CN114689039A - Navigation method and system for short-time positioning missing of wave glider - Google Patents
Navigation method and system for short-time positioning missing of wave glider Download PDFInfo
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- CN114689039A CN114689039A CN202210610414.0A CN202210610414A CN114689039A CN 114689039 A CN114689039 A CN 114689039A CN 202210610414 A CN202210610414 A CN 202210610414A CN 114689039 A CN114689039 A CN 114689039A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
Abstract
The invention discloses a navigation method and a system for short-time positioning loss of a wave glider, which relate to the field of navigation and control, and the navigation method comprises the following steps: judging whether the GPS positioning module works normally or not; if so, resolving the navigation path according to the position information provided by the GPS positioning module to obtain the navigation path; if not, respectively acquiring the last effective position information provided by the GPS positioning module, the navigation speed information provided by the Doppler log and the attitude information and the angular speed information provided by the navigation attitude reference module; carrying out dead reckoning on the final effective position information, speed information, attitude information and angular speed information by adopting a filtering algorithm to obtain the current position information of the wave glider; and resolving the navigation path according to the current position information of the wave glider to obtain the navigation path. The wave glider navigation method can realize the functions of position calculation and navigation of the wave glider under the condition that the positioning information is temporarily lost, and ensure the navigation safety of the wave glider.
Description
Technical Field
The invention relates to the field of navigation and control, in particular to a navigation method and a system for short-time positioning loss of a wave glider.
Background
The wave glider is a novel ocean mobile observation platform which utilizes wave energy to provide power and solar energy to provide electric energy required by each sensor. The wave glider mainly obtains position information through a GPS and then carries out navigation path calculation.
The marine environment in which the wave glider is located is complex and changeable, and particularly, when extremely severe weather and unknown interference influence are met, temporary loss of a shipborne GPS system signal can be caused, and navigation safety is seriously influenced. At present, there is no mention in the prior art of how to achieve navigation in the absence of wave glider positioning information.
Disclosure of Invention
The invention aims to provide a navigation method and a navigation system for short-time positioning loss of a wave glider.
In order to achieve the purpose, the invention provides the following scheme:
a navigation method for short-time positioning loss of a wave glider, wherein the wave glider carries a GPS positioning module, a Doppler log and a navigation attitude reference module, and the navigation method comprises the following steps:
judging whether the GPS positioning module works normally or not;
if so, resolving a navigation path according to the position information provided by the GPS positioning module to obtain the navigation path;
if not, respectively acquiring the last effective position information provided by the GPS positioning module, the navigation speed information provided by the Doppler log, and the attitude information and the angular speed information provided by the navigation attitude reference module;
carrying out dead reckoning on the last effective position information, the speed information, the attitude information and the angular speed information by adopting a filtering algorithm to obtain the current position information of the wave glider;
and resolving a navigation path according to the current position information of the wave glider to obtain the navigation path.
The invention also provides a navigation system for short-time positioning loss of the wave glider, which comprises: carry on GPS orientation module, Doppler log and the reference module of attitude and heading on wave glider to and data processing unit, data processing unit includes:
the judging subunit is used for judging whether the GPS positioning module works normally or not;
the first navigation path resolving subunit is used for resolving a navigation path according to the position information provided by the GPS positioning module to obtain the navigation path when the GPS positioning module works normally;
the information acquisition subunit is used for respectively acquiring the last effective position information provided by the GPS positioning module, the navigation speed information provided by the Doppler log and the attitude information and the angular speed information provided by the navigation attitude reference module when the GPS positioning module works abnormally;
the dead reckoning operator unit is used for carrying out dead reckoning on the last effective position information, the speed information, the attitude information and the angular speed information by adopting a filtering algorithm to obtain the current position information of the wave glider;
and the second navigation path resolving subunit is used for resolving the navigation path according to the current position information of the wave glider to obtain the navigation path.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a navigation method and a system for short-time positioning loss of a wave glider, wherein the wave glider is loaded with a GPS positioning module, a Doppler log and a navigation attitude reference module, and the navigation method comprises the following steps: judging whether the GPS positioning module works normally or not; if so, resolving a navigation path according to the position information provided by the GPS positioning module to obtain the navigation path; if not, respectively acquiring the last effective position information provided by the GPS positioning module, the navigation speed information provided by the Doppler log and the attitude information and the angular speed information provided by the navigation attitude reference module; carrying out dead reckoning on the last effective position information, the speed information, the attitude information and the angular speed information by adopting a filtering algorithm to obtain the current position information of the wave glider; and resolving a navigation path according to the current position information of the wave glider to obtain the navigation path. Compared with the prior art, the method can realize the functions of position calculation and navigation of the wave glider under the condition of temporary loss of positioning information, and ensure the navigation safety of the wave glider.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a navigation method for short-term missing positioning of a wave glider according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a wave glider short-time positioning missing navigation;
fig. 3 is a block diagram of a data processing unit in a navigation system for short-term missing wave glider positioning according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
The invention aims to provide a navigation method and a navigation system for short-time positioning loss of a wave glider. Of course, the navigation method for the short-time positioning missing of the wave glider, which is disclosed by the invention, can also be extended to other aircrafts similar to the wave glide control principle.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1:
the invention provides a navigation method for short-time positioning loss of a wave glider, as shown in figure 2, the wave glider carries a GPS positioning module, a Doppler log and a navigation attitude reference module, as shown in figure 1, the navigation method comprises the following steps:
s1: judging whether the GPS positioning module works normally or not;
s2: if so, resolving a navigation path according to the position information provided by the GPS positioning module to obtain the navigation path;
s3: if not, respectively acquiring the last effective position information provided by the GPS positioning module, the navigation speed information provided by the Doppler log, and the attitude information and the angular speed information provided by the navigation attitude reference module; taking the last effective position as an initial position of dead reckoning;
s4: carrying out dead reckoning on the last effective position information, the speed information, the attitude information and the angular speed information by adopting a filtering algorithm to obtain the current position information of the wave glider;
s5: and resolving a navigation path according to the current position information of the wave glider to obtain the navigation path.
The navigation method further comprises the following steps:
and carrying out coordinate transformation on the navigation speed information provided by the Doppler log to obtain east speed information and north speed information. Attitude information and angular velocity information required by coordinate transformation are provided by the attitude and heading reference module.
In step S4, the performing dead reckoning on the last valid position information, the speed information, the attitude information, and the angular velocity information by using a filtering algorithm to obtain the position information of the wave glider specifically includes:
s41: constructing a discrete state equation and an observation equation of wave glider dead reckoning; the discrete state equation is:
x(k+1)=A k k+1, x(k)+B k+1,k w(k)
wherein the content of the first and second substances,x(k+1) is a matrix of discrete state equations,kin order to update the number of times,A k k+1,in order to be a state transition matrix,A k k+1, = diag[A e k k(+1,),A n k k(+1,)]，
，A e k k(+1,)in order to be an east-oriented state transition matrix,A n k k(+1,)is a matrix of state transitions in the north direction,
in order to be the time of sampling,τin order to be a constant value,x(k) In order to be a quantity of state,B k k+1,in order to control the input matrix, the input matrix is,
，w(k) In order to be a noise of the process,
，
is the standard deviation of the acceleration;
the observation equation is:
z(k+1)=h(x(k))+v(k)
wherein the content of the first and second substances,z(k+1) is the matrix of the observation equations,h(x(k) Is a matrix of state observations,
，
，xfor the definition of the observed quantity,x e in the east-oriented position, the position of the foot,
in order to be the east-direction speed,
in order to be an east-direction acceleration,x n the position of the north direction is the position of the north direction,
in order to determine the speed in the north direction,
the acceleration in the north direction is taken as the acceleration,v(k) In order to measure the noise matrix,
，a 1for the first measurement noise of the GPS positioning module,a 2for the second measurement noise of the GPS positioning module,
，
is the noise value of the GPS positioning module,v 1is the first measurement noise of the doppler log,v 2is the second measurement noise of the doppler log,
，
is the noise value of the doppler log,w 1noise is measured for the angular velocity of the attitude reference module,
，
a noise value of the angular velocity of the attitude reference module;
s42: and determining the position information of the wave glider according to the discrete state equation and the observation equation.
In step S4, the filtering algorithm is an extended kalman filter, and a recurrence formula of the extended kalman filter is:
wherein the content of the first and second substances,
is composed ofk-1 time pairkThe estimation of the state value at the moment of time,fin order to be a function of the state transition,P k k|-1is composed ofkPredicted at-1 timekThe covariance of the error at the time of day,
is composed ofkTime 1 tokThe one-step transition matrix of the time of day,
，
is composed ofk-a state estimate at time 1,P k-1is composed ofk-the mean square error of the system guess at time 1,
，x k in order to be a state equation,
is composed ofkTime 1 tokThe one step of the time instant shifts the transpose of the matrix,R wk-1in order to be the process noise covariance,K kin order to be a matrix of gains, the gain matrix,H k in order to measure the matrix, the measurement matrix is,
，hin order to measure the function of the measurement,
in order to transpose the measurement matrix,R vk is composed ofkThe measured noise covariance at the time of day,
is composed ofkThe state estimate for the time of day is,y k is composed ofkThe measured value of the time of day is,P k is composed ofkThe covariance of the error at the time of day,
，Iis a matrix of the units,w k-1is the first zero-mean white noise,v k-1is the second zero-mean white noise.
In conclusion, the wave glider carries a GPS positioning module, a Doppler log and a navigation attitude reference module; when the GPS positioning module works normally, the GPS positioning module provides positioning information for a navigation system; when the GPS positioning module fails in a short time and positioning information is lost, the Doppler log provides navigation speed information, and the navigation attitude reference module provides attitude information and angular speed information. And directly taking each piece of information as a direct filtering method of a target state to perform data fusion processing, wherein a filtering algorithm used by dead reckoning is extended Kalman filtering, and the dead reckoning is used for obtaining the position information of the wave glider for path calculation in navigation. The invention can realize the functions of position calculation and navigation of the wave glider under the condition of temporary loss of positioning information and ensure the navigation safety of the wave glider.
Example 2:
referring to fig. 3, the present invention provides a navigation system for short-term missing positioning of a wave glider, comprising: carry on GPS orientation module, Doppler log and the reference module of attitude and heading on wave glider to and data processing unit, data processing unit includes:
the judging subunit 1 is used for judging whether the GPS positioning module works normally;
the first navigation path resolving subunit 2 is configured to, when the GPS positioning module operates normally, perform navigation path resolving according to the position information provided by the GPS positioning module to obtain a navigation path;
an information obtaining subunit 3, configured to, when the GPS positioning module works abnormally, obtain last valid position information provided by the GPS positioning module, speed information of navigation provided by the doppler log, and attitude information and angular speed information provided by the navigation attitude reference module, respectively;
a dead reckoning operator unit 4, configured to perform dead reckoning on the last valid position information, the speed information, the attitude information, and the angular speed information by using a filtering algorithm, so as to obtain current position information of the wave glider;
and the second navigation path resolving subunit 5 is used for resolving the navigation path according to the current position information of the wave glider to obtain the navigation path.
The data processing unit further comprises:
and the coordinate conversion subunit 6 is used for performing coordinate conversion on the speed information provided by the doppler log to obtain east speed information and north speed information.
The dead reckoning operator unit 4 includes:
the equation building module 41 is used for building a discrete state equation and an observation equation of wave glider dead reckoning; the discrete state equation is:
x(k+1)=A k k+1, x(k)+B k+1,k w(k)
wherein the content of the first and second substances,x(k+1) is a matrix of discrete state equations,kin order to update the number of times,A k k+1,in order to be a state transition matrix,A k k+1, = diag[A e k k(+1,),A n k k(+1,)]，
，A e k k(+1,)in order to be an east-oriented state transition matrix,A n k k(+1,)is a matrix of state transitions in the north direction,
in order to be the time of sampling,τin order to be a constant value,x(k) In order to be a state quantity,B k k+1,in order to control the input matrix,
，w(k) In order to be a noise of the process,
，
is the standard deviation of the acceleration;
the observation equation is:
z(k+1)=h(x(k))+v(k)
wherein the content of the first and second substances,z(k+1) is the matrix of the observation equations,h(x(k) Is a matrix of state observations,
，
，xfor the definition of the observed quantity,x e in the east-oriented position, the position of the foot,
in order to be the east-direction speed,
in order to be an east-direction acceleration,x n the position of the magnetic pole is the north position,
the speed of the vehicle is determined as the north direction speed,
the acceleration is the acceleration in the north direction,v(k) In order to measure the noise matrix,
，a 1for the first measurement noise of the GPS positioning module,a 2for the second measurement noise of the GPS positioning module,
，
is the noise value of the GPS positioning module,v 1is the first measurement noise of the doppler log,v 2is the second measurement noise of the doppler log,
，
is the noise level of the doppler log and,w 1noise is measured for the angular velocity of the attitude reference module,
，
a noise value of the angular velocity of the attitude reference module;
and the position information determining module 42 is used for determining the position information of the wave glider according to the discrete state equation and the observation equation. A block diagram of the data processing unit is shown in fig. 3.
The filtering algorithm is extended Kalman filtering, and the recursion formula of the extended Kalman filtering is as follows:
wherein the content of the first and second substances,
is composed ofk-1 time pairkThe estimation of the state value at the moment of time,fin order to be a function of the state transition,P k k|-1is composed ofkPredicted at-1 timekThe covariance of the error at the time of day,
is composed ofkTime 1 tokThe one-step transition matrix of the time of day,
，
is composed ofk-a state estimate at time 1,P k-1is composed ofk-the mean square error of the system guess at time 1,
，x k in order to be a state equation,
is composed ofkTime 1 tokThe one step of the time instant shifts the transpose of the matrix,R wk-1in order to be the process noise covariance,K kin order to be a matrix of gains, the gain matrix,H k in order to measure the matrix, the measurement matrix is,
，hin order to measure the function of the measurement,
in order to transpose the measurement matrix,R vk is composed ofkThe measured noise covariance at the time of day,
is composed ofkThe state estimate for the time of day is,y k is composed ofkThe measured value of the time of day is,P k is composed ofkThe covariance of the error at the time of day,
，Iis a matrix of the units,w k-1is the first zero-mean white noise,v k-1is the second zero mean white noise.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. The navigation method for the short-time positioning loss of the wave glider is characterized in that the wave glider carries a GPS positioning module, a Doppler log and a navigation attitude reference module, and comprises the following steps:
judging whether the GPS positioning module works normally or not;
if so, resolving a navigation path according to the position information provided by the GPS positioning module to obtain the navigation path;
if not, respectively acquiring the last effective position information provided by the GPS positioning module, the navigation speed information provided by the Doppler log, and the attitude information and the angular speed information provided by the navigation attitude reference module;
carrying out dead reckoning on the last effective position information, the speed information, the attitude information and the angular speed information by adopting a filtering algorithm to obtain the current position information of the wave glider;
and resolving a navigation path according to the current position information of the wave glider to obtain the navigation path.
2. The navigation method for the short-term missing positioning of the wave glider according to claim 1, characterized in that the navigation method further comprises:
and carrying out coordinate transformation on the navigation speed information provided by the Doppler log to obtain east speed information and north speed information.
3. The method as claimed in claim 1, wherein the dead reckoning the last valid position information, the velocity information, the attitude information and the angular velocity information by using a filtering algorithm to obtain the position information of the wave glider comprises:
constructing a discrete state equation and an observation equation of wave glider dead reckoning; the discrete state equation is:
x(k+1)=A k k+1, x(k)+B k+1,k w(k)
wherein the content of the first and second substances,x(k+1) is a matrix of discrete state equations,kin order to update the number of times,A k k+1,in order to be a state transition matrix,A k k+1, =diag[A e k k(+1,),A n k k(+1,)]，
，A e k k(+1,)in order to be an east-oriented state transition matrix,A n k k(+1,)in the form of a northbound state transition matrix,
in order to be the time of the sampling,τin order to be a constant value,x(k) In order to be a state quantity,B k k+1,in order to control the input matrix,
，w(k) In order to be a noise of the process,
，
is the standard deviation of the acceleration;
the observation equation is:
z(k+1)=h(x(k))+v(k)
wherein the content of the first and second substances,z(k+1) is the matrix of the observation equations,h(x(k) Is a matrix of state observations,
，
，xfor the definition of the observed quantity,x e in the east-oriented position, the position of the foot,
in order to be the east-direction speed,
in order to be an east-direction acceleration,x n the position of the north direction is the position of the north direction,
in order to determine the speed in the north direction,
the acceleration in the north direction is taken as the acceleration,v(k) In order to measure the noise matrix,
，a 1for the first measurement noise of the GPS positioning module,a 2for the second measurement noise of the GPS positioning module,
，
is the noise value of the GPS positioning module,v 1is the first measurement noise of the doppler log,v 2as a second Doppler logThe noise is measured and, in addition,
，
is the noise value of the doppler log,w 1noise is measured for the angular velocity of the attitude reference module,
，
a noise value of the angular velocity of the attitude reference module;
and determining the position information of the wave glider according to the discrete state equation and the observation equation.
4. The method for navigating missing wave glider short-term localization according to claim 1, wherein the filtering algorithm is extended kalman filtering.
5. The navigation method for short-term missing positioning of a wave glider according to claim 4, wherein the recurrence formula of the extended Kalman filter is:
wherein the content of the first and second substances,
is composed ofk-1 time pairkThe estimation of the state value at the moment of time,fis changed to a stateThe function of the shift is carried out,P k k|-1is composed ofkPredicted at-1 timekThe covariance of the error at the time of day,
is composed ofkTime 1 tokThe one-step transition matrix of the time of day,
，
is composed ofk-a state estimate at time 1,P k-1is composed ofk-the mean square error of the system guess at time 1,
，x k in order to be a state equation,
is composed ofkTime 1 tokThe one step of time instants shifts the transpose of the matrix,R wk-1in order to be the process noise covariance,K kin order to be a matrix of gains, the gain matrix,H k in order to measure the matrix, the measurement matrix is,
，hin order to measure the function of the measurement,
in order to transpose the measurement matrix,R vk is composed ofkThe measured noise covariance at the time of day,
is composed ofkThe state estimate for the time of day is,y k is composed ofkThe measured value of the time of day is,P k is composed ofkThe covariance of the error at the time of day,
，Iis a matrix of the units,w k-1is the first zero-mean white noise,v k-1is the second zero-mean white noise.
6. A wave glider short-time missing-fix navigation system, comprising: carry on GPS orientation module, Doppler log and the reference module of attitude and heading on wave glider to and data processing unit, data processing unit includes:
the judging subunit is used for judging whether the GPS positioning module works normally or not;
the first navigation path resolving subunit is used for resolving a navigation path according to the position information provided by the GPS positioning module to obtain the navigation path when the GPS positioning module works normally;
the information acquisition subunit is used for respectively acquiring the last effective position information provided by the GPS positioning module, the navigation speed information provided by the Doppler log and the attitude information and the angular speed information provided by the navigation attitude reference module when the GPS positioning module works abnormally;
the dead reckoning operator unit is used for carrying out dead reckoning on the last effective position information, the speed information, the attitude information and the angular speed information by adopting a filtering algorithm to obtain the current position information of the wave glider;
and the second navigation path resolving subunit is used for resolving the navigation path according to the current position information of the wave glider to obtain the navigation path.
7. The wave glider short-time missing-fix navigation system of claim 6, wherein the data processing unit further comprises:
and the coordinate conversion subunit is used for carrying out coordinate conversion on the speed information provided by the Doppler log for navigation to obtain east speed information and north speed information.
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| CN110906933A (en) * | 2019-11-06 | 2020-03-24 | 中国海洋大学 | AUV (autonomous Underwater vehicle) auxiliary navigation method based on deep neural network |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110906933A (en) * | 2019-11-06 | 2020-03-24 | 中国海洋大学 | AUV (autonomous Underwater vehicle) auxiliary navigation method based on deep neural network |
| CN111829512A (en) * | 2020-06-08 | 2020-10-27 | 中国航天空气动力技术研究院 | AUV navigation positioning method and system based on multi-sensor data fusion |
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