the sound wave-speed information processor (27), the transducer is excited to emit sound waves, reflected sound signals are captured, and finally the absolute speed of the underwater carrier is obtained by utilizing the Doppler principle;
after the system is electrified and initialized, the health monitoring module (4) starts to work: the health monitoring center processor (20) controls each sensor to acquire temperature, depth and pressure environment information around the underwater carrier, meanwhile, the leakage detection unit detects the integral air tightness of the equipment by detecting the internal pressure of the system, the control processor sends the result to the underwater navigation information control processor (1), and after the internal and external environments of the system are ensured to be safe, each module is instructed to work by a serial port instruction; the running time monitoring unit monitors the running condition of the system in real time so as to ensure the safety inside and outside the system; during the operation of the system, acquiring system health information in real time and giving an alarm;
after the underwater bionic polarization module (2) receives a starting instruction, a CCD camera system (14) acquires images underwater according to a set frequency, image information enters a camera system after being denoised by a filter converter (13) during shooting, is cached in an image cache (15), and is transmitted to a polarization information processing unit (10) through an RJ45 interface at regular time; after receiving image information from the image type polarization sensor (1), the image characteristic extraction classifier (17) reversely solves the polarization degree and the polarization angle by using a stokes vector algorithm and determines the polarization vector in each observation direction, the polarization navigation information solving chip (18) solves the sun vector at the corresponding moment by using polarization vector cross multiplication and obtains an attitude matrix through coordinate conversion between a navigation system and a carrier system, so that attitude information is obtained, the multi-direction observation solving polarization vector has high redundancy, the attitude information solving precision can be ensured in a complex environment, and the obtained attitude information is transmitted to the underwater navigation information control processor (1) through USART1(40) after being subjected to Kalman filtering;
the Doppler log module (3) receives a start instruction at the same time, the sound wave-speed information processor (27) controls the transmitter unit (28) to trigger an internal transmitting circuit in a phased array mode to transmit an electric signal, the electric signal is converted into an acoustic signal by the signal receiving and transmitting combined energy replacing device (30) and then is transmitted to the seabed, an echo is generated when the acoustic signal is transmitted to the seabed, the receiver unit (29) and the transmitter are started at the same time to prepare for receiving the echo signal, the echo signal is captured by the signal receiving and transmitting combined energy replacing device (30), after the acoustic signal-electric signal conversion, the amplification and filtering processing are carried out on the receiver unit (29), and finally the echo signal is transmitted to the sound wave-speed information processor (27), and the sound wave-speed information processor (27) estimates the absolute speed of the underwater carrier according to the frequency shift between the signals by using the Doppler principle; the signal receiving and transmitting combined energy-replacing device (30) adopts Janus (Janus) configuration, three-dimensional speed information is estimated by combining a phased array technology, interference caused by jolt and fluctuation of an underwater carrier is greatly weakened, the influence of sound velocity change on speed measurement precision is eliminated from a working mechanism, and the speed information is transmitted to the underwater navigation information control processor (1) through an RS232 interface (36);
the inertial auxiliary module (5) receives a starting instruction at the same time, and after the internal initialization of the system, the inertial auxiliary module (5) acquires angular velocity and acceleration information in real time and transmits navigation information to the underwater navigation information control processor (1) through the SPI 39;
after the system initialization is completed, the underwater navigation information control processor (1) orders the health monitoring module (4) to carry out health check, after the health signal is received and returned, synchronously triggers the underwater bionic polarization module (2), the Doppler log module (3) and the inertia auxiliary module (5) to work, and receives navigation information of each module according to the same frequency, and angular velocity and acceleration information of the inertia auxiliary module (5) are resolved in the underwater navigation information control processor (1) to obtain position, velocity and attitude information: the attitude information obtained by resolving is fused with the attitude information of the underwater bionic polarization module (2) so as to correct long-time attitude accumulation errors; the calculated speed information is fused with the speed information of the Doppler log module (3) to correct long-time position accumulated errors, and after the position, speed and attitude information are fused, accurate navigation information is obtained through Kalman filtering processing and is sent to an underwater carrier central controller and stored in a storage module (9), so that autonomous navigation of the underwater carrier is realized.
2. The underwater integrated navigation system based on bionic polarization as claimed in claim 1, wherein: the inertial auxiliary module (5) acquires data through a three-axis gyroscope (31) and a three-axis accelerometer (32), calculates and obtains position, speed and attitude navigation information of the underwater carrier, and transmits the navigation information to the underwater navigation information control processor (1) through SPI (39) communication for auxiliary navigation.
3. The underwater integrated navigation system based on bionic polarization as claimed in claim 1, wherein: the power supply module (6) comprises: lithium cell (33), voltage regulator (34) and voltage regulation module (35), can stable output 3.3V, 5V, 12V and 24V voltage, satisfy the power supply demand of different modules.
4. The underwater integrated navigation system based on bionic polarization as claimed in claim 1, wherein: the storage module (9) adopts an EEPROM (42).
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