CN113776514A - Relative navigation method and device for detecting vertical surface under liquid by robot - Google Patents
Relative navigation method and device for detecting vertical surface under liquid by robot Download PDFInfo
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- 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
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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
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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Abstract
The application relates to a relative navigation method and a device of a robot for detecting a vertical surface under liquid, wherein the method comprises the following steps: establishing a vertical surface navigation coordinate system according to the vertical surface; acquiring first navigation related information of the robot under a vertical surface navigation coordinate system through inertial navigation equipment; acquiring second navigation related information of the robot under a vertical surface navigation coordinate system through the depth measuring equipment; obtaining third navigation related information of the robot under a navigation coordinate system of the vertical surface through a Doppler velocimeter, wherein the Doppler velocimeter faces the vertical surface; and fusing the first navigation related information, the second navigation related information and the third navigation related information in the vertical surface navigation coordinate system to obtain the navigation information of the robot on the vertical surface. The method and the device provided by the application realize continuous navigation in the vertical surface, and solve the problem that the traditional underwater navigation algorithm cannot be applied in the vertical surface.
Description
Technical Field
The application relates to the field of underwater navigation, in particular to a relative navigation method and device of a robot for detecting a vertical surface under liquid.
Background
It should be noted first that the relative navigation solution of the robot for detecting vertical surfaces of the present application is suitable for various liquids, such as water, oil, alcohol, etc., and for convenience, the liquid is embodied as water in the following description.
The underwater robot often has the requirement of relative navigation on a vertical surface or near the vertical surface in the fields of hydraulic and hydroelectric engineering detection, offshore oil platform detection, ship bottom detection and the like, and if the underwater robot is required to detect the vertical surface of a dam body in the hydraulic and hydroelectric engineering dam detection, the operations of routing inspection, defect positioning and the like are finished near the vertical surface, and the operations all need to have relatively accurate capability of navigation in the vertical surface.
The navigation of the traditional underwater robot generally refers to navigation in a horizontal plane, related systems and algorithm designs are designed for the horizontal plane, for example, the navigation system is installed according to the navigation of the horizontal plane, and a navigation result is represented according to the horizontal plane (the position selects longitude and latitude, and the speed is divided into east speed, north speed and the like). Navigation within a vertical surface, where no relevant solution is currently available, differs greatly from navigation within a horizontal plane.
Common technical means for underwater robot Navigation include INS (Inertial Navigation System), GNSS (Global Navigation Satellite System), hydroacoustic DVL (Doppler velocimeter), hydroacoustic LBL/SBL/USBL (Long Baseline/Short Baseline/Ultra Short Baseline Navigation), and the like. Wherein the INS is capable of measuring position, velocity and attitude full-dimensional information; the GNSS needs to receive satellite electromagnetic wave signals and can only be used on the water surface; DVL is used only to measure speed; LBL/SBL/USBL requires external hydroacoustic matrix or nodal support and is used only for positioning. In underwater robot navigation, two or more navigation systems are generally applied comprehensively, and a combined navigation system is formed by using a data fusion method. For example, "an AUV navigation positioning method and system based on multi-sensor data fusion" disclosed in CN111829512A, "an AUV underwater navigation method based on sparse long baseline tight combination" disclosed in CN107966145B, "an underwater autonomous vehicle navigation method based on adaptive filtering" disclosed in CN112710304A, and the like.
Disclosure of Invention
The applicant has noticed that the usual underwater navigation methods disclosed so far cannot be used for navigation of vertical surfaces, because: the common underwater navigation is mainly designed aiming at the navigation and positioning requirements in a large-range horizontal plane, the horizontal coordinates (such as longitude and latitude positions, east-direction speed, north-direction speed and the like) of the underwater robot are focused, the DVL usually observes the water bottom to obtain the horizontal speed, underwater acoustic navigation equipment installed on the underwater robot, such as USBL nodes, has a certain depth difference with a base array installed on a ship body on the water surface, and depth measurement equipment is mainly used for depth setting control and the like of the underwater robot; the underwater relative navigation in the vertical surface mainly focuses on navigation and positioning of the underwater robot in the vertical surface, the underwater robot is required to move up and down frequently, the distance between the underwater robot and the vertical surface is required to be accurate, the depth and the relative distance are important navigation information, DVL speed measurement is required to be measured relative to the vertical surface instead of the water bottom, the difference between the depth of the underwater robot and the USBL array on the water surface is small when the underwater robot is close to the water surface, the sound wave has a reflection effect on the vertical surface, the USBL effect is poor or even cannot be used, and the like.
Based on the above, the application provides a scheme for detecting the relative navigation of a robot on a vertical surface under liquid, which uses a combined navigation mode of 'inertial navigation + depth measurement equipment + DVL facing the vertical surface', and the inertial navigation, the depth measurement equipment and the DVL facing the vertical surface respectively provide navigation related information including speed, position, depth and the like; and the intermittent correction of the satellite navigation and underwater sound navigation equipment can be selected, so that the navigation in the vertical surface is more accurate and reliable. The scheme of the invention is a method specially designed for an underwater vertical surface navigation scene, and solves the problem that the traditional underwater navigation algorithm cannot be applied to the underwater vertical surface.
According to a first aspect of the present application, there is provided a relative navigation method of a robot for detecting a vertical surface under liquid, comprising:
establishing a vertical surface navigation coordinate system according to the vertical surface;
acquiring first navigation related information of the robot under the vertical surface navigation coordinate system through inertial navigation equipment;
acquiring second navigation related information of the robot under the vertical surface navigation coordinate system through depth measurement equipment;
obtaining third navigation-related information of the robot in the vertical surface navigation coordinate system through a Doppler velocimeter, wherein the Doppler velocimeter faces the vertical surface; and
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system and third navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
According to a second aspect of the present application, there is provided a relative navigation device of a robot for detecting a vertical surface under liquid, comprising:
a coordinate system establishing unit for establishing a vertical surface navigation coordinate system according to the vertical surface;
the first acquisition unit is used for acquiring first navigation related information of the robot under the vertical surface navigation coordinate system through inertial navigation equipment;
the second acquisition unit is used for acquiring second navigation related information of the robot under the vertical surface navigation coordinate system through the depth measurement equipment;
a third obtaining unit, configured to obtain third navigation related information of the robot in the vertical surface navigation coordinate system through a doppler velocimeter, where the doppler velocimeter faces the vertical surface; and
and the fusion unit is used for fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system and third navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
According to a third aspect of the present invention, there is provided an electronic apparatus comprising:
a processor; and
a memory storing computer instructions which, when executed by the processor, cause the processor to perform the method of the first aspect.
According to a fourth aspect of the present invention, there is provided a non-transitory computer storage medium storing a computer program which, when executed by a plurality of processors, causes the processors to perform the method of the first aspect.
According to the invention, a method, a device, an electronic identification and a non-transient computer storage medium for detecting the relative navigation of a robot on a vertical surface under liquid are provided, wherein a combined navigation mode of 'inertial navigation + depth measurement equipment + DVL towards the vertical surface' is adopted, the DVL is not towards the water bottom but towards the vertical surface, the speed of the relative vertical surface is measured, after a vertical surface navigation coordinate system is established, navigation related information under a vertical surface navigation coordinate system provided by the inertial navigation, the depth measurement equipment and the DVL towards the vertical surface is fused, and continuous navigation in the vertical surface is realized after the navigation related information under the vertical surface navigation coordinate systems is fused; and the intermittent correction of the satellite navigation and underwater sound navigation equipment can be selected, so that the navigation in the vertical surface is more accurate and reliable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without exceeding the protection scope of the present application.
FIG. 1 is a logical schematic of the relative navigation of a robot underwater for inspection of vertical surfaces in accordance with an embodiment of the present application.
Fig. 2 is a flow chart of a method of relative navigation of a robot for underwater inspection of a vertical surface according to an embodiment of the present application.
FIG. 3 is a schematic view of a vertical surface navigation coordinate system.
Fig. 4 is a schematic view of a doppler velocimeter installation oriented towards a vertical surface according to an embodiment of the present application.
FIG. 5 is a schematic diagram of a relative navigation device of a robot for underwater inspection of vertical surfaces in accordance with an embodiment of the present application.
Fig. 6 is a structural diagram of an electronic device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
FIG. 1 is a logic diagram of a relative navigation of a robot for underwater inspection of vertical surfaces in accordance with an embodiment of the present application, generally illustrating the logic of the present application. As shown in fig. 1, the inertial navigation provides first navigation-related information of the robot, including a posture, a velocity, a position, an angular velocity, and an acceleration of the robot; the depth measurement device provides second navigation-related information of the robot, the second navigation-related information including a depth of the robot, wherein the depth measurement device includes a depth meter; the doppler velocimeter provides third navigation-related information comprising the velocity and/or distance of the robot relative to the vertical surface; in addition, a special laser distance meter, an acoustic altimeter and the like can be installed to measure the distance between the robot and the vertical surface. Then, after the first navigation-related information, the second navigation-related information and the third navigation-related information provided by the inertial navigation, the depth measurement device and the doppler velocimeter are fused, the navigation information of the robot on the vertical surface can be obtained, and the navigation information comprises the posture of the robot, the position and the speed of the robot relative to the vertical surface and the like.
In addition, as shown in fig. 1, the GNSS is used for providing navigation-related information, including position and speed information, when the robot is at a liquid level, and the underwater acoustic navigation device (e.g., USBL) is used for providing navigation-related information, including position information, when the underwater distance is far from the detected vertical surface and there is no acoustic wave interference, and the navigation-related information provided by the GNSS and the underwater acoustic navigation device can be fused with the first navigation-related information, the second navigation-related information and the third navigation-related information to obtain navigation information of the robot on the vertical surface.
It should be noted that the solution of the present application is not only suitable for vertical surfaces that form 90 ° with the horizontal plane, but also suitable for surfaces that form substantially vertical surfaces, and also suitable for surfaces that form any angle with the horizontal plane, and preferably, the solution of the present application is suitable for vertical surfaces that form an angle with the horizontal plane that is greater than 70 °.
According to one aspect of the present invention, a method of relative navigation of a robot for underwater inspection of a vertical surface is provided. Fig. 2 is a flow chart of a method of relative navigation of a robot for underwater inspection of a vertical surface according to an embodiment of the present application. As shown in fig. 2, the method includes the following steps.
Step S201, a vertical surface navigation coordinate system is established according to the vertical surface.
Firstly, the methodEstablishing a vertical surface navigation coordinate system (denoted as an m system): o ism-xmymzmAccording to one embodiment, a coordinate system is established as shown in fig. 3: origin OmFor a selected point on the vertical surface, the origin is selected according to application requirements, and a point with obvious characteristics on the vertical structure and known position coordinates and known water depth is suggested to be selected; x is the number ofmDown the vertical surface, ymIn the horizontal direction of the vertical surface, zmPerpendicular vertical surface facing outwards, xmymzmAnd a right-handed rectangular coordinate system is formed.
It will be appreciated that the vertical surface navigation coordinate system may be established in other ways, which are within the scope of the present application.
Vector l in the vertical surface navigation coordinate system established in the manner of fig. 3mVector l of geodetic coordinate system (marked as n system) commonly used in underwater navigationnThe conversion relationship between the two is as follows:
wherein the content of the first and second substances,
origin of the representation system OmIn the position of (a) in the first,
the attitude transformation matrix representing n to m systems may be a 3 x 3 matrix, which may be determined from the horizontal orientation of the vertical surface. Assuming n is the east-North-sky coordinate system, the horizontal orientation of the vertical surface (y)mDirection) azimuth angle θ, vertical surface is strictly vertical surface (x)mStrictly vertically downward, parallel to the direction of gravity of the earth), then
Can be written as:
the invention represents the navigation result of variables such as position, speed and the like in a vertical surface navigation coordinate system (m system), for example, the navigation position is represented as PmThe navigation speed is denoted as vmThen the speed and position satisfy:
wherein
Representing the derivative of position with respect to time.
Step S202, acquiring first navigation related information of the robot in the vertical surface navigation coordinate system through inertial navigation equipment.
First navigation-related information of the robot is acquired through the inertial navigation device, wherein the first navigation-related information comprises attitude, speed, position, acceleration, angular velocity information and the like of the robot.
And step S203, acquiring second navigation related information of the robot under the vertical surface navigation coordinate system through the depth measuring equipment.
Second navigation-related information of the robot is acquired by the depth measurement device, the second navigation-related information including a depth of the robot.
And step S204, obtaining third navigation related information of the robot under the vertical surface navigation coordinate system through a Doppler velocimeter.
In order to obtain the speed of the robot relative to the vertical surface, the doppler velocimeter is directed to the vertical surface in the present application, and the following two implementations can be adopted, as shown in fig. 4(a) and 4(b), respectively. As shown in fig. 4(a), the doppler velocimeter is installed at the front of the underwater robot, and the front of the underwater robot faces the vertical surface during operation, which is not a conventional installation method of the doppler velocimeter (the conventional method is installed at the bottom to measure the speed of the water bottom), and the underwater robot cannot measure the speed of the water bottom and participate in navigation when normally driving. As shown in fig. 4(b), the doppler velocimeter is installed at the bottom of the underwater robot, and the underwater robot adjusts the posture during operation to ensure that the bottom faces the vertical surface, which is a conventional installation mode of the doppler velocimeter, and the underwater robot can use the doppler velocimeter to navigate when normally driving in other scenes, but this mode has a high requirement on the control capability of the underwater robot, and requires that the underwater robot can realize large-angle adjustment during operation, and the bottom faces the vertical surface.
The mode of facing the vertical surface of the doppler velocimeter shown in fig. 4(a) and 4(b) can obtain the speed of the robot relative to the vertical surface, and the specific mode can be selected according to the actual situation. In addition, in order to face the doppler velocimeter to the vertical surface, other methods may be adopted besides the method shown in fig. 4(a) and 4(b), only the doppler velocimeter may be faced to the vertical surface to obtain the velocity of the robot relative to the vertical surface, and the installation method of the doppler velocimeter is not limited in this application.
In the scheme of the invention, the distance between the underwater robot and the vertical surface needs to be measured, and the distance can be measured by using a Doppler velocimeter or by installing a special laser range finder, an acoustic altimeter and the like.
Because different information fusion has different theoretical frameworks and processing modes, the invention only introduces the representation of navigation information of each navigation device (including an inertial navigation system, a depth measurement device and a Doppler velocimeter), and the required input of each information fusion method can be deduced from the navigation information.
The inertial navigation system measures angular velocity through a gyroscope and acceleration through an accelerometer, and then calculates the attitude, the velocity, the position and the like of the underwater robot. The inertial navigation attitude and speed solving equation is as follows:
wherein the content of the first and second substances,
converting a posture conversion matrix from a robot system (marked as a b system) to a geodetic coordinate system (an n system), wherein the matrix can be a 3-by-3 matrix, and a vector represented by the b system can be converted into the n system;
to represent
A derivative with respect to time;
is the angular velocity of the gyro measurement;
representing the rotational angular velocity of the earth;
the rotational angular velocity of n series relative to the earth series (denoted as e series) caused by the underwater robot motion is represented;
and
respectively representing vectors
And
a cross-product matrix of;
representing the speed of the underwater robot in an n system;
to represent
A derivative with respect to time; f. ofbIs the specific force measured by the accelerometer,
representing the gravitational acceleration.
this yields navigation-related information provided by the inertial navigation system in the vertical surface navigation coordinate system. Obtaining the velocity v of the inertial navigation system under the vertical surface navigation coordinate systemmThen, according to equation (3), the position of the inertial navigation system in the vertical surface navigation coordinate system can be obtained.
The depth measuring equipment is used for measuring the depth d of the underwater robot in water, and an m-system origin O is assumedmThe depth of water is
The observation information of the depth measurement device in the integrated navigation is as follows:
wherein (P)m)xRepresenting a position vector P of an underwater robotmThe x component of (a).
This yields navigation-related information provided by the depth measurement device in the vertical surface navigation coordinate system.
The Doppler velocimeter measures the velocity relative to a vertical surface, and the direct measurement result is the representation of the velocity in a b system, and the combined navigation needs to be converted into an m system:
the doppler velocimeter measures the distance s to the vertical surface (also can install special laser range finder, acoustics altimeter etc. to measure) for the combined navigation information is:
s＝(Pm)z (8)
wherein (P)m)zRepresenting components of the underwater robot position vector.
This yields navigation-related information provided by the doppler velocimeter in the vertical surface navigation coordinate system.
And S205, fusing first navigation related information in the vertical surface navigation coordinate system, second navigation related information in the vertical surface navigation coordinate system and third navigation related information in the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
After navigation related information provided by the inertial navigation system, the depth measurement equipment and the Doppler velocimeter in the vertical surface navigation coordinate system is obtained, the information can be fused to obtain an optimal navigation result. The information fusion method can adopt Kalman filtering, particle filtering, optimal estimation and other methods in the existing integrated navigation.
The navigational combination of the inertial navigation system, the depth measurement device and the doppler velocimeter may provide continuous navigation within the vertical surface. In a specific embodiment, when the robot is in the water surface, the GNSS navigation is relatively accurate, and navigation related information provided by the GNSS can be incorporated into the navigation related information for fusion, so as to correct the navigation combination of the inertial navigation system, the depth measurement device, and the doppler velocimeter. Thus, the relative navigation method of a robot for underwater inspection of a vertical surface further comprises the following steps.
And step S206, acquiring fourth navigation related information of the robot under the vertical surface navigation coordinate system through satellite navigation equipment.
When the robot is underwater, the signal receiving antenna of the satellite navigation system cannot receive satellite signals, and the satellite navigation system has related parameters which can be judged, such as the number of navigation satellites, the PDOP value of a navigation result and the like. Whether the satellite navigation system is on the water surface or not can be judged according to the satellite navigation system parameters, and whether the satellite navigation system can be used or not can be judged.
Upon determining that satellite navigation is available, fourth navigation-related information of the robot is acquired by the satellite navigation device, the fourth navigation-related information including position and velocity information of the robot.
The position and velocity of satellite navigation are represented in the n-system or can be conveniently converted to the n-system, which the solution of the invention needs to convert to the m-system for combined navigation:
thus, after obtaining the fourth navigation-related information in the vertical surface navigation coordinate system, the relative navigation method of the robot for underwater inspection of the vertical surface further includes:
step S207: and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system and fourth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
In another embodiment, when the vertical surface of the underwater distance detection of the robot is far and has no acoustic interference, the navigation of the underwater acoustic navigation device (for example, USBL) is accurate, and the navigation related information provided by the underwater acoustic navigation device can be incorporated into the navigation related information for fusion, so as to correct the navigation combination of the inertial navigation system, the depth measurement device and the doppler velocimeter. Thus, the relative navigation method of a robot for underwater inspection of a vertical surface further comprises the following steps.
And S208, acquiring fifth navigation related information of the robot under the vertical surface navigation coordinate system through underwater sound navigation equipment.
If the underwater acoustic communication signals of the array cannot be received, the underwater acoustic navigation equipment cannot be used; in addition, if the position deviation is large due to interference, the deviation can be judged according to other navigation system information, and the deviation of navigation related information provided by the underwater sound navigation equipment is filtered.
When the underwater distance of the robot is far from the detected vertical surface without sound wave interference, fifth navigation related information of the robot is obtained through underwater sound navigation equipment, the fifth navigation related information comprises position information of the robot, and the underwater sound navigation equipment comprises LBL, SBL and USBL.
The position measurement of an underwater acoustic navigation device (e.g., USBL) can be conveniently converted to n-systems, which the solution of the present invention needs to convert to m-systems for combined navigation:
thus, after obtaining the fifth navigation-related information in the vertical surface navigation coordinate system, the relative navigation method of the robot for underwater inspection of the vertical surface further includes:
step S209, merging the first navigation related information in the vertical surface navigation coordinate system, the second navigation related information in the vertical surface navigation coordinate system, the third navigation related information in the vertical surface navigation coordinate system and the fifth navigation related information in the vertical surface navigation coordinate system to obtain the navigation information of the robot on the vertical surface.
In addition, after the fourth navigation related information under the vertical surface navigation coordinate system provided by the satellite navigation and the fifth navigation related information under the vertical surface navigation coordinate system provided by the underwater acoustic navigation device are simultaneously obtained, the fourth navigation related information and the fifth navigation related information under the vertical surface navigation coordinate system can be fused, so that the relative navigation method for the underwater robot for detecting the vertical surface further comprises the following steps: and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system, fourth navigation related information under the vertical surface navigation coordinate system and fifth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
The invention provides a method for detecting the relative navigation of a robot on a vertical surface under liquid, which adopts a combined navigation mode of 'inertial navigation + depth measurement equipment + DVL facing the vertical surface', wherein the DVL faces the vertical surface instead of the water bottom, the speed of the relative vertical surface is measured, after a vertical surface navigation coordinate system is established, navigation related information under the vertical surface navigation coordinate system provided by the inertial navigation and the depth measurement equipment is fused with the DVL facing the vertical surface, and continuous navigation in the vertical surface is realized after the navigation related information under the vertical surface navigation coordinate system is fused; and the intermittent correction of the satellite navigation and underwater sound navigation equipment can be selected, so that the navigation in the vertical surface is more accurate and reliable.
According to another aspect of the present application, there is provided a relative navigation device of a robot for underwater inspection of a vertical surface. FIG. 5 is a schematic diagram of a relative navigation device of a robot for underwater inspection of vertical surfaces in accordance with an embodiment of the present application. As shown in fig. 5, the apparatus includes the following units.
A coordinate system establishing unit 501, configured to establish a vertical surface navigation coordinate system according to the vertical surface.
First, a vertical surface navigation coordinate system (denoted as m-system) is established: o ism-xmymzmAccording to one embodiment, a coordinate system is established as shown in fig. 3: origin OmFor a selected point on the vertical surface, the origin is selected according to application requirements, and a point with obvious characteristics on the vertical structure and known position coordinates and known water depth is suggested to be selected; x is the number ofmDown the vertical surface, ymIn the horizontal direction of the vertical surface, zmPerpendicular vertical surface facing outwards, xmymzmAnd a right-handed rectangular coordinate system is formed.
It will be appreciated that the vertical surface navigation coordinate system may be established in other ways, which are within the scope of the present application.
Vector l in the vertical surface navigation coordinate system established in the manner of fig. 3mVector l of geodetic coordinate system (marked as n system) commonly used in underwater navigationnThe conversion relationship between them is as shown in the above equation (1). Assuming n is the east-North-sky coordinate system, the horizontal orientation of the vertical surface (y)mDirection) azimuth angle θ, vertical surface is strictly vertical surface (x)mStrictly vertically downward, parallel to the direction of gravity of the earth), then
May be as shown in equation (2) above.
The invention represents the navigation result of variables such as position, speed and the like in a vertical surface navigation coordinate system (m system), for example, the navigation position is represented as PmThe navigation speed is denoted as vmThe velocity and position satisfy the above equation (3).
A first obtaining unit 502, configured to obtain, through an inertial navigation device, first navigation-related information of the robot in the vertical surface navigation coordinate system.
First navigation-related information of the robot is acquired through the inertial navigation device, wherein the first navigation-related information comprises attitude, speed, position, acceleration, angular velocity information and the like of the robot.
A second obtaining unit 503, configured to obtain, by the depth measuring device, second navigation-related information of the robot in the vertical surface navigation coordinate system.
Second navigation-related information of the robot is acquired by the depth measurement device, the second navigation-related information including a depth of the robot.
A third obtaining unit 504, configured to obtain, through a doppler velocimeter, third navigation related information of the robot in the vertical surface navigation coordinate system.
In order to obtain the speed of the robot relative to the vertical surface, the doppler velocimeter is directed to the vertical surface in the present application, and the following two implementations can be adopted, as shown in fig. 4(a) and 4(b), respectively. As shown in fig. 4(a), the doppler velocimeter is installed at the front of the underwater robot, and the front of the underwater robot faces the vertical surface during operation, which is not a conventional installation method of the doppler velocimeter (the conventional method is installed at the bottom to measure the speed of the water bottom), and the underwater robot cannot measure the speed of the water bottom and participate in navigation when normally driving. As shown in fig. 4(b), the doppler velocimeter is installed at the bottom of the underwater robot, and the underwater robot adjusts the posture during operation to ensure that the bottom faces the vertical surface, which is a conventional installation mode of the doppler velocimeter, and the underwater robot can use the doppler velocimeter to navigate when normally driving in other scenes, but this mode has a high requirement on the control capability of the underwater robot, and requires that the underwater robot can realize large-angle adjustment during operation, and the bottom faces the vertical surface.
The mode of facing the vertical surface of the doppler velocimeter shown in fig. 4(a) and 4(b) can obtain the speed of the robot relative to the vertical surface, and the specific mode can be selected according to the actual situation. In addition, in order to face the doppler velocimeter to the vertical surface, other methods may be adopted besides the method shown in fig. 4(a) and 4(b), only the doppler velocimeter may be faced to the vertical surface to obtain the velocity of the robot relative to the vertical surface, and the installation method of the doppler velocimeter is not limited in this application.
In the scheme of the invention, the distance between the underwater robot and the vertical surface needs to be measured, and the distance can be measured by using a Doppler velocimeter or by installing a special laser range finder, an acoustic altimeter and the like.
Because different information fusion has different theoretical frameworks and processing modes, the representation of navigation information of each navigation device (comprising an inertial navigation system, a depth measurement device and a Doppler velocimeter) is introduced through the equations (4) to (8), and the input required by each information fusion method can be deduced from the given navigation information.
And a fusion unit 505, configured to fuse the first navigation-related information in the vertical surface navigation coordinate system, the second navigation-related information in the vertical surface navigation coordinate system, and the third navigation-related information in the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
After navigation related information provided by the inertial navigation system, the depth measurement equipment and the Doppler velocimeter in the vertical surface navigation coordinate system is obtained, the information can be fused to obtain an optimal navigation result. The information fusion method can adopt Kalman filtering, particle filtering, optimal estimation and other methods in the existing integrated navigation.
The navigational combination of the inertial navigation system, the depth measurement device and the doppler velocimeter may provide continuous navigation within the vertical surface. In a specific embodiment, when the robot is in the water surface, the GNSS navigation is relatively accurate, and navigation related information provided by the GNSS can be incorporated into the navigation related information for fusion, so as to correct the navigation combination of the inertial navigation system, the depth measurement device, and the doppler velocimeter. In this way, the relative navigation device of the robot for underwater inspection of a vertical surface further includes the following units.
A fourth obtaining unit 506, configured to obtain fourth navigation related information of the robot in the vertical surface navigation coordinate system through a satellite navigation device.
When the robot is underwater, the signal receiving antenna of the satellite navigation system cannot receive satellite signals, and the satellite navigation system has related parameters which can be judged, such as the number of navigation satellites, the PDOP value of a navigation result and the like. Whether the satellite navigation system is on the water surface or not can be judged according to the satellite navigation system parameters, and whether the satellite navigation system can be used or not can be judged.
When it is determined that satellite navigation can be used, fourth navigation-related information of the robot including position and velocity information of the robot is acquired through the satellite navigation apparatus, wherein the fourth navigation-related information in the vertical surface navigation coordinate system can be obtained through equation (9).
In this way, after obtaining the fourth navigation-related information in the vertical surface navigation coordinate system, the fusion unit 505 of the relative navigation device of the robot detecting the vertical surface underwater is further configured to:
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system and fourth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
In another embodiment, when the vertical surface of the underwater distance detection of the robot is far and has no acoustic interference, the navigation of the underwater acoustic navigation device (for example, USBL) is accurate, and the navigation related information provided by the underwater acoustic navigation device can be incorporated into the navigation related information for fusion, so as to correct the navigation combination of the inertial navigation system, the depth measurement device and the doppler velocimeter. In this way, the relative navigation device of the robot for underwater inspection of a vertical surface further includes the following units.
A fifth obtaining unit 507, configured to obtain fifth navigation related information of the robot in the vertical surface navigation coordinate system through an underwater acoustic navigation device.
If the underwater acoustic communication signals of the array cannot be received, the underwater acoustic navigation equipment cannot be used; in addition, if the position deviation is large due to interference, the deviation can be judged according to other navigation system information, and the deviation of navigation related information provided by the underwater sound navigation equipment is filtered.
When the underwater distance of the robot is far from the detected vertical surface without sound wave interference, fifth navigation related information of the robot is obtained through underwater sound navigation equipment, the fifth navigation related information comprises position information of the robot, and the underwater sound navigation equipment comprises LBL, SBL and USBL. Wherein the fifth navigation related information in the vertical surface navigation coordinate system can be obtained by equation (10).
In this way, after obtaining the fifth navigation-related information in the vertical surface navigation coordinate system, the fusion unit 505 of the relative navigation device of the robot detecting the vertical surface underwater is further configured to:
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system and fifth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
In addition, after the fourth navigation related information in the vertical surface navigation coordinate system provided by the satellite navigation and the fifth navigation related information in the vertical surface navigation coordinate system provided by the underwater acoustic navigation device are simultaneously obtained, the fourth navigation related information and the fifth navigation related information in the vertical surface navigation coordinate system may be fused, so that the fusion unit 505 of the relative navigation apparatus of the robot for underwater detection of the vertical surface is further configured to: and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system, fourth navigation related information under the vertical surface navigation coordinate system and fifth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
The invention provides a device for detecting the relative navigation of a robot on a vertical surface under liquid, which adopts a combined navigation mode of 'inertial navigation + depth measurement equipment + DVL facing the vertical surface', wherein the DVL faces the vertical surface instead of the water bottom, measures the speed of the relative vertical surface, fuses navigation related information under a vertical surface navigation coordinate system provided by the inertial navigation and the depth measurement equipment after a vertical surface navigation coordinate system is established, and realizes continuous navigation in the vertical surface after the navigation related information under the vertical surface navigation coordinate system is fused; and the intermittent correction of the satellite navigation and underwater sound navigation equipment can be selected, so that the navigation in the vertical surface is more accurate and reliable.
Referring to fig. 6, fig. 6 provides an electronic device comprising a processor; and a memory storing computer instructions which, when executed by the processor, cause the processor to carry out the method and refinement scheme as shown in figure 2 when executing the computer instructions.
It should be understood that the above-described device embodiments are merely exemplary, and that the devices disclosed herein may be implemented in other ways. For example, the division of the units/modules in the above embodiments is only one logical function division, and there may be another division manner in actual implementation. For example, multiple units, modules, or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented.
In addition, unless otherwise specified, each functional unit/module in each embodiment of the present invention may be integrated into one unit/module, each unit/module may exist alone physically, or two or more units/modules may be integrated together. The integrated units/modules may be implemented in the form of hardware or software program modules.
If the integrated unit/module is implemented in hardware, the hardware may be digital circuits, analog circuits, etc. Physical implementations of hardware structures include, but are not limited to, transistors, memristors, and the like. The processor or chip may be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, ASIC, etc., unless otherwise specified. Unless otherwise specified, the on-chip cache, the off-chip Memory, and the Memory may be any suitable magnetic storage medium or magneto-optical storage medium, such as resistive Random Access Memory rram (resistive Random Access Memory), Dynamic Random Access Memory dram (Dynamic Random Access Memory), Static Random Access Memory SRAM (Static Random-Access Memory), enhanced Dynamic Random Access Memory edram (enhanced Dynamic Random Access Memory), High-Bandwidth Memory HBM (High-Bandwidth Memory), hybrid Memory cubic hmc (hybrid Memory cube), and so on.
The integrated units/modules, if implemented in the form of software program modules and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Embodiments of the present application also provide a non-transitory computer storage medium storing a computer program, which when executed by a plurality of processors causes the processors to perform the method and refinement scheme as shown in fig. 2.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the description of the embodiments is only intended to facilitate the understanding of the methods and their core concepts of the present application. Meanwhile, a person skilled in the art should, according to the idea of the present application, change or modify the embodiments and applications of the present application based on the scope of the present application. In view of the above, the description should not be taken as limiting the application.
Claims (16)
1. A method of relative navigation of a robot for detecting vertical surfaces under liquid, comprising:
establishing a vertical surface navigation coordinate system according to the vertical surface;
acquiring first navigation related information of the robot under the vertical surface navigation coordinate system through inertial navigation equipment;
acquiring second navigation related information of the robot under the vertical surface navigation coordinate system through depth measurement equipment;
obtaining third navigation-related information of the robot in the vertical surface navigation coordinate system through a Doppler velocimeter, wherein the Doppler velocimeter faces the vertical surface; and
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system and third navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
2. The method of claim 1, further comprising:
and acquiring fourth navigation related information of the robot under the vertical surface navigation coordinate system through satellite navigation equipment.
3. The method of claim 2, further comprising:
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system and fourth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
4. The method of claim 1, further comprising:
acquiring fifth navigation related information of the robot under the vertical surface navigation coordinate system through underwater sound navigation equipment, wherein the underwater sound navigation equipment comprises LBL, SBL and USBL.
5. The method of claim 4, further comprising:
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system and fifth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
6. The method of claim 4 or 5, wherein the first navigation-related information comprises a pose, a velocity, a position, an angular velocity and an acceleration of the robot, the second navigation-related information comprises a depth of the robot, the third navigation-related information comprises a velocity and/or a distance of the robot relative to the vertical surface, the fourth navigation-related information comprises a position and a velocity of the robot, and the fifth navigation-related information comprises a position of the robot.
7. The method of any one of claims 1 to 5, wherein the means of fusion includes Kalman filtering, particle filtering and optimal estimation.
8. A relative navigation device of a robot for detecting a vertical surface under liquid, comprising:
a coordinate system establishing unit for establishing a vertical surface navigation coordinate system according to the vertical surface;
the first acquisition unit is used for acquiring first navigation related information of the robot under the vertical surface navigation coordinate system through inertial navigation equipment;
the second acquisition unit is used for acquiring second navigation related information of the robot under the vertical surface navigation coordinate system through the depth measurement equipment;
a third obtaining unit, configured to obtain third navigation related information of the robot in the vertical surface navigation coordinate system through a doppler velocimeter, where the doppler velocimeter faces the vertical surface; and
and the fusion unit is used for fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system and third navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
9. The apparatus of claim 8, further comprising:
a fourth acquiring unit configured to acquire fourth navigation-related information of the robot through a satellite navigation device.
10. The apparatus of claim 9, wherein the fusion unit is further configured to:
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system and fourth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
11. The apparatus of claim 8, further comprising:
and the fifth acquisition unit is used for acquiring fifth navigation related information of the robot through underwater acoustic navigation equipment, wherein the underwater acoustic navigation equipment comprises LBL, SBL and USBL.
12. The apparatus of claim 11, wherein the fusion unit is further configured to:
and fusing first navigation related information under the vertical surface navigation coordinate system, second navigation related information under the vertical surface navigation coordinate system, third navigation related information under the vertical surface navigation coordinate system and fifth navigation related information under the vertical surface navigation coordinate system to obtain navigation information of the robot on the vertical surface.
13. The apparatus of claim 11 or 12, wherein the first navigation-related information comprises a pose, a velocity, a position, an angular velocity, and an acceleration of the robot, the second navigation-related information comprises a depth of the robot, the third navigation-related information comprises a velocity and/or a distance of the robot relative to the vertical surface, the fourth navigation-related information comprises a position and a velocity of the robot, and the fifth navigation-related information comprises a position of the robot.
14. The apparatus of any one of claims 8 to 12, wherein the means of fusion includes Kalman filtering, particle filtering and optimal estimation.
15. An electronic device, comprising:
a processor; and
a memory storing computer instructions that, when executed by the processor, cause the processor to perform the method of any of claims 1-7.
16. A non-transitory computer storage medium storing a computer program that, when executed by a plurality of processors, causes the processors to perform the method of any one of claims 1-7.
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