CN114018255B - Intelligent integrated navigation method, system, equipment and medium of underwater glider - Google Patents
Intelligent integrated navigation method, system, equipment and medium of underwater glider Download PDFInfo
- Publication number
- CN114018255B CN114018255B CN202111295588.4A CN202111295588A CN114018255B CN 114018255 B CN114018255 B CN 114018255B CN 202111295588 A CN202111295588 A CN 202111295588A CN 114018255 B CN114018255 B CN 114018255B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- navigation
- real
- time
- under
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention provides an intelligent integrated navigation method, system, equipment and medium of an underwater glider. The invention adopts the attitude sensor to collect the three-dimensional attitude angle of the underwater glider under the inertial coordinate system, the artificial intelligent chip module converts the three-dimensional attitude angle into the attitude angle of the navigation coordinate system, the central processing system converts the attitude angle under the navigation coordinate system into the attitude angle under the carrier coordinate system, and the attitude matrix under the carrier coordinate system
And calculating real-time navigation speed and acceleration, wherein the Beidou navigation system monitors real-time real three-dimensional attitude angle and navigation speed and acceleration, constructs a misalignment angle matrix and a misalignment state matrix, and corrects an attitude matrix deltat under a carrier coordinate system constructed by the central processing system in a time slot
Description
Technical Field
The invention belongs to the technical field of underwater unmanned aerial vehicles, and particularly relates to an intelligent integrated navigation method, system, equipment and medium of an underwater glider.
Background
An Underwater Glider (AUG) is a marine observation technology platform developed on the basis of a self-contained neutral buoy so as to supplement the function of autonomous horizontal movement and directional navigation of the drifting buoy. As a novel underwater unmanned aircraft, the underwater glider has the advantages of low cost, long cruising time, reusability and the like, has certain track control capability and becomes an important component of a marine environment observation and detection platform. In addition, the system also has the capability of short-time delay information transmission and large-range operation, and is one of powerful observation and exploration tools for ocean four-dimensional space. AUG can also be used to detect and track typical or sudden ocean events, is suitable for the observation of "mesoscale" and "sub-mesoscale" ocean dynamic processes, can provide high resolution spatial and temporal observation data for research in the field of oceanography, and is currently widely used.
The current common navigation methods include a navigation position pushing algorithm, an inertial navigation method, an acoustic navigation method, a marine geophysical navigation method and a combined navigation method. The AUG mostly adopts a Global Positioning System (GPS) positioning and electromagnetic compass combined navigation mode, the satellite positioning can determine the position information of the AUG when the AUG is positioned on the sea surface each time, the electromagnetic compass can provide heading change information of the AUG, and dead reckoning is adopted to conduct navigation and real-time track planning on the obtained information.
The underwater glider provided in the prior art has the following disadvantages: most of the time of the underwater glider works underwater, the GPS signal does not have strong penetrability when moving underwater, cannot be positioned at a depth of more than one hundred meters, can deviate from a preset flight path in the moving process of the underwater glider due to the influence of ocean currents, does not have information such as longitude and latitude and the like to detect own deviation value under water, and can cause a large error between a water outlet point and a target point after long-time movement and needs correction. GPS is a foreign product, has insufficient confidentiality, and is not suitable for industries and fields related to national security of government, geology, military police and the like.
Over time, errors in the navigation of an electromagnetic compass accumulate. In particular, when the performance of the speed sensor is poor, the measured speed is affected by the current flow rate due to the influence of the current, and a large error occurs after a long time.
Disclosure of Invention
Aiming at the defects, the invention provides an intelligent integrated navigation method, system, equipment and medium of an underwater glider, which adopt an attitude sensor to collect inertial coordinatesThe system comprises a three-dimensional attitude angle of an underwater glider, an artificial intelligent chip module, a central processing system, an attitude matrix and a carrier coordinate system, wherein the artificial intelligent chip module converts the three-dimensional attitude angle into the attitude angle of a navigation coordinate system, and the central processing system converts the attitude angle of the navigation coordinate system into the attitude angle of the carrier coordinate system and converts the attitude angle of the carrier coordinate system into the attitude matrix of the carrier coordinate system
And calculating real-time navigation speed and real-time navigation acceleration, wherein the Beidou navigation system monitors real-time real three-dimensional attitude angle, navigation speed and acceleration, constructs a misalignment angle matrix and a misalignment state matrix, and corrects an attitude matrix deltat under a carrier coordinate system constructed by the central processing system in a time slot
And then correcting the white noise part in the real-time sailing speed and the white noise in the real-time sailing acceleration, further correcting the navigation path of the underwater glider finally provided by the central processing system, and improving the accuracy and precision of the sailing path of the underwater glider.
The invention provides the following technical scheme: an intelligent combination method of an underwater glider, the method being for use with comprising the steps of:
s1: collecting pitch angle deviating from an x axis, roll angle deviating from a y axis and course angle deviating from a z axis of the underwater glider at t moment in the running process, and real-time navigation speed and acceleration of the underwater glider in the x, y and z axes;
s2: converting each attitude angle of the t moment acquired in the step S1 under an inertial coordinate system into a specific moment array f of each attitude angle under a navigation coordinate system and each direction under the navigation coordinate system n | t ；
S3: calculating an attitude matrix of the underwater glider at the moment t under a carrier coordinate system according to each converted attitude angle
And a specific moment array f of each direction under the carrier coordinate system at the moment t b | t ，/>
And constructing a real-time navigation speed calculation model in x, y and z axes under a t-moment carrier coordinate system>
And real-time navigation acceleration calculation model
S4: misalignment angle matrix sigma constructed under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t ] T Calculating model, misalignment state matrix delta under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t Δω N | t Δω E | t Δω D | t ηv E ηv N ] T Using a misalignment angle matrix sigma n | t Correcting the posture matrix of the t moment under the carrier coordinate system to obtain the posture matrix of the t moment corrected under the carrier coordinate system
For the posture matrix (in the carrier coordinate system) calculated in the step S3>
Error compensation is carried out:
wherein [ sigma ] n | t ×]Is sigma (sigma) n | t Is a diagonal matrix of symmetry; sigma (sigma) N | t For monitoring in a navigation coordinate system at time tThe difference value sigma between the obtained true north rotation angle and the north rotation angle under the navigation coordinate system obtained by the conversion in the step S2 E | t For the difference value sigma between the monitored real east rotation angle in the navigation coordinate system at the time t and the east rotation angle in the navigation coordinate system obtained by the conversion in the step S2 D | t The difference value between the monitored real ground direction rotation angle in the navigation coordinate system at the time t and the local direction rotation angle in the navigation coordinate system obtained by the conversion in the step S2; Δω N | t 、Δω E | t And, deltaomega D | t The method comprises the steps of monitoring a fixed deviation of a real-time navigation north speed, a fixed deviation of a real-time navigation east speed and a fixed deviation of a real-time navigation ground speed at a moment t; v E For the monitored true east linear velocity, v N For the monitored true north linear velocity; η is a white noise weighting coefficient;
s5: building a white noise correction calculation model eta omega in real-time sailing speed under the condition that monitoring time slot is delta t b | t-k White noise correction calculation model in real-time sailing acceleration
And substituting the real-time navigation speed calculation model constructed in the step S3 again>
Real-time navigation acceleration calculation model +.>
And (3) performing iterative optimization to correct the real-time navigation speed and acceleration at the moment t in real time, wherein Deltat=t- (t-k), and obtaining an accurate navigation path of the underwater glider.
Further, the formula for calculating the gesture matrix in the step S3 is as follows:
wherein, each attitude angle under the carrier coordinate system: gamma is the pitch angle deviating from the x-axis in the carrier coordinate system, ψ is the roll angle deviating from the y-axis in the carrier coordinate system, and θ is the heading angle deviating from the z-axis in the carrier coordinate system.
Further, the real-time navigation speed calculation model in x, y and z axes under the t-moment carrier coordinate system constructed in the step S3
And real-time navigation acceleration calculation model->
The calculation formula is as follows:
wherein omega b | t For the real-time sailing speed of t moment in the x, y and z axes under the carrier coordinate system, deltaomega b | t For a fixed deviation of real-time navigation speed in the x, y and z axes in the carrier coordinate system, ηω b | t White noise for real-time navigation speeds in x, y and z axes in a carrier coordinate system, wherein eta is a white noise weighting coefficient;
Further, [ Sigma ] in step S4 n | t ×]The calculation formula is as follows:
further, the monitoring time slot constructed in the step S5 is a white noise correction calculation model eta omega in real-time sailing speed under delta t b | t-k White noise correction calculation model in real-time sailing acceleration
The following are provided:
wherein phi is a matrix exponential function of the central processing system for measuring angles under a navigation coordinate system in a geographic coordinate system in the process of correcting white noise of real-time navigation speed and correcting white noise of real-time navigation acceleration.
Further, the calculation formula of the matrix index function Φ is as follows:
Φ＝exp(-[ω n ×Δt])；
wherein omega n For the conversion matrix of the rotation angular velocity of the earth measured in the geographic coordinate system to the rotation angular velocity of the earth measured in the navigation coordinate system, omega e And the xi is the geodetic latitude of the plane of the underwater glider under the geographic coordinate system, which is the rotation angular velocity of the earth measured under the geographic coordinate system.
Further, ω n The calculation formula of (2) is as follows:
h is the altitude depth of the plane under the geographic coordinate system where the underwater glider is located, which is measured by a depth gauge; r is R E Radial curvature radius R of Beidou navigation system under geographic coordinate system N And monitoring the obtained transverse curvature radius under the geographic coordinate system for the Beidou navigation system.
The invention provides an intelligent combination system of an underwater glider, which comprises an attitude sensor, an inertial navigation system, a Beidou navigation system, an attitude sensor, a central processing system, a depth gauge and a power module, wherein the Beidou navigation system is in communication connection with a satellite through a receiver;
the attitude sensor is used for monitoring and collecting all attitude angles of the underwater glider under an inertial coordinate system in real time: pitch angle deviating from the x-axis, roll angle deviating from the y-axis and heading angle deviating from the z-axis;
the inertial navigation system is used for monitoring and collecting real-time navigation speed and acceleration of the underwater glider in an inertial coordinate system on x, y and z axes in real time;
the artificial intelligent chip module is used for converting all the attitude angles which are monitored and collected in real time and are under an inertial coordinate system into all the attitude angles under a navigation coordinate system;
the Beidou navigation system is used for calculating difference values to construct a misalignment angle matrix under the navigation coordinate system according to the accurate attitude angle under the navigation coordinate system monitored in real time and each attitude angle under the navigation coordinate system obtained by conversion of the artificial intelligent chip module, constructing a misalignment state matrix under the navigation coordinate system, transmitting the misalignment state matrix to the central processing system, and carrying out error compensation and correction on the attitude matrix calculated by the central processing system so as to correct real-time navigation speed and real-time navigation acceleration;
the central processing system is used for calculating each attitude angle under the carrier coordinate system according to each attitude angle under the navigation coordinate system obtained by conversion of the artificial intelligent chip module: pitch angle gamma deviating from x axis, roll angle psi deviating from y axis and heading angle theta deviating from z axis, and calculates attitude matrix of underwater glider at moment t under carrier coordinate system
Correcting the white noise part of the real-time sailing speed and the white noise part of the real-time sailing acceleration by adopting the corrected gesture matrix calculated by the Beidou navigation system in the specific moment matrix in each direction under the carrier coordinate system, and then iterating to obtain the final optimized accurate sailing speed and sailing acceleration;
the depth gauge is used for monitoring and collecting the altitude depth h of the underwater glider under the geographic coordinate system in real time.
The invention also provides intelligent combination equipment of the underwater glider, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the intelligent combination method of the underwater glider when executing the computer program.
The present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the intelligent combination method of an underwater glider described above.
The beneficial effects of the invention are as follows:
1. the invention adopts the strapdown inertial navigation attitude angle under the inertial coordinate system monitored by the attitude sensor, adopts the artificial intelligent chip module to convert the attitude angle under the inertial coordinate system acquired by the attitude sensor into the attitude angle in the three-dimensional direction under the navigation coordinate system, adopts the Beidou navigation system to accurately measure the attitude angle under the navigation coordinate system, obtains the rotation angle of the real three-dimensional direction monitored in real time, and obtains the misalignment angle by comparing the rotation angle with the rotation angle of the three-dimensional direction obtained by the conversion of the artificial intelligent chip moduleMatrix sigma n | t ＝[σ N | t σ E | t σ D | t ] T And constructs the fixed deviation delta omega of the real-time navigation speed under the navigation coordinate system monitored by the Beidou navigation system at the moment t n | t ＝[Δω N | t Δω E | t Δω D | t ] T As a misalignment state matrix of elements, a pose matrix under a carrier coordinate system constructed by a central processing system
Correction is performed in the time slot of delta t=t- (t-k), so that white noise eta omega in real-time sailing speed is corrected b | t And +.>
The four are combined for use, so that the advantages of the four are fully exerted, and the defects of the four are avoided. The Beidou satellite navigation system is utilized to correct the information, attitude angle, navigation speed and navigation acceleration of the underwater glider, and finally the accurate water outlet time position is obtained, so that the defect that the error of the calculation result of the strapdown inertial navigation of the central processing system is accumulated to be large along with the time is further compensated, and the navigation accuracy and precision of the underwater glider are improved.
2. According to the invention, the real-time three-dimensional attitude angle and real-time sailing speed of the underwater glider under the navigation coordinate system are monitored in real time through the Beidou navigation system, the real-time three-dimensional attitude angle obtained through monitoring and the three-dimensional attitude angle one-to-one difference under the navigation coordinate system obtained through conversion of the artificial intelligent chip module under the inertial coordinate system are utilized, so that a misalignment angle matrix is constructed, the fixed deviation of the real-time sailing speed under the navigation coordinate system monitored by the Beidou navigation system at the moment t and elements in the constructed misalignment angle matrix are used as partial elements to construct a misalignment state matrix, and the misalignment angle matrix is utilized to further construct a white noise correction calculation model eta omega in the real-time sailing speed on white noise in a real-time sailing speed calculation model constructed by the central processing system b | t-k Correcting, namely further constructing a white noise correction calculation model in the real-time sailing acceleration for the white noise in the real-time sailing acceleration calculation model constructed by the central processing system by utilizing the misalignment state matrix
Correction is carried out, and then the real-time navigation speed calculation model constructed by the central processing system is substituted again>
Real-time navigation acceleration calculation model +.>
The real-time navigation speed and acceleration at the moment t are corrected in real time, the speed and acceleration during real-time navigation are corrected respectively, the calculated amount of a central processing system and the required chip size are reduced, and the control chip of the underwater glider is easy to realize simplification, smallness and portability.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 is a schematic flow diagram of an intelligent combination method of an underwater glider provided by the invention;
fig. 2 is a schematic structural diagram of an intelligent combination system of an underwater glider.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, the intelligent combination method of the underwater glider provided in this embodiment is used for the following steps:
s1: collecting pitch angle deviating from an x axis, roll angle deviating from a y axis and course angle deviating from a z axis of the underwater glider at t moment in the running process, and real-time navigation speed and acceleration of the underwater glider in the x, y and z axes;
s2: converting each attitude angle of the t moment acquired in the step S1 under an inertial coordinate system into a specific moment array f of each attitude angle under a navigation coordinate system and each direction under the navigation coordinate system n | t ；
S3: calculating an attitude matrix of the underwater glider at the moment t under a carrier coordinate system according to each converted attitude angle
And a specific moment array f of each direction under the carrier coordinate system at the moment t b | t ，/>
And constructing a real-time navigation speed calculation model in x, y and z axes under a t-moment carrier coordinate system>
And real-time navigation acceleration calculation model
S4: misalignment angle matrix sigma constructed under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t ] T Calculating model, misalignment state matrix delta under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t Δω N | t Δω E | t Δω D | t ηv E ηv N ] T Using a misalignment angle matrix sigma n | t Correcting the posture matrix of the t moment under the carrier coordinate system to obtain the posture matrix of the t moment corrected under the carrier coordinate system
For the posture matrix (in the carrier coordinate system) calculated in the step S3>
Error compensation is carried out:
wherein [ sigma ] n | t ×]Is sigma (sigma) n | t Is a diagonal matrix of symmetry; sigma (sigma) N | t For the difference value sigma between the monitored real north rotation angle in the navigation coordinate system at the time t and the north rotation angle in the navigation coordinate system obtained by the conversion in the step S2 E | t For the difference value sigma between the monitored real east rotation angle in the navigation coordinate system at the time t and the east rotation angle in the navigation coordinate system obtained by the conversion in the step S2 D | t The difference value between the monitored real ground direction rotation angle in the navigation coordinate system at the time t and the local direction rotation angle in the navigation coordinate system obtained by the conversion in the step S2; Δω N | t 、Δω E | t And, deltaomega D | t The method comprises the steps of monitoring a fixed deviation of a real-time navigation north speed, a fixed deviation of a real-time navigation east speed and a fixed deviation of a real-time navigation ground speed at a moment t; v E For the monitored true east linear velocity, v N For the monitored true north linear velocity; η is a white noise weighting coefficient; ηv E 、ηv N The error is the eastern linear velocity white noise error and the northern linear velocity white noise error respectively;
fixed deviation delta omega of real-time navigation speed under navigation coordinate system monitored by Beidou navigation system at moment t n | t ＝[Δω N | t Δω E | t Δω D | t ] T ；
S5: building a white noise correction calculation model eta omega in real-time sailing speed under the condition that monitoring time slot is delta t b | t-k White noise correction calculation model in real-time sailing acceleration
And substituting the real-time navigation speed calculation model constructed in the step S3 again>
Real-time navigation acceleration calculation model +.>
And (3) performing iterative optimization to correct the real-time navigation speed and acceleration at the moment t in real time, wherein Deltat=t- (t-k), and obtaining an accurate navigation path of the underwater glider.
The formula for calculating the gesture matrix in the step S3 is as follows:
wherein, each attitude angle under the carrier coordinate system: gamma is the pitch angle deviating from the x-axis in the carrier coordinate system, ψ is the roll angle deviating from the y-axis in the carrier coordinate system, and θ is the heading angle deviating from the z-axis in the carrier coordinate system.
Example 2
The intelligent combination method of the underwater glider provided by the embodiment is used for comprising the following steps:
s1: collecting pitch angle deviating from an x axis, roll angle deviating from a y axis and course angle deviating from a z axis of the underwater glider at t moment in the running process, and real-time navigation speed and acceleration of the underwater glider in the x, y and z axes;
s2: the artificial intelligent chip module rotates each attitude angle of the t moment acquired in the step S1 under an inertial coordinate systemChanging into a specific moment array f of each attitude angle under the navigation coordinate system and each direction under the navigation coordinate system n | t ；
S3: the central processing system calculates an attitude matrix of the underwater glider at the moment t under a carrier coordinate system according to each converted attitude angle
And a specific moment array f of each direction under the carrier coordinate system at the moment t b | t ，
And constructing a real-time navigation speed calculation model in x, y and z axes under a t-moment carrier coordinate system>
And real-time navigation acceleration calculation model->
S4: the Beidou navigation system monitors the attitude angle under the accurate navigation coordinate system in real time and the real-time navigation speed under the accurate navigation coordinate system, and constructs a misalignment angle matrix sigma under the navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t ] T Calculating model, misalignment state matrix delta under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t Δω N | t Δω E | t Δω D | t ηv E ηv N ] T Using a misalignment angle matrix sigma n | t Correcting the posture matrix of the t moment under the carrier coordinate system to obtain the posture matrix of the t moment corrected under the carrier coordinate system
For the posture matrix (in the carrier coordinate system) calculated in the step S3>
Error compensation is carried out:
wherein [ sigma ] n | t ×]Is sigma (sigma) n | t Is a diagonal matrix of symmetry; [ Sigma ] n | t ×]The calculation formula is as follows:
σ N | t for the difference value sigma between the real north rotation angle monitored by the Beidou navigation system under the t moment navigation coordinate system and the north rotation angle obtained by converting in the step S2 under the navigation coordinate system E | t For the difference value sigma between the real east rotation angle monitored by the Beidou navigation system under the navigation coordinate system at the moment t and the eastern rotation angle obtained by converting the step S2 under the navigation coordinate system D | t The difference value between the real ground direction rotation angle monitored by the Beidou navigation system under the navigation coordinate system at the moment t and the local direction rotation angle obtained by converting in the step S2 is obtained; Δω N | t 、Δω E | t And, deltaomega D | t The method comprises the steps of monitoring a fixed deviation of a real-time navigation north speed, a fixed deviation of a real-time navigation east speed and a fixed deviation of a real-time navigation ground speed by a central processing system at a moment t; v E For the real east direction linear speed, v, monitored by the Beidou navigation system N The real north linear speed monitored by the Beidou navigation system is; η is a white noise weighting coefficient; ηv E 、ηv N The error is the eastern linear velocity white noise error and the northern linear velocity white noise error respectively;
fixed deviation delta omega of real-time navigation speed under navigation coordinate system monitored by Beidou navigation system at moment t n | t ＝[Δω N | t Δω E | t Δω D | t ] T ；
S5: correcting the t moment calculated in the step S4 and then correcting the posture matrix under the carrier coordinate system
Transmitting to the central processing system, wherein the central processing system adopts a misalignment angle matrix sigma n | t Building a white noise correction calculation model eta omega in real-time sailing speed under the condition that monitoring time slot is delta t b | t-k And employing a misalignment state matrix delta n | t White noise correction calculation model in real-time sailing acceleration>
And substituting the real-time navigation speed calculation model constructed in the step S3 again>
Real-time navigation acceleration calculation model +.>
And (3) performing iterative optimization to correct the real-time navigation speed and acceleration at the moment t in real time, wherein Deltat=t- (t-k), and obtaining an accurate navigation path of the underwater glider.
The formula for calculating the gesture matrix in the step S3 is as follows:
wherein, each attitude angle under the carrier coordinate system: gamma is the pitch angle deviating from the x-axis in the carrier coordinate system, ψ is the roll angle deviating from the y-axis in the carrier coordinate system, and θ is the heading angle deviating from the z-axis in the carrier coordinate system.
S3, constructing a real-time navigation speed calculation model in x, y and z axes under a t-moment carrier coordinate system in the step
And real-time navigation acceleration calculation model->
The calculation formula is as follows:
wherein omega b | t For the real-time sailing speed of t moment in the x, y and z axes under the carrier coordinate system, deltaomega b | t For a fixed deviation of real-time navigation speed in the x, y and z axes in the carrier coordinate system, ηω b | t White noise for real-time navigation speeds in x, y and z axes in a carrier coordinate system, wherein eta is a white noise weighting coefficient;
ηω b | t the average value is zero, i.e. Eηω b | t ]=0, and it satisfies that its covariance matrix is Q ωb|t ＝E[ηω b | t (ηω b | t ) T ]
Example 3
The intelligent combination method of the underwater glider provided by the embodiment is used for comprising the following steps:
s1: collecting pitch angle deviating from an x axis, roll angle deviating from a y axis and course angle deviating from a z axis of the underwater glider at t moment in the running process, and real-time navigation speed and acceleration of the underwater glider in the x, y and z axes;
s2: the artificial intelligent chip module converts each attitude angle of the t moment acquired in the step S1 under an inertial coordinate system into a specific moment array f of each attitude angle under a navigation coordinate system and each direction under the navigation coordinate system n | t ；
S3: the central processing system calculates an attitude matrix of the underwater glider at the moment t under a carrier coordinate system according to each converted attitude angle
And a specific moment array f of each direction under the carrier coordinate system at the moment t b | t ，
And constructing a real-time navigation speed calculation model in x, y and z axes under a t-moment carrier coordinate system>
And real-time navigation acceleration calculation model->
S3, calculating an attitude matrix
The formula of (2) is as follows:
wherein, each attitude angle under the carrier coordinate system: gamma is the pitch angle deviating from the x-axis in the carrier coordinate system, ψ is the roll angle deviating from the y-axis in the carrier coordinate system, and θ is the heading angle deviating from the z-axis in the carrier coordinate system.
S3, constructing a real-time navigation speed calculation model in x, y and z axes under a t-moment carrier coordinate system in the step
And real-time navigation acceleration calculation model->
The calculation formula is as follows:
wherein omega b | t For the real-time sailing speed of t moment in the x, y and z axes under the carrier coordinate system, deltaomega b | t For a fixed deviation of real-time navigation speed in the x, y and z axes in the carrier coordinate system, ηω b | t White noise for real-time navigation speeds in x, y and z axes in a carrier coordinate system, wherein eta is a white noise weighting coefficient;
ηω b | t the average value is zero, i.e. Eηω b | t ]=0, and it satisfies that its covariance matrix is Q ωb|t ＝E[ηω b | t (ηω b | t ) T ]
S4: the Beidou navigation system monitors the attitude angle under the accurate navigation coordinate system in real time and the real-time navigation speed under the accurate navigation coordinate system, and constructs a misalignment angle matrix sigma under the navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t ] T Calculating model, misalignment state matrix delta under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t Δω N | t Δω E | t Δω D | t ηv E ηv N ] T Using a misalignment angle matrix sigma n | t Correcting the posture matrix of the t moment under the carrier coordinate system to obtain the posture of the corrected t moment under the carrier coordinate systemMatrix array
For the posture matrix (in the carrier coordinate system) calculated in the step S3>
Error compensation is carried out:
wherein [ sigma ] n | t ×]Is sigma (sigma) n | t Is a diagonal matrix of symmetry; [ Sigma ] n | t ×]The calculation formula is as follows:
σ N | t for the difference value sigma between the real north rotation angle monitored by the Beidou navigation system under the t moment navigation coordinate system and the north rotation angle obtained by converting in the step S2 under the navigation coordinate system E | t For the difference value sigma between the real east rotation angle monitored by the Beidou navigation system under the navigation coordinate system at the moment t and the eastern rotation angle obtained by converting the step S2 under the navigation coordinate system D | t The difference value between the real ground direction rotation angle monitored by the Beidou navigation system under the navigation coordinate system at the moment t and the local direction rotation angle obtained by converting in the step S2 is obtained; Δω N | t 、Δω E | t And, deltaomega D | t The method comprises the steps of monitoring a fixed deviation of a real-time navigation north speed, a fixed deviation of a real-time navigation east speed and a fixed deviation of a real-time navigation ground speed by a central processing system at a moment t; v E For the real east direction linear speed, v, monitored by the Beidou navigation system N The real north linear speed monitored by the Beidou navigation system is; η is a white noise weighting coefficient; ηv E 、ηv N White noise error and north of Oriental linear velocity respectivelyWhite noise error of direction linear velocity;
fixed deviation delta omega of real-time navigation speed under navigation coordinate system monitored by Beidou navigation system at moment t n | t ＝[Δω N | t Δω E | t Δω D | t ] T ；
S5: correcting the t moment calculated in the step S4 and then correcting the posture matrix under the carrier coordinate system
Transmitting to the central processing system, wherein the central processing system adopts a misalignment angle matrix sigma n | t Building a white noise correction calculation model eta omega in real-time sailing speed under the condition that monitoring time slot is delta t b | t-k And employing a misalignment state matrix delta n | t White noise correction calculation model in real-time sailing acceleration>
And substituting the real-time navigation speed calculation model constructed in the step S3 again>
Real-time navigation acceleration calculation model +.>
The real-time navigation speed and acceleration at the moment t are corrected in real time, Δt=t- (t-k) to obtain an accurate navigation path of the underwater glider, and the constructed monitoring time slot is a white noise correction calculation model eta omega in the real-time navigation speed at Δt b | t-k White noise correction calculation model in real-time sailing acceleration>
The following are provided:
wherein, phi is a matrix index function of the measurement angle under the navigation coordinate system in the geographic coordinate system in the process of correcting the white noise of the real-time navigation speed and correcting the white noise of the real-time navigation acceleration by the central processing system, and the calculation formula of the matrix index function phi is as follows:
Φ＝exp(-[ω n ×Δt])；
wherein omega n For the conversion matrix of the rotation angular velocity of the earth measured in the geographic coordinate system to the rotation angular velocity of the earth measured in the navigation coordinate system, omega e And the xi is the geodetic latitude of the plane of the underwater glider under the geographic coordinate system, which is the rotation angular velocity of the earth measured under the geographic coordinate system.
ω n The calculation formula of (2) is as follows:
h is the altitude depth of the plane under the geographic coordinate system where the underwater glider is located, which is measured by a depth gauge; r is R E Radial curvature radius R of Beidou navigation system under geographic coordinate system N And monitoring the obtained transverse curvature radius under the geographic coordinate system for the Beidou navigation system.
Example 4
As shown in fig. 2, the present embodiment provides an intelligent combination system of an underwater glider, where the system adopts the intelligent combination method of an underwater glider provided by the foregoing embodiment, and includes an attitude sensor, an inertial navigation system, a beidou navigation system, an attitude sensor, a central processing system, a depth gauge and a power module, where the beidou navigation system is in communication connection with a satellite through a receiver, the attitude sensor, the inertial navigation system, the beidou navigation system, the attitude sensor and the depth gauge are all in communication connection with the central processing system, and the power module is electrically connected with the central processing system;
the attitude sensor is used for monitoring and collecting all attitude angles of the underwater glider under an inertial coordinate system in real time: pitch angle deviating from the x-axis, roll angle deviating from the y-axis and heading angle deviating from the z-axis;
the inertial navigation system is used for monitoring and collecting real-time navigation speed and acceleration of the underwater glider in the x, y and z axes under an inertial coordinate system in real time;
the artificial intelligent chip module is used for converting each attitude angle which is monitored and collected in real time and is under an inertial coordinate system into each attitude angle under a navigation coordinate system;
the Beidou navigation system is used for calculating a difference value to construct a misalignment angle matrix under the navigation coordinate system according to the accurate attitude angle under the navigation coordinate system monitored in real time and each attitude angle under the navigation coordinate system obtained by conversion of the artificial intelligent chip module, constructing a misalignment state matrix under the navigation coordinate system, transmitting the misalignment state matrix to the central processing system, and carrying out error compensation and correction on the attitude matrix calculated by the central processing system so as to correct the real-time navigation speed and the real-time navigation acceleration;
the central processing system is used for calculating each attitude angle under the carrier coordinate system according to each attitude angle under the navigation coordinate system obtained by conversion of the artificial intelligent chip module: pitch angle gamma deviating from x axis, roll angle psi deviating from y axis and heading angle theta deviating from z axis, and calculates attitude matrix of underwater glider at moment t under carrier coordinate system
Correcting the white noise part of the real-time sailing speed and the white noise part of the real-time sailing acceleration by adopting the corrected gesture matrix calculated by the Beidou navigation system in the specific moment matrix in each direction under the carrier coordinate system, and then iterating to obtain the final optimized accurate sailing speed and sailing acceleration;
and the depth gauge is used for monitoring and collecting the altitude depth h of the underwater glider under the geographic coordinate system in real time.
Example 5
The present embodiment provides an intelligent combination device of an underwater glider, including a memory and a processor, the memory storing a computer program, the processor implementing the steps of the intelligent combination method of an underwater glider provided in embodiment 1 when executing the computer program.
Example 6
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the intelligent combination method of an underwater glider provided in embodiment 1.
In the prior art, the Beidou satellite navigation system is equipment for positioning navigation, can provide high-precision and reliable positioning, navigation and other services in all weather in the global scope, and has the functions of navigation points, routes, tracks, area acquisition, editing, navigation and the like. Considering that the current Beidou navigation system does not have strong penetrability, and the underwater glider needs to navigate underwater for most of the time. Therefore, a simple Beidou navigation system cannot be used for positioning the underwater part of the underwater glider.
Most underwater gliders have small volume and low energy consumption, so that the strapdown inertial navigation with very small area is selected, and the strapdown inertial navigation can be directly fixed on the underwater gliders. The inertial measurement unit consists of three speed gyroscopes and three linear accelerometers, and can measure angular motion information and linear motion information in the whole AUG motion process. And then converting the numerical value of the acceleration into a navigation coordinate system through coordinate conversion, and calculating the longitude and latitude through an integral method. The autonomous positioning navigation can be realized without external information or communication with the outside. The strapdown inertial navigation algorithm adopted in the central processing system is the main body part of the dead reckoning of the underwater glider.
After long voyage, the central processing module adopts the principle of integration, and no external reference information exists, so that errors can be accumulated and increased gradually. The position information also deviates more and more, and the requirements of the underwater glider on the position precision cannot be met. Therefore, other navigation methods are needed to match, and the precision is improved.
This patent adoptsAnd (3) a scheme for carrying out underwater dead reckoning by using an artificial intelligence technology, a Beidou satellite navigation system, an attitude sensor and an inertial navigation system combined navigation system. The central processing system is used as a main body part of the dead reckoning of the underwater glider, the artificial intelligence technology, the Beidou satellite navigation system and the attitude sensor are used as assistance, the strapdown inertial navigation attitude angle under the inertial coordinate system monitored by the attitude sensor is adopted, the artificial intelligent chip module is used for converting the attitude angle under the inertial coordinate system acquired by the attitude sensor into the three-dimensional attitude angle under the navigation coordinate system, the Beidou navigation system is used for accurately measuring the attitude angle under the navigation coordinate system, the real three-dimensional rotation angle monitored in real time is obtained, and the misalignment angle matrix sigma is obtained by comparing the real three-dimensional rotation angle with the three-dimensional rotation angle obtained by the conversion of the artificial intelligent chip module n | t ＝[σ N | t σ E | t σ D | t ] T And constructs the fixed deviation delta omega of the real-time navigation speed under the navigation coordinate system monitored by the Beidou navigation system at the moment t n | t ＝[Δω N | t Δω E | t Δω D | t ] T As a misalignment state matrix of elements, a pose matrix under a carrier coordinate system constructed by a central processing system
Correction is performed in the time slot of delta t=t- (t-k), so that white noise eta omega in real-time sailing speed is corrected b | t And +.>
The four are combined for use, so that the advantages of the four are fully exerted, and the defects of the four are avoided. Correcting the information, attitude angle, navigation speed and navigation acceleration of the underwater glider by using the Beidou satellite navigation system, and finally obtaining an accurate water outlet position so as to further compensate the defect that the calculation result error of the strapdown inertial navigation of the central processing system is accumulated to be large along with the time; by using BeidouThe navigation system monitors the obtained real navigation three-dimensional speed under the navigation coordinate system in real time, and the provided attitude angle corrects the attitude angle calculated by the inertial navigation system, so that the accuracy is improved; and the artificial intelligence technology is utilized to correct and optimize the route, and finally, the autonomy of strapdown inertial navigation is utilized, so that the problem that the Beidou satellite navigation system signal cannot be used under underwater application and severe weather is solved.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, as long as there is no conflict in technical solutions, the technical features mentioned in the respective embodiments may be combined in any manner. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (9)
1. An intelligent combination method of an underwater glider, the method being used for:
s1: collecting pitch angle deviating from an x axis, roll angle deviating from a y axis and course angle deviating from a z axis of the underwater glider at t moment in the running process, and real-time navigation speed and acceleration of the underwater glider in the x, y and z axes;
s2: converting each attitude angle of the t moment acquired in the step S1 under an inertial coordinate system into a specific moment array f of each attitude angle under a navigation coordinate system and each direction under the navigation coordinate system n | t ；
S3: calculating an attitude matrix of the underwater glider at the moment t under a carrier coordinate system according to each converted attitude angle
And a specific moment array f of each direction under the carrier coordinate system at the moment t b | t ，/>
f n | t The method comprises the steps of carrying out a first treatment on the surface of the And constructing a real-time navigation speed calculation model in x, y and z axes under a t-moment carrier coordinate system>
And real-time navigation acceleration calculation model->
S4: misalignment angle matrix sigma constructed under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t ] T Calculating model, misalignment state matrix delta under navigation coordinate system n | t ＝[σ N | t σ E | t σ D | t Δω N | t Δω E | t Δω D | t ηv E ηv N ] T Using a misalignment angle matrix sigma n | t Correcting the posture matrix of the t moment under the carrier coordinate system to obtain the posture matrix of the t moment corrected under the carrier coordinate system
For the posture matrix (in the carrier coordinate system) calculated in the step S3>
Error compensation is carried out:
wherein [ sigma ] n | t ×]Is sigma (sigma) n | t Is a diagonal matrix of symmetry; sigma (sigma) N | t For the difference value sigma between the monitored real north rotation angle in the navigation coordinate system at the time t and the north rotation angle in the navigation coordinate system obtained by the conversion in the step S2 E | t For the difference value sigma between the monitored real east rotation angle in the navigation coordinate system at the time t and the east rotation angle in the navigation coordinate system obtained by the conversion in the step S2 D | t The difference value between the monitored real ground direction rotation angle in the navigation coordinate system at the time t and the local direction rotation angle in the navigation coordinate system obtained by the conversion in the step S2; Δω N | t 、Δω E | t And, deltaomega D | t The method comprises the steps of monitoring a fixed deviation of a real-time navigation north speed, a fixed deviation of a real-time navigation east speed and a fixed deviation of a real-time navigation ground speed at a moment t; v E For the monitored true east linear velocity, v N For the monitored true north linear velocity; η is a white noise weighting coefficient;
s5: building a white noise correction calculation model eta omega in real-time sailing speed under the condition that monitoring time slot is delta t b | t-k White noise correction calculation model in real-time sailing acceleration
And substituting the real-time navigation speed calculation model constructed in the step S3 again>
Real-time navigation acceleration calculation model +.>
And (3) performing iterative optimization to correct the real-time navigation speed and acceleration at the moment t in real time, wherein Deltat=t- (t-k), and obtaining an accurate navigation path of the underwater glider.
2. The intelligent combination method of an underwater glider according to claim 1, wherein the formula for calculating the attitude matrix in the step S3 is as follows:
wherein, each attitude angle under the carrier coordinate system: gamma is the pitch angle deviating from the x-axis in the carrier coordinate system, ψ is the roll angle deviating from the y-axis in the carrier coordinate system, and θ is the heading angle deviating from the z-axis in the carrier coordinate system.
3. The intelligent combination method of an underwater glider according to claim 1, wherein the real-time sailing speed calculation model in x, y and z axes under the t moment carrier coordinate system constructed in the step S3
And real-time navigation acceleration calculation model->
The calculation formula is as follows:
wherein omega b | t For the real-time sailing speed of t moment in the x, y and z axes under the carrier coordinate system, deltaomega b | t For a fixed deviation of real-time navigation speed in the x, y and z axes in the carrier coordinate system, ηω b | t White noise for real-time navigation speeds in x, y and z axes in a carrier coordinate system, wherein eta is a white noise weighting coefficient;
4. The intelligent combination method of an underwater glider according to claim 1, wherein [ sigma ] in the step S4 n | t ×]The calculation formula is as follows:
5. the intelligent combination method of an underwater glider according to claim 1, wherein the monitoring time slot constructed in the step S5 is a white noise correction calculation model ηω in real-time sailing speed at Δt b | t-k White noise correction calculation model in real-time sailing acceleration
The following are provided:
wherein phi is a matrix exponential function of the central processing system for measuring angles under a navigation coordinate system in a geographic coordinate system in the process of correcting white noise of real-time navigation speed and correcting white noise of real-time navigation acceleration.
6. The intelligent combination method of an underwater glider according to claim 5, wherein the formula of the matrix exponential function Φ is as follows:
Φ＝exp(-[ω n ×Δt])；
wherein omega n For the conversion matrix of the rotation angular velocity of the earth measured in the geographic coordinate system to the rotation angular velocity of the earth measured in the navigation coordinate system, omega e And the xi is the geodetic latitude of the plane of the underwater glider under the geographic coordinate system, which is the rotation angular velocity of the earth measured under the geographic coordinate system.
7. The intelligent combination method of an underwater glider according to claim 6 wherein ω n The calculation formula of (2) is as follows:
h is the altitude depth of the plane under the geographic coordinate system where the underwater glider is located, which is measured by a depth gauge; r is R E Radial curvature radius R of Beidou navigation system under geographic coordinate system N And monitoring the obtained transverse curvature radius under the geographic coordinate system for the Beidou navigation system.
8. An intelligent combination device for an underwater glider, comprising a memory and a processor, said memory storing a computer program, characterized in that the processor, when executing said computer program, implements the steps of the intelligent combination method for an underwater glider according to claim 1.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the intelligent combination method of an underwater glider according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111295588.4A CN114018255B (en) | 2021-11-03 | 2021-11-03 | Intelligent integrated navigation method, system, equipment and medium of underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111295588.4A CN114018255B (en) | 2021-11-03 | 2021-11-03 | Intelligent integrated navigation method, system, equipment and medium of underwater glider |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114018255A CN114018255A (en) | 2022-02-08 |
| CN114018255B true CN114018255B (en) | 2023-06-27 |
Family
ID=80060588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111295588.4A Active CN114018255B (en) | 2021-11-03 | 2021-11-03 | Intelligent integrated navigation method, system, equipment and medium of underwater glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114018255B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013059989A1 (en) * | 2011-10-25 | 2013-05-02 | 国防科学技术大学 | Motion alignment method of inertial navigation system |
| CN112556724A (en) * | 2020-12-09 | 2021-03-26 | 湖北航天飞行器研究所 | Initial coarse alignment method for low-cost navigation system of micro aircraft in dynamic environment |
| CN113108783A (en) * | 2021-05-09 | 2021-07-13 | 中国人民解放军国防科技大学 | inertial/Doppler combined navigation method for unmanned underwater vehicle |
| CN113447018A (en) * | 2021-07-06 | 2021-09-28 | 北京理工导航控制科技股份有限公司 | Attitude real-time estimation method of underwater inertial navigation system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110487301B (en) * | 2019-09-18 | 2021-07-06 | 哈尔滨工程大学 | Initial alignment method of radar-assisted airborne strapdown inertial navigation system |
-
2021
- 2021-11-03 CN CN202111295588.4A patent/CN114018255B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013059989A1 (en) * | 2011-10-25 | 2013-05-02 | 国防科学技术大学 | Motion alignment method of inertial navigation system |
| CN112556724A (en) * | 2020-12-09 | 2021-03-26 | 湖北航天飞行器研究所 | Initial coarse alignment method for low-cost navigation system of micro aircraft in dynamic environment |
| CN113108783A (en) * | 2021-05-09 | 2021-07-13 | 中国人民解放军国防科技大学 | inertial/Doppler combined navigation method for unmanned underwater vehicle |
| CN113447018A (en) * | 2021-07-06 | 2021-09-28 | 北京理工导航控制科技股份有限公司 | Attitude real-time estimation method of underwater inertial navigation system |
Non-Patent Citations (1)
| Title |
|---|
| 尹剑 ; 高教波 ; 刘延虎 ; 张琬琳 ; .采用卫星与惯性导航对空投精确控制研究.计算机仿真.2016,(第12期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114018255A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102829777B (en) | Autonomous underwater vehicle combined navigation system and method | |
| CN104457754B (en) | SINS/LBL (strapdown inertial navigation systems/long base line) tight combination based AUV (autonomous underwater vehicle) underwater navigation positioning method | |
| CN106643709B (en) | Combined navigation method and device for offshore carrier | |
| CN101846734B (en) | Agricultural machinery navigation and position method and system and agricultural machinery industrial personal computer | |
| CN210719199U (en) | Multi-equipment combined navigation system of underwater robot | |
| CN110779521A (en) | Multi-source fusion high-precision positioning method and device | |
| CN103389092B (en) | A kind of kite balloon airship attitude measuring and measuring method | |
| CN112505737B (en) | GNSS/INS integrated navigation method | |
| CN105094138A (en) | Low-altitude autonomous navigation system for rotary-wing unmanned plane | |
| CN103487822A (en) | BD/DNS/IMU autonomous integrated navigation system and method thereof | |
| CN103837151B (en) | A kind of aerodynamic model auxiliary navigation method of quadrotor | |
| CN111829512B (en) | AUV navigation positioning method and system based on multi-sensor data fusion | |
| CN110806209A (en) | Underwater robot multi-device combined navigation system and method | |
| CN104697520B (en) | Integrated gyro free strap down inertial navigation system and gps system Combinated navigation method | |
| CN103674021A (en) | Integrated navigation system and method based on SINS (Strapdown Inertial Navigation System) and star sensor | |
| CN112987066B (en) | Offshore target positioning method based on multi-system multi-source positioning data fusion | |
| CN102288170A (en) | Correction method of electronic compass in underwater vehicle | |
| CN108594271A (en) | A kind of Combinated navigation method of the anti-deceptive interference based on composite layered filtering | |
| CN110849360B (en) | Distributed relative navigation method for multi-machine collaborative formation flight | |
| CN105547289A (en) | Underwater vehicle combined navigation system and navigation information fusion method | |
| CN104501809B (en) | Attitude coupling-based strapdown inertial navigation/star sensor integrated navigation method | |
| CN103940429A (en) | Real-time measuring method of carrier attitude in transverse coordinate system of inertial navigation system | |
| CN104406592A (en) | Navigation system for underwater glider and attitude angle correcting and backtracking decoupling method | |
| CN105115507B (en) | Personal navigation system and method in a kind of double mode room based on double IMU | |
| Allotta et al. | Localization algorithm for a fleet of three AUVs by INS, DVL and range measurements |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |