CN116026324A - Cross-domain navigation system and method for water-air cross-medium craft - Google Patents
Cross-domain navigation system and method for water-air cross-medium craft Download PDFInfo
- Publication number
- CN116026324A CN116026324A CN202310095799.6A CN202310095799A CN116026324A CN 116026324 A CN116026324 A CN 116026324A CN 202310095799 A CN202310095799 A CN 202310095799A CN 116026324 A CN116026324 A CN 116026324A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- navigation
- module
- water
- strapdown inertial
- 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.)
- Granted
Links
Images
Classifications
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Navigation (AREA)
Abstract
The application discloses a cross-domain navigation system and method for a water-air cross-medium craft. The system comprises: the system comprises a strapdown inertial navigation module, a Doppler velocimeter, an ultra-short baseline positioning module and a Beidou satellite navigation module which are arranged on the aircraft, wherein the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module are used for positioning and navigation under the condition that the aircraft is in an underwater environment; the strapdown inertial navigation module and the Beidou satellite navigation module are used for positioning navigation under the condition that the aircraft is in a water-air environment; the calculation module is used for receiving first navigation data of the aircraft under water and second navigation data of the aircraft on water surface-air in the water-air cross-domain navigation process, processing the first navigation data and the second navigation data, and positioning and navigating the aircraft based on the processing results. The water-air cross-medium positioning navigation of the aircraft is realized.
Description
Technical Field
The application relates to the technical field of navigation, in particular to a cross-domain navigation system and method for a water-air cross-medium aircraft.
Background
The water-air span medium craft needs to complete the underwater fixed depth diving, the water surface high speed navigation, the air fixed height navigation and other tasks. However, conventional single underwater or aerial navigation positioning techniques vary widely in technology implementation depending on the medium in which the aircraft is located. Therefore, how to realize the water-air cross-domain composite navigation positioning is the key for ensuring the navigation reliability of the aircraft needing to take into account various medium environments.
The inventor finds that the positioning navigation of the current water-air span medium aircraft can only realize the positioning navigation in a single medium, and the positioning navigation of the water-air span medium can not be completed well.
Disclosure of Invention
An object of the embodiment of the application is to provide a cross-domain navigation system and a method for a water-air cross-medium aircraft, which realize water-air cross-medium positioning navigation of the aircraft.
The technical scheme of the application is as follows:
in a first aspect, there is provided a cross-domain navigation system for a water-air cross-medium craft, the system comprising:
the system comprises a strapdown inertial navigation module, a Doppler velocimeter, an ultra-short baseline positioning module and a Beidou satellite navigation module, wherein the strapdown inertial navigation module, the Doppler velocimeter, the ultra-short baseline positioning module and the Beidou satellite navigation module are arranged on an aircraft;
The strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module are used for positioning and navigation under the condition that the aircraft is in an underwater environment;
the strapdown inertial navigation module and the Beidou satellite navigation module are used for positioning navigation under the condition that the aircraft is in a water-air environment;
the calculation module is used for receiving first navigation data of the aircraft under water sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module and second navigation data of the aircraft under water and air acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, processing the first navigation data and the second navigation data, and positioning and navigating the aircraft based on processing results. In a second aspect, a cross-domain navigation method for a water-air cross-medium aircraft is provided, where the method is applied to the cross-domain navigation system for a water-air cross-medium aircraft in the first aspect, and each aircraft is provided with a strapdown inertial navigation module, a doppler velocimeter, an ultrashort baseline positioning module and a beidou satellite navigation module, and the method includes:
Under the condition that the aircraft is in an underwater environment, positioning and navigating the aircraft based on the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module;
under the condition that the aircraft is in a water-air environment, positioning and navigation are carried out on the aircraft based on the strapdown inertial navigation module and the Beidou satellite navigation module;
in the water-air cross-domain navigation process of the aircraft, first navigation data of the aircraft under water, which are sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module, and second navigation data of the aircraft under water-air, which are obtained by the strapdown inertial navigation module and the Beidou satellite navigation module, are received based on the calculation module, the first navigation data and the second navigation data are processed, and positioning navigation is carried out on the aircraft based on the processing result.
In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor, a memory, and a program or an instruction stored on the memory and executable on the processor, where the program or the instruction, when executed by the processor, implements the steps of any one of the embodiments of the present application for a cross-domain navigation method for a water-air trans-medium craft.
In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon a program or instructions that, when executed by a processor, implement the steps of any of the embodiments of the present application for a cross-domain navigation method for a water-air cross-medium craft.
In a fifth aspect, embodiments of the present application provide a computer program product, the instructions in which, when executed by a processor of an electronic device, enable the electronic device to perform the steps of any one of the embodiments of the present application for a cross-domain navigation method for a water-air cross-medium craft.
The technical scheme provided by the embodiment of the application at least brings the following beneficial effects:
the cross-domain navigation system for the water-air cross-medium aircraft comprises a strapdown inertial navigation module, a Doppler velocimeter, an ultra-short baseline positioning module and a Beidou satellite navigation module which are arranged on the aircraft, wherein the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module are used for positioning and navigating under the condition that the aircraft is in an underwater environment; the strapdown inertial navigation module and the Beidou satellite navigation module are used for positioning navigation under the condition that the aircraft is in a water-air environment; the calculation module is used for receiving first navigation data of the aircraft under water, which are sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module, and second navigation data of the aircraft under water, which are acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, in the water-air navigation process the first navigation data and the second navigation data, and positioning and navigating the aircraft based on the processing result, so that when the aircraft is in different medium areas, different positioning modules are used for positioning, and the navigation data acquired by the positioning modules in different medium areas are processed by the calculation module so as to guide the aircraft to navigate in the water-air medium areas, and thus, the normal navigation of the aircraft in the water-air medium can be ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute an undue limitation on the application.
FIG. 1 is one of the structural schematic diagrams of a cross-domain communication system for a water-air cross-medium craft provided in an embodiment of a first aspect of the present application;
FIG. 2 is a second schematic structural view of a cross-domain communication system for a water-air cross-medium craft provided in an embodiment of a first aspect of the present application;
FIG. 3 is a schematic layout diagram of a cross-domain communication system for a water-air cross-medium craft in accordance with an embodiment of a first aspect of the present application;
FIG. 4 is a flow chart of a method of cross-domain communication for a water-air cross-medium craft provided in an embodiment of a second aspect of the present application;
FIG. 5 is a schematic diagram of information fusion according to an embodiment of a second aspect of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples consistent with some aspects of the present application as detailed in the accompanying claims.
The single navigation mode under a single medium has been widely studied, but the single navigation sensor cannot meet the requirement of the water-air cross-medium aircraft for high-precision and high-reliability navigation information in the underwater complex environment and in the air during high-maneuver navigation due to the single navigation sensor. Such as: the inertial navigation system is a navigation sensor widely applied to various scenes, has the most outstanding advantages of completely independent work, no external interference or damage, good concealment performance and capability of providing all-round navigation information of carrier gesture, speed and position with the frequency of more than 100Hz, however, the main disadvantage of the inertial navigation system is that the positioning error is increased along with the accumulation of time, the long-term and high-precision navigation positioning requirement is difficult to meet, and an external auxiliary positioning navigation information source is needed to be utilized.
In general, satellite navigation is often used on water surface and in air, satellite signals are very weak and extremely easy to interfere, attitude information required by an aircraft in air cannot be output, but position and speed errors provided by satellite navigation are not accumulated with time, and have good complementarity with an inertial navigation system, and under the condition that a satellite signal exists on water surface/air, the advantages of the two systems can be fully exerted through inertial/satellite combined navigation; under water, due to the inherent characteristics of the water medium, the water medium has a natural shielding effect on radio signals, so that means such as satellite navigation widely applied to the water surface are refused in the underwater space, and high-precision positioning navigation is more difficult under water.
The acoustic signal has excellent propagation performance under water, and the acoustic positioning and velocity measuring technology can realize the calibration of the long-endurance error of the inertial navigation system and even the estimation of the error of the inertial navigation system. Due to the self technical system, the acoustic means are greatly interfered by the environment, unstable in observation and low in output frequency, and the navigation requirement of the underwater high maneuvering state of the cross-medium aircraft is difficult to meet.
Therefore, the positioning navigation of the current water-air cross-medium aircraft can only realize the positioning navigation in a single medium, and the positioning navigation of the water-air cross-medium can not be completed well, in order to solve the problem, the embodiment of the application provides a cross-domain navigation system and a method for the water-air cross-medium aircraft, the system comprises a strapdown inertial navigation module, a Doppler velocimeter, an ultra-short baseline positioning module and a Beidou satellite navigation module which are arranged on the aircraft, wherein the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module are used for positioning navigation under the condition that the aircraft is in an underwater environment; the strapdown inertial navigation module and the Beidou satellite navigation module are used for positioning navigation under the condition that the aircraft is in a water-air environment; the calculation module is used for receiving first navigation data of the aircraft under water, which are sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module, and second navigation data of the aircraft under water, which are acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, in the water-air navigation process the first navigation data and the second navigation data, and positioning and navigating the aircraft based on the processing result, so that when the aircraft is in different medium areas, different positioning modules are used for positioning, and the navigation data acquired by the positioning modules in different medium areas are processed by the calculation module so as to guide the aircraft to navigate in the water-air medium areas, and thus, the normal navigation of the aircraft in the water-air medium can be ensured.
The cross-domain communication system for the water-air cross-medium aircraft provided by the embodiment of the application is described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
Fig. 1 is a schematic flow diagram of a cross-domain navigation system for a water-air cross-medium aircraft according to an embodiment of the present application, as shown in fig. 1, a cross-domain navigation system 100 for a water-air cross-medium aircraft according to an embodiment of the present application may include: a strapdown inertial navigation module 110, a Doppler velocimeter 120, an ultra-short baseline positioning module 130, a Beidou satellite navigation module 140 and a calculation module 150.
The strapdown inertial navigation module 110, the doppler velocimeter 120, the ultra-short baseline positioning module 130 and the beidou satellite navigation module 140 are all arranged on the aircraft.
The strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module are used for positioning and navigation under the condition that the aircraft is in an underwater environment;
the strapdown inertial navigation module and the Beidou satellite navigation module are used for positioning navigation under the condition that the aircraft is in a water-air environment;
the calculation module is used for receiving first navigation data of the aircraft under water sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module and second navigation data of the aircraft under water and air acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, processing the first navigation data and the second navigation data, and positioning and navigating the aircraft based on processing results.
In some embodiments of the present application, the first navigation data may be navigation data of the aircraft under water sent by the strapdown inertial navigation module, the doppler velocimeter and the ultra-short baseline positioning module, and specifically may be position information and speed information of the aircraft under water.
The second navigation data can be navigation data of the navigation device on the water surface-air, which is acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, and specifically can be position information and speed information of the navigation device on the water surface-air.
In some embodiments of the present application, the strapdown inertial navigation module may be, but is not limited to: optical fiber strapdown inertial navigation, laser strapdown inertial navigation, microelectromechanical strapdown inertial navigation, hemispherical resonator gyro strapdown inertial navigation and atomic gyro inertial navigation (such as nuclear magnetic resonance, cold atomic interference and atomic spin).
In some embodiments of the present application, the beidou satellite navigation module may be a global satellite navigation system, specifically may be a multi-mode satellite navigation system with the beidou satellite navigation system as a core, but is not limited to the beidou satellite navigation system, and may also be a satellite navigation system such as a global positioning system (Global Positioning System, GPS), a global navigation satellite system (Global Navigation Satellite System, GNSS), a GALILEO positioning system (Galileo satellite navigation system, GALILEO), and the like.
In some embodiments of the present application, the doppler velocimeter may also be replaced with an electromagnetic log (Electromagnetic Log, EML).
In some embodiments of the present application, the ultra-short baseline positioning module may be replaced by a long baseline or short baseline positioning system with the aid of a multi-surface buoy and submerged buoy under certain specific conditions.
In some embodiments of the present application, referring to fig. 2, the above-mentioned cross-domain navigation system for a water-air cross-medium craft may further comprise:
the storage module 160 may be respectively in communication connection with the strapdown inertial navigation module, the doppler velocimeter, the ultra-short baseline positioning module, the beidou satellite navigation module and the calculation module, and is used for storing the first navigation data, the second navigation data and the processing result.
In the embodiment of the application, the first navigation data, the second navigation data and the processing result can be stored through the storage module, so that when the first navigation data, the second navigation data and the processing result are required to be acquired later, the first navigation data, the second navigation data and the processing result can be directly acquired from the storage module without re-acquisition, and the calculation efficiency is improved.
In some embodiments of the present application, the above-mentioned cross-domain navigation system for a water-air cross-medium craft may further comprise:
A power module 170 for powering the system.
In some embodiments of the present application, the power module may include a transformer, a voltage regulator, and a primary battery for powering the split-domain wireless communication network.
In embodiments of the present application, the power module is used to power the cross-domain navigation system for the water-air cross-medium craft, so that normal use of the cross-domain navigation system for the water-air cross-medium craft can be ensured.
In some embodiments of the present application, as shown in fig. 2, a tri-axis accelerometer and tri-axis gyroscope may be included in the strapdown inertial navigation module.
The tri-axial accelerometer may be used, among other things, to obtain speed information of the aircraft.
The tri-axis gyroscope may be used to obtain positional information of the aircraft.
In some embodiments of the present application, a tri-axial accelerometer includes, but is not limited to: quartz flexible accelerometers, microelectromechanical accelerometers, and atomic accelerometers.
In some embodiments of the present application, the computing module 150 may be the information fusion module of fig. 2, which may be configured to process the first voyage data and the second voyage data to determine that the vehicle is navigational able to be positioned normally.
The inertial navigation computer in fig. 2 may be a processor in the strapdown inertial navigation module for processing navigation data of the strapdown inertial navigation module or of the segment.
In some embodiments of the present application, when the water-air trans-medium craft enters an underwater navigation mode, the craft needs to continuously submerge according to a planned route and navigate autonomously to a target water area. The craft is thus provided with underwater autonomous navigation positioning capabilities. The strapdown inertial navigation system (Strapdown Inertial Navigation System, SINS) (the strapdown inertial navigation module is used for representing the strapdown navigation system in the application) is suitable for being used as a core navigation component of a cross-medium aircraft due to the characteristics of autonomy, continuity, concealment and the like, but navigation errors of the strapdown inertial navigation system can be accumulated with time. Thus, it is desirable to use in combination with a doppler velocimeter (Doppler Velocity Log, DVL) and an inverse Ultra-Short Baseline positioning system (inverse Ultra-Short Baseline positioning system), which is characterized in this application as an Ultra-Short Baseline positioning module.
The speed of the underwater carrier relative to the seabed or the sea layer can be detected by utilizing the sonar, and high-precision speed information can be provided; the ultra-short baseline positioning system acquires ranging information by establishing communication with an underwater beacon or a water surface buoy, and then obtains the self high-precision position information through calculation.
The multi-mode navigation signals mainly comprising the Beidou global satellite navigation system (Global Navigation Satellite System, GNSS) (the Beidou global satellite navigation system is characterized by a Beidou satellite navigation module in the application) are adopted in the water surface and the air, namely, the combined navigation scheme of the strapdown inertial navigation system and the Beidou satellite navigation system is adopted in the water surface-air state. The overall layout is shown in fig. 3.
In some embodiments of the present application, the navigation module of the vehicle is of an integrated design in view of the structure and utility of the water-air trans-media vehicle. The inertial/acoustic/satellite integrated cross-domain compound navigation scheme adopted by the aircraft mainly uses inertial navigation equipment as a core and other sensors for auxiliary correction. The error modeling and analysis of the ultra-short baseline and Doppler velocimeter acoustic positioning and velocity measuring system and the satellite navigation positioning and velocity measuring system are used for establishing an SINS/USBL, SINS/DVL and SINS/GNSS combined navigation system error model, and then the information fusion technology is used for realizing the multi-means cross-domain combined navigation positioning capability.
Based on the same invention conception as the cross-domain navigation system for the water-air cross-medium aircraft, the application also provides a cross-domain navigation method for the water-air cross-medium aircraft. The following describes in detail a cross-domain navigation method for a water-air cross-medium craft provided in an embodiment of the present application with reference to fig. 4.
FIG. 4 is a flow diagram illustrating a method of cross-domain navigation for a water-air cross-medium craft, according to an example embodiment. The cross-domain navigation method for the water-air cross-medium aircraft can be applied to the cross-domain navigation system for the water-air cross-medium aircraft in the embodiment, and each aircraft is provided with a strapdown inertial navigation module, a Doppler velocimeter, an ultra-short baseline positioning module and a Beidou satellite navigation module, as shown in fig. 4, the cross-domain navigation method for the water-air cross-medium aircraft can comprise the steps 410-430:
Step 410, in the case that the aircraft is in an underwater environment, positioning navigation is performed on the aircraft based on the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module.
And 420, under the condition that the aircraft is in a water-air environment, positioning and navigation are carried out on the aircraft based on the strapdown inertial navigation module and the Beidou satellite navigation module.
Step 430, in the process of navigation of the aircraft in the water-air cross-domain, receiving first navigation data of the aircraft under water sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module based on the calculation module, and processing the first navigation data and the second navigation data of the aircraft in the water-air acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, and positioning and navigating the aircraft based on the processing result.
It should be noted that, in the embodiments of the present application, the same terms as those in the above embodiments, and terms are explained, and will not be repeated here.
In the embodiment of the application, a strapdown inertial navigation module, a Doppler velocimeter, an ultra-short baseline positioning module and a Beidou satellite navigation module are arranged on the aircraft, and positioning navigation can be carried out through the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module when the aircraft is in an underwater environment; when the aircraft is in a water-air environment, positioning and navigation can be performed through the strapdown inertial navigation module and the Beidou satellite navigation module; and receiving first navigation data of the aircraft under water, which are transmitted by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module, and second navigation data of the aircraft under water, which are acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, in the process of navigation of the aircraft under water-air by the computing module, processing the first navigation data and the second navigation data, and positioning and navigating the aircraft based on processing results, wherein when the aircraft is in different medium areas, the aircraft is positioned by adopting different positioning modules, and the navigation data acquired by the positioning modules in different medium areas are processed by utilizing the computing module so as to guide the aircraft to navigate in the water-air medium areas, thus ensuring normal navigation of the aircraft in the water-air medium areas.
In some embodiments of the present application, in order to accurately perform positioning navigation on the vehicle, the processing the first navigation data and the second navigation data, and performing positioning navigation on the vehicle based on the processing result may specifically include:
calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the external observation equipment and a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the external observation equipment at the same moment aiming at the target navigation data;
correcting the position information of the aircraft based on the first difference value, and correcting the speed information of the aircraft based on the second difference value;
and controlling the aircraft to navigate in the water-air span medium according to the corrected speed information and the corrected position information.
The target voyage data may be first voyage data and the second voyage data.
The first difference may be a difference between the position information collected by the strapdown inertial navigation module and the position information collected by the external observation device at the same time when the aircraft is positioned under water and on water-air.
The second difference value may be a difference value between speed information collected by the strapdown inertial navigation module and speed information collected by the external observation device at the same time when the aircraft is positioned under water and on water-air.
In the embodiment of the application, when the aircraft is positioned under water and on the water surface-in-air, calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the external observation equipment and a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the external observation equipment at the same moment; correcting the position information of the aircraft based on the first difference value, and correcting the speed information of the aircraft based on the second difference value; the aircraft is controlled to navigate in the water-air span medium according to the corrected speed information and the corrected position information, so that the aircraft can accurately navigate in the water-air span medium.
In some embodiments of the present application, calculating a first difference between the position information collected by the strapdown inertial navigation module and the position information collected by the external observation device at the same time may specifically include:
under the condition that the aircraft is positioned under water, calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the ultra-short baseline positioning module at the same moment;
and under the condition that the aircraft is positioned on the water surface and in the air, calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the Beidou satellite navigation module at the same moment.
In some embodiments of the present application, when the aircraft is underwater, the strapdown inertial navigation module may be used to collect the position information of the aircraft, and the ultrashort baseline positioning module may be used to collect the position information of the aircraft, and then the difference between the position information collected by the strapdown inertial navigation module and the position information collected by the ultrashort baseline positioning module is calculated.
In some embodiments of the present application, when the aircraft is located on the water surface-in-air, the strapdown inertial navigation module may collect the position information of the aircraft, and the beidou satellite navigation module (specifically, the beidou satellite positioning unit in the beidou satellite navigation module) is adopted to collect the position information of the aircraft, and then the difference value between the position information collected by the strapdown inertial navigation module and the position information collected by the beidou satellite navigation module is calculated.
In the embodiment of the application, under the condition that the aircraft is positioned under water, calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the ultra-short baseline positioning module at the same moment, under the condition that the aircraft is positioned on the water surface-air, calculating the first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the Beidou satellite navigation module at the same moment, and thus, under different states of the aircraft, acquiring the accurate position information of the aircraft.
In some embodiments of the present application, calculating the second difference between the speed information collected by the strapdown inertial navigation module and the speed information collected by the external observation device at the same time may specifically include:
under the condition that the aircraft is positioned under water, calculating a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the Doppler velocimeter at the same moment;
and under the condition that the aircraft is positioned on the water surface and in the air, calculating a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the Beidou satellite navigation module at the same moment.
In some embodiments of the present application, when the aircraft is under water, the strapdown inertial navigation module may be used to collect speed information of the aircraft, and the doppler velocimeter may be used to collect speed information of the aircraft, and then the difference between the speed information collected by the strapdown inertial navigation module and the speed information collected by the doppler velocimeter is calculated.
In some embodiments of the present application, when the aircraft is located on the water surface-in-air, the strapdown inertial navigation module may collect speed information of the aircraft, and the Beidou satellite navigation module (specifically, the Beidou satellite speed measurement unit in the Beidou satellite navigation module) is adopted to collect speed information of the aircraft, and then the strapdown inertial navigation module is calculated to collect speed information of the aircraft, and a difference value between the speed information collected by the Beidou satellite navigation module is calculated.
In the embodiment of the application, under the condition that the aircraft is positioned under water, calculating a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the Doppler velocimeter at the same moment; under the condition that the aircraft is located on the water surface and in the air, calculating a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the Beidou satellite navigation module at the same moment, and thus acquiring accurate speed information of the aircraft under different states of the aircraft.
In some embodiments of the present application, the correcting the position information of the vehicle based on the first difference value and the correcting the speed information of the vehicle based on the second difference value may specifically include:
constructing a first observation equation of a cross-domain navigation system of the water-air cross-medium aircraft based on the first difference value;
constructing a second observation equation of a cross-domain navigation system of the water-air cross-medium aircraft based on the second difference value;
based on the speed information and the position information acquired by the strapdown inertial navigation module, constructing an error equation of the strapdown inertial navigation module;
based on an error equation, constructing a state equation of a cross-domain navigation system of the water-air cross-medium aircraft;
Fusing the first observation equation, the second observation equation and the state equation to obtain fused position information and speed information;
and correcting the position information and the speed information of the aircraft based on the fused position information and speed information.
The first observation equation may be an observation equation of a cross-domain navigation system of the constructed water-air cross-medium aircraft according to the first difference value.
The second observation equation may be an observation equation of a cross-domain navigation system of the constructed water-air cross-medium craft based on the second difference value.
In some embodiments of the present application, a first observation equation of a cross-domain navigation system of a constructed water-air cross-medium vehicle based on a first difference value and a second observation equation of a cross-domain navigation system of a constructed water-air cross-medium vehicle based on a second difference value are prior art, and are not described herein.
In some embodiments of the present application, an error equation of the strapdown inertial navigation module is constructed based on the speed information and the position information acquired by the strapdown inertial navigation module, and a state equation of a cross-domain navigation system of the water-air cross-medium aircraft is constructed based on the error equation, which are also in the prior art and are not described herein.
In some embodiments of the present application, the first observation equation, the second observation equation, and the state equation are fused, which may be fused by filtering.
In some embodiments of the present application, the output of the SINS may be used as a state quantity, and the speed error of the DVL and the SINS and the position error of the USBL and the SINS may be used as external observables under water; in the water surface and the air, the speed and the position output by satellite navigation and the speed and the position error output by SINS are taken as external observables. The navigation information is fused by using an information fusion algorithm, so that the more accurate and stable omnibearing navigation information is obtained, and is fed back to the mechanical arrangement of the SINS, closed-loop feedback correction is realized, and the integral navigation positioning capability is further improved.
After initial alignment, the pitch misalignment angle, the roll misalignment angle and the heading misalignment angle of the SINS meet linear conditions. According to the SINS error equation, selecting SINS state quantity as the following formula (1):
wherein the equivalent gyroscope drifts
Zero offset of equivalent accelerometer
。
In some embodiments of the present application, the state equation of equation (1) (i.e., the state equation in the present application) is shown as equation (2):
In the method, in the process of the invention,
for system noise->
Is a system noise covariance matrix. Establishing a transfer matrix +.>
。
The combined navigation state space model with the speed error and the position error as observables is shown in the following formula (3):
wherein, the liquid crystal display device comprises a liquid crystal display device,
the method comprises the steps of measuring white noise for speed and white noise for position respectively, and switching between GNSS/USBL and GNSS/DVL according to different mediums of a cross-medium aircraft.
A stochastic system state space model may be represented by the following formula (4), where Xk is a first observation equation corresponding to a velocity difference value and Zk is a second observation equation corresponding to a position difference value in formula (4):
In some embodiments of the present application, the position information and the speed information of the aircraft are corrected, and may be specifically shown in fig. 5.
In an embodiment of the application, a first observation equation of a cross-domain navigation system of the water-air cross-medium craft is constructed based on a first difference value; constructing a second observation equation of a cross-domain navigation system of the water-air cross-medium aircraft based on the second difference value; based on the speed information and the position information acquired by the strapdown inertial navigation module, constructing an error equation of the strapdown inertial navigation module; based on an error equation, constructing a state equation of a cross-domain navigation system of the water-air cross-medium aircraft; fusing the first observation equation, the second observation equation and the state equation to obtain fused position information and speed information; based on the fused position information and speed information, the position information and speed information of the aircraft are corrected, so that the accurate position information and speed information of the aircraft can be obtained, and the aircraft can normally navigate in the water-air medium.
In some embodiments of the present application, the measurement noise covariance matrix is fixed in the conventional information fusion algorithm, which has the following problems: (1) The measured noise in an underwater environment typically does not meet gaussian assumptions, is typically not fixed and is unknown time-varying; (2) The air and water surface environment faces deception and interference wild value signals under the interference of strong enemies; (3) During the medium-crossing navigation of the aircraft, the device switching can cause mutation of measurement noise, and the filter divergence is most likely to be caused.
Therefore, aiming at the situation, the system noise can be estimated and corrected in real time, so that model errors are reduced, filter divergence is restrained, and the information fusion stability is improved. The implementation process of the improved anti-interference information fusion strategy can be as follows:
the fusing the first observation equation, the second observation equation and the state equation to obtain fused position information and speed information comprises the following steps:
acquiring an observed quantity at a first moment and a priori estimated quantity of the observed quantity;
calculating a mahalanobis distance between the observed quantity and the priori estimated quantity;
and according to the relation between the Marsh distance and the preset distance, fusing the first observation equation, the second observation equation and the state equation to obtain fused position information and speed information.
The first moment may be any moment in the navigation process of the aircraft.
The observables may include a first observation equation, a second observation equation, and a state equation.
The preset distance may be determined based on a chi-square distribution curve corresponding to an observed quantity of the aircraft at each time.
In the embodiment of the application, the observed quantity at the first moment is obtained, and the prior estimated quantity of the observed quantity is obtained; calculating a mahalanobis distance between the observed quantity and the priori estimated quantity; according to the relation between the mahalanobis distance and the preset distance, the first observation equation, the second observation equation and the state equation are fused to obtain fused position information and speed information, so that the mahalanobis distance is used as a judgment index, the stability of information fusion is improved, and more accurate fused position information and speed information can be obtained.
In some embodiments of the present application, the fusing the first observation equation, the second observation equation, and the state equation according to the relationship between the mahalanobis distance and the preset distance may specifically include:
under the condition that the mahalanobis distance is smaller than or equal to the preset distance, fusing the first observation equation, the second observation equation and the state equation;
under the condition that the mahalanobis distance is larger than the preset distance, an expansion factor is obtained, and based on the expansion factor, the first observation equation, the second observation equation and the state equation are fused.
The expansion factor may be a measurement noise covariance matrix for amplifying the mahalanobis distance.
In some embodiments of the present application, the observed quantity and observation of the time of day may be selectedQuantity prior estimation
And the Markov distance between the two is used as a judgment index, and the definition of the moment judgment index is shown as a formula (6):
in the method, in the process of the invention,
is the mahalanobis distance. For true observance->
If it is judged that the index is->
Satisfy->
（/>
In chi-square distribution), then observed amount +.>
And marking the marked normal observed quantity, and updating according to a normal information fusion mode. On the contrary, if the evaluation index is +.>
Satisfy the following requirements
The observed quantity->
Will be marked as an abnormal observed quantity by introducing the expansion factor +. >
For amplifying the measurement noise covariance matrix>
Namely, as shown in the following formula (7):
bringing formula (7) into formula (6) yields formula (8):
equation (8) can be converted into a solution to the nonlinear problem as shown in equation (9):
at the moment of solving
Then, the measurement noise array is +.>
Expanding to obtain new measuring noise array
. Use->
Replacement->
The anti-interference information fusion algorithm can be obtained.
In the embodiment of the application, under the condition that the mahalanobis distance is smaller than or equal to the preset distance, the first observation equation, the second observation equation and the state equation are fused; under the condition that the mahalanobis distance is larger than the preset distance, an expansion factor is obtained, and based on the expansion factor, the first observation equation, the second observation equation and the state equation are fused, so that the accurate position information and the speed information of the fused aircraft can be obtained.
In the embodiment of the application, the inertial navigation system is taken as a core on hardware, the integrated design is adopted, the Doppler velocimeter, the ultra-short baseline positioning module and the Beidou satellite navigation module are fused, the seamless switching of the navigation device along with the medium can be achieved by combining the cross-domain control system, and the navigation device can still be ensured to work even if the external observation condition is interfered.
On the software algorithm, a time-varying noise estimator is added on the basis of the traditional information fusion method, so that the information fusion process of the multi-sensor is prevented from being influenced by measurement noise change caused by medium change as much as possible, the accurate navigation parameters are ensured to be continuously and stably output, and the cross-domain navigation guarantee is realized.
Based on the same inventive concept, the embodiment of the application also provides electronic equipment.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device may include a processor 601 and a memory 602 storing computer programs or instructions.
In particular, the processor 601 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present invention.
The processor 601 implements any of the above embodiments for a cross-domain navigation method for a water-air cross-medium craft by reading and executing computer program instructions stored in the memory 602.
In one example, the electronic device may also include a communication interface 603 and a bus 610. As shown in fig. 6, the processor 601, the memory 602, and the communication interface 603 are connected to each other through a bus 610 and perform communication with each other.
The communication interface 603 is mainly used for implementing communication among the modules, devices, units and/or devices in the embodiment of the present invention.
The electronic device can execute the cross-domain navigation method for the water-air cross-medium aircraft in the embodiment of the invention, so that the cross-domain navigation method for the water-air cross-medium aircraft described in fig. 4 is realized.
In addition, in combination with the cross-domain navigation method for the water-air cross-medium aircraft in the above embodiment, the embodiment of the invention can be implemented by providing a readable storage medium. The readable storage medium has program instructions stored thereon; the program instructions, when executed by a processor, implement any of the above embodiments for a cross-domain navigation method for a water-air cross-medium craft.
In addition, in connection with the cross-domain navigation method for a water-air cross-medium craft in the above embodiments, embodiments of the present invention may provide a computer program product that, when executed by a processor of an electronic device, enables the electronic device to implement the cross-domain navigation method for a water-air cross-medium craft of any of the above embodiments.
It should be understood that the invention is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after appreciating the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present invention are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and they should be included in the scope of the present invention.
Claims (10)
1. A cross-domain navigation system for a water-air cross-medium craft, the system comprising:
the system comprises a strapdown inertial navigation module, a Doppler velocimeter, an ultra-short baseline positioning module and a Beidou satellite navigation module, wherein the strapdown inertial navigation module, the Doppler velocimeter, the ultra-short baseline positioning module and the Beidou satellite navigation module are arranged on an aircraft;
the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module are used for positioning and navigation under the condition that the aircraft is in an underwater environment;
the strapdown inertial navigation module and the Beidou satellite navigation module are used for positioning navigation under the condition that the aircraft is in a water-air environment;
the calculation module is used for receiving first navigation data of the aircraft under water sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module and second navigation data of the aircraft under water and air acquired by the strapdown inertial navigation module and the Beidou satellite navigation module, processing the first navigation data and the second navigation data, and positioning and navigating the aircraft based on processing results.
2. The system of claim 1, wherein the system further comprises:
the storage module is respectively in communication connection with the strapdown inertial navigation module, the Doppler velocimeter, the ultra-short baseline positioning module, the Beidou satellite navigation module and the calculation module and is used for storing the first navigation data, the second navigation data and the processing result.
3. The system of claim 1, wherein the system further comprises:
and the power supply module is used for supplying power to the system.
4. A cross-domain navigation method for a water-air cross-medium vehicle, wherein the method is applied to the cross-domain navigation system for a water-air cross-medium vehicle according to any one of claims 1 to 3, and each vehicle is provided with a strapdown inertial navigation module, a doppler velocimeter, an ultra-short baseline positioning module and a beidou satellite navigation module, and the method comprises:
under the condition that the aircraft is in an underwater environment, positioning and navigating the aircraft based on the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module;
under the condition that the aircraft is in a water-air environment, positioning and navigation are carried out on the aircraft based on the strapdown inertial navigation module and the Beidou satellite navigation module;
In the water-air cross-domain navigation process of the aircraft, first navigation data of the aircraft under water, which are sent by the strapdown inertial navigation module, the Doppler velocimeter and the ultra-short baseline positioning module, and second navigation data of the aircraft under water-air, which are obtained by the strapdown inertial navigation module and the Beidou satellite navigation module, are received based on the calculation module, the first navigation data and the second navigation data are processed, and positioning navigation is carried out on the aircraft based on the processing result.
5. The method of claim 4, wherein processing the first voyage data and the second voyage data, and navigating the vehicle based on the processing results comprises:
calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the external observation equipment and a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the external observation equipment at the same moment aiming at the target navigation data;
correcting the position information of the aircraft based on the first difference value, and correcting the speed information of the aircraft based on the second difference value;
Controlling the aircraft to navigate in the water-air span medium according to the corrected speed information and the corrected position information;
the target navigation data are the first navigation data and the second navigation data.
6. The method of claim 5, wherein correcting the position information of the vehicle based on the first difference and correcting the velocity information of the vehicle based on the second difference comprises:
constructing a first observation equation of a cross-domain navigation system of the water-air cross-medium aircraft based on the first difference value;
constructing a second observation equation of a cross-domain navigation system of the water-air cross-medium aircraft based on the second difference value;
based on the speed information and the position information acquired by the strapdown inertial navigation module, constructing an error equation of the strapdown inertial navigation module;
based on the error equation, constructing a state equation of a cross-domain navigation system of the water-air cross-medium aircraft;
fusing the first observation equation, the second observation equation and the state equation to obtain fused position information and speed information;
and correcting the position information and the speed information of the aircraft based on the fused position information and speed information.
7. The method of claim 6, wherein fusing the first observation equation, the second observation equation, and the state equation to obtain fused position information and velocity information comprises:
obtaining an observed quantity at a first moment, and a priori estimating quantity of the observed quantity; the first moment is any moment in the navigation process of the aircraft, and the observed quantity comprises the first observation equation, the second observation equation and the state equation;
calculating a mahalanobis distance between the observed quantity and the prior estimated quantity;
according to the relation between the mahalanobis distance and the preset distance, the first observation equation, the second observation equation and the state equation are fused, and fused position information and speed information are obtained; the preset distance is determined based on chi-square distribution curves corresponding to observed quantities of the aircraft at all moments.
8. The method of claim 7, wherein the fusing the first observation equation, the second observation equation, and the state equation according to the relationship between the mahalanobis distance and a predetermined distance comprises:
Fusing the first observation equation, the second observation equation and the state equation under the condition that the mahalanobis distance is smaller than or equal to the preset distance;
under the condition that the mahalanobis distance is larger than the preset distance, acquiring an expansion factor, and fusing the first observation equation, the second observation equation and the state equation based on the expansion factor; the expansion factor is used for amplifying the measurement noise covariance matrix in the mahalanobis distance.
9. The method of claim 5, wherein calculating a first difference between the location information collected by the strapdown inertial navigation module and the location information collected by the external observation device at the same time comprises:
under the condition that the aircraft is positioned under water, calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the ultra-short baseline positioning module at the same moment;
and under the condition that the aircraft is positioned on the water surface and in the air, calculating a first difference value between the position information acquired by the strapdown inertial navigation module and the position information acquired by the Beidou satellite navigation module at the same moment.
10. The method of claim 5, wherein calculating a second difference between the speed information collected by the strapdown inertial navigation module and the speed information collected by the external observation device at the same time comprises:
under the condition that the aircraft is positioned under water, calculating a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the Doppler velocimeter at the same moment;
and under the condition that the aircraft is positioned on the water surface and in the air, calculating a second difference value between the speed information acquired by the strapdown inertial navigation module and the speed information acquired by the Beidou satellite navigation module at the same moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310095799.6A CN116026324B (en) | 2023-02-10 | 2023-02-10 | Cross-domain navigation system and method for water-air cross-medium craft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310095799.6A CN116026324B (en) | 2023-02-10 | 2023-02-10 | Cross-domain navigation system and method for water-air cross-medium craft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116026324A true CN116026324A (en) | 2023-04-28 |
| CN116026324B CN116026324B (en) | 2023-06-20 |
Family
ID=86073815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310095799.6A Active CN116026324B (en) | 2023-02-10 | 2023-02-10 | Cross-domain navigation system and method for water-air cross-medium craft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116026324B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117289723A (en) * | 2023-11-24 | 2023-12-26 | 北京大学 | Method, device, equipment and medium for controlling movement state of cross-medium aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102052923A (en) * | 2010-11-25 | 2011-05-11 | 哈尔滨工程大学 | Small-sized underwater robot combined navigation system and navigation method |
| CN110006433A (en) * | 2019-04-22 | 2019-07-12 | 哈尔滨工程大学 | The integrated navigation and location system and method for sea-bottom oil-gas pipe detection robot |
| US20210041240A1 (en) * | 2018-06-22 | 2021-02-11 | Southeast University | Navigation and positioning system for underwater glider and up floating error correction method |
| CN113432601A (en) * | 2021-06-16 | 2021-09-24 | 浙江大学 | Positioning and cruising system for underwater helicopter and working method thereof |
| CN113959434A (en) * | 2021-09-22 | 2022-01-21 | 河北汉光重工有限责任公司 | Adjustable SINS, DVL and USBL combined navigation method |
| CN114993346A (en) * | 2022-05-20 | 2022-09-02 | 哈尔滨工程大学 | Initial alignment method of strapdown inertial navigation system suitable for cross-sea-air medium |
-
2023
- 2023-02-10 CN CN202310095799.6A patent/CN116026324B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102052923A (en) * | 2010-11-25 | 2011-05-11 | 哈尔滨工程大学 | Small-sized underwater robot combined navigation system and navigation method |
| US20210041240A1 (en) * | 2018-06-22 | 2021-02-11 | Southeast University | Navigation and positioning system for underwater glider and up floating error correction method |
| CN110006433A (en) * | 2019-04-22 | 2019-07-12 | 哈尔滨工程大学 | The integrated navigation and location system and method for sea-bottom oil-gas pipe detection robot |
| CN113432601A (en) * | 2021-06-16 | 2021-09-24 | 浙江大学 | Positioning and cruising system for underwater helicopter and working method thereof |
| CN113959434A (en) * | 2021-09-22 | 2022-01-21 | 河北汉光重工有限责任公司 | Adjustable SINS, DVL and USBL combined navigation method |
| CN114993346A (en) * | 2022-05-20 | 2022-09-02 | 哈尔滨工程大学 | Initial alignment method of strapdown inertial navigation system suitable for cross-sea-air medium |
Non-Patent Citations (5)
| Title |
|---|
| 刘相知等: "潜空两栖航行器的综述与分析", 中国舰船研究, vol. 14, no. 2, pages 1 - 3 * |
| 吕志刚: "基于SINS/DVL/GPS的AUV组合导航标定方法的研究及其误差分析", 舰船电子工程, vol. 38, no. 6 * |
| 张亚文等: "一种基于集中滤波的SINS/DVL/USBL水下组合导航算法", 导航定位与授时, vol. 4, no. 1, pages 1 - 2 * |
| 徐博等: "水下潜航器的惯导/超短基线/多普勒测速信息融合及容错验证", 光学精密工程, vol. 25, no. 9 * |
| 段世梅等: "基于SINS/DVL/GPS的AUV组合导航技术", 火力与指挥控制, vol. 34, no. 12 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117289723A (en) * | 2023-11-24 | 2023-12-26 | 北京大学 | Method, device, equipment and medium for controlling movement state of cross-medium aircraft |
| CN117289723B (en) * | 2023-11-24 | 2024-02-20 | 北京大学 | Method, device, equipment and medium for controlling movement state of cross-medium aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116026324B (en) | 2023-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102829777B (en) | Autonomous underwater vehicle combined navigation system and method | |
| CN109782323B (en) | Navigation positioning and calibrating method for autonomous underwater vehicle in deep sea | |
| Kepper et al. | A navigation solution using a MEMS IMU, model-based dead-reckoning, and one-way-travel-time acoustic range measurements for autonomous underwater vehicles | |
| AU2009200190B2 (en) | Methods and systems for underwater navigation | |
| CN104075715A (en) | Underwater navigation and positioning method capable of combining terrain and environment characteristics | |
| CN107966145B (en) | AUV underwater navigation method based on sparse long baseline tight combination | |
| CN108955676B (en) | Deep sea submersible vehicle navigation system and data fusion method for switching states of deep sea submersible vehicle | |
| CN101846734A (en) | Agricultural machinery navigation and position method and system and agricultural machinery industrial personal computer | |
| CN104807479A (en) | Inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance | |
| CN116026324B (en) | Cross-domain navigation system and method for water-air cross-medium craft | |
| CN106679662A (en) | Combined underwater robot navigation method based on TMA (target motion analysis) technology and single beacon | |
| CN103697892A (en) | Filtering method for gyroscopic drift under collaborative navigation condition of multiple unmanned surface vehicles | |
| CN104061930A (en) | Navigation method based on strapdown inertial guidance and Doppler log | |
| Liu et al. | Improved path following for autonomous marine vehicles with low-cost heading/course sensors: Comparative experiments | |
| Allotta et al. | Localization algorithm for a fleet of three AUVs by INS, DVL and range measurements | |
| CN103968842A (en) | Method for improving collaborative navigation location precision of unmanned vehicle based on MEMS gyro | |
| CN111708008A (en) | Underwater robot single-beacon navigation method based on IMU and TOF | |
| CN114397480B (en) | Acoustic Doppler velocimeter error estimation method, device and system | |
| Kepper et al. | MEMS IMU and one-way-travel-time navigation for autonomous underwater vehicles | |
| Pfingsthorn et al. | Full 3D navigation correction using low frequency visual tracking with a stereo camera | |
| US10274317B2 (en) | Method and apparatus for determination of misalignment between device and vessel using radius of rotation | |
| CN103697887A (en) | Optimized navigation method based on strapdown inertial guidance and Doppler log | |
| TN et al. | Navigation of autonomous underwater vehicle using extended kalman filter | |
| Braga et al. | Navigation scheme for the LSTS SEACON vehicles: Theory and application | |
| CN115979260B (en) | Bionic navigation system, method, equipment and computer storage medium |
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 |